Transmission gap detection and adjustment device for electromechanical actuator

Abstract

The invention discloses a transmission gap detection and adjustment device for an electromechanical actuator. The transmission gap detection and adjustment device comprises a gap output measurement module, an electromechanical actuator limiting quick release module and an angle input calibration module, wherein the bottom of the electromechanical actuator limiting quick-release module is connected with a sliding rail at the bottom end of the gap output measurement module; the angle input calibration module is connected with an internal mechanical transmission input shaft of the electromechanical actuator; and the electromechanical actuator is arranged on the electromechanical actuator limiting quick release module. The problems that in the prior art, transmission gap measurement of an internal mechanical structure of an electromechanical actuator is not accurate enough, a detection device is complex in structure and difficult to maintain, and the quality requirement for the size of a transmission chain gap in the assembly process of the electromechanical actuator cannot be met are solved.

Description

Technical Field

[0001] This invention belongs to the field of servo mechanism technology, and in particular relates to a device for detecting and adjusting transmission clearance of electromechanical actuators. Background Technology

[0002] Electromechanical actuators mainly consist of a servo motor, lead screw, gear transmission system, and displacement sensor. In electromechanical actuators, improper selection of shims during the assembly of mechanical parts or errors in machining can cause backlash between the lead screw or gear transmission system. This backlash causes position tracking errors, including vibration, power loss, stroke position tracking deviation, and system instability. Therefore, it is necessary to inspect the transmission backlash of the internal mechanical structure of the electromechanical actuator and correct the detected backlash using adjusting shims.

[0003] In the existing technology, the methods for detecting the transmission clearance of the internal mechanical structure of electromechanical actuators are mostly qualitative clearance detection methods such as the red lead powder application method to observe the gear meshing imprint. These methods cannot achieve quantitative measurement of the clearance, and the detection results are not intuitive or accurate enough.

[0004] In the existing technology, the gap detection device has a complex structure and usage method, poor ease of use and adaptability to various types of products, and cannot meet the needs of the same gap detection device to detect the transmission gap of mechanical structures of different types of electromechanical actuators. In addition, it does not have the ability to quickly disassemble and assemble the electromechanical actuator being tested, making it difficult to use and maintain.

[0005] Existing technologies cannot detect the gaps in the mechanical transmission components of actuators that are not fully assembled or integrated into the servo system, thus failing to meet the quality requirements for transmission chain gap dimensions during the assembly of electromechanical actuators. Summary of the Invention

[0006] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a device for detecting and adjusting the transmission clearance of an electromechanical actuator. This solves the problems of inaccurate measurement of the transmission clearance of the internal mechanical structure of the electromechanical actuator, structural load and maintenance difficulties of the detection device, and inability to meet the quality requirements of the transmission chain clearance size during the assembly of the electromechanical actuator.

[0007] The objective of this invention is achieved through the following technical solution: a device for detecting and adjusting the transmission clearance of an electromechanical actuator, comprising: a clearance output measurement module, an electromechanical actuator limit quick-release module, and an angle input calibration module; wherein, the bottom of the electromechanical actuator limit quick-release module is connected to the bottom slide rail of the clearance output measurement module; the angle input calibration module is connected to the internal mechanical transmission input shaft of the electromechanical actuator; and the electromechanical actuator is mounted on the electromechanical actuator limit quick-release module.

[0008] In the aforementioned electromechanical actuator transmission clearance detection and adjustment device, the angle input calibration module includes an angle scale, an input angle pointer, a rotary connecting shaft, and an angle knob; wherein, one end of the rotary connecting shaft is connected to the internal mechanical transmission input shaft of the electromechanical actuator, and the other end of the rotary connecting shaft passes through the angle scale and is connected to the angle knob; the input angle pointer is connected to the angle knob, and the input angle pointer is used to indicate the angle of the angle scale.

[0009] In the aforementioned electromechanical actuator transmission clearance detection and adjustment device, the clearance output measurement module includes a micrometer displacement meter, a bidirectional spring clamp, a height adjustment support rod, and a mounting base; wherein, one end of the height adjustment support rod is connected to the mounting base; a slide rail is provided on the mounting base, and the bottom of the electromechanical actuator limit quick-release module is connected to the slide rail; one end of the bidirectional spring clamp is sleeved on the outer surface of the height adjustment support rod, and the other end of the bidirectional spring clamp is connected to the micrometer displacement meter.

[0010] In the above-mentioned electromechanical actuator transmission clearance detection and adjustment device, the side wall of the electromechanical actuator limit quick release module is provided with a U-shaped groove, and the middle part of the height adjustment support rod is stuck in the U-shaped groove.

[0011] In the above-mentioned electromechanical actuator transmission clearance detection and adjustment device, the height adjustment support rod is perpendicular to the mounting base.

[0012] In the aforementioned electromechanical actuator transmission clearance detection and adjustment device, the slide rail is a T-shaped slide rail.

[0013] In the above-mentioned electromechanical actuator transmission clearance detection and adjustment device, in the initial state, the probe of the micrometer displacement measuring instrument is in contact with the output structure of the electromechanical actuator, and at this time, both the micrometer position measuring instrument and the input angle pointer are displayed at the zero position.

[0014] A method for detecting and adjusting the transmission clearance of an electromechanical actuator based on an electromechanical actuator transmission clearance detection and adjustment device includes: Step S1: Rotate the angle knob clockwise to drive the input angle pointer to rotate the first preset angle X1°, read the value of the micrometer displacement meter, and record the first displacement value Y1 of the electromechanical actuator output structure. Step S2: Rotate the angle knob clockwise to drive the input angle pointer to rotate the second preset angle X2°, read the micrometer displacement measuring table, and record the second displacement value Y2 of the electromechanical actuator output structure; Step S3: Rotate the angle knob counterclockwise to drive the input angle pointer to rotate the second preset angle X2°, read the micrometer displacement meter, and record the third displacement value Y3 of the electromechanical actuator output structure; Step S4: Obtain the first displacement change value δ1 based on the second displacement value Y2 and the first displacement value Y1; obtain the second displacement change value δ2 based on the second displacement value Y2 and the third displacement value Y3; obtain the third displacement change value δ3 based on the first displacement change value δ1 and the second displacement change value δ2; and obtain the fifth displacement change value δ5 based on the preset clearance margin value δ4 and the third displacement change value δ3. Step S5: Determine whether δ5 is greater than 0. If it is greater than 0, the clearance of the internal mechanical transmission chain of the electromechanical actuator meets the preset requirements. Step S6: If δ5 is less than 0, replace the adjusting shims inside the electromechanical actuator and repeat steps S1 to S5.

[0015] In the above method for detecting and adjusting the transmission clearance of electromechanical actuators, the first displacement change value δ1 is: δ1=Y2-Y1; the second displacement change value δ2 is: δ2=Y2-Y3; the third displacement change value δ3 is: δ3=δ1-δ2; and the fifth displacement change value δ5 is δ5=δ4-δ3.

[0016] A system for detecting and adjusting transmission clearance of an electromechanical actuator includes: a first module for obtaining a first displacement change value δ1 based on a second displacement value Y2 and a first displacement value Y1, obtaining a second displacement change value δ2 based on a second displacement value Y2 and a third displacement value Y3, obtaining a third displacement change value δ3 based on the first displacement change value δ1 and the second displacement change value δ2, and obtaining a fifth displacement change value δ5 based on a preset clearance margin value δ4 and the third displacement change value δ3; and a second module for determining whether δ5 is greater than 0.

[0017] Compared with the prior art, the present invention has the following advantages: (1) The present invention analyzes and calculates the data of multiple measurements corresponding to the output end of the electromechanical actuator by giving different angle values ​​at the input end of the electromechanical actuator. The analysis and calculation results are compared with the qualified threshold of the internal transmission chain clearance of the electromechanical actuator to determine whether the requirements are met. Compared with the prior art, the detection results of the internal mechanical transmission chain clearance of the electromechanical actuator are more intuitive, real and accurate. (2) The present invention eliminates the connecting screws that fix the electromechanical actuator under test and the gap detection device. It adopts a combination of mechanical self-locking structure design and shaping design to fix the electromechanical actuator and the gap detection device through the mutual positional constraints between the mechanical structures. Compared with the prior art, the present invention has the advantages of quick disassembly and assembly and convenient use and maintenance, which greatly improves the testing efficiency of mass-produced electromechanical actuators. (3) The L-shaped modular flexible structure layout of the present invention adopts a modular design for the electromechanical actuator mechanical transmission chain gap detection and adjustment device, which is planned as a gap output measurement module, an electromechanical actuator limit quick release module and an angle input calibration module. Compared with the prior art, the present invention can quickly adapt to different types and sizes of electromechanical actuators to detect and adjust the internal mechanical gap, reducing the cost of replacing the gap measurement device to adapt to different types and sizes of electromechanical actuators. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the electromechanical actuator transmission clearance detection and adjustment device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the input angle calibration module provided in an embodiment of the present invention; Figure 3 This is another schematic diagram of the input angle calibration module provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the electromechanical actuator limit quick-release module provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the gap output measurement module provided in an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the structure of the electromechanical actuator transmission clearance detection and adjustment device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the input angle calibration module provided in an embodiment of the present invention; Figure 3 This is another schematic diagram of the input angle calibration module provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the electromechanical actuator limit quick-release module provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the gap output measurement module provided in an embodiment of the present invention.

[0021] like Figure 1 As shown, the electromechanical actuator transmission clearance detection and adjustment device includes: a clearance output measurement module 1, an electromechanical actuator limit quick-release module 3, and an angle input calibration module 4; wherein, the bottom of the electromechanical actuator limit quick-release module 3 is connected to the bottom slide rail of the clearance output measurement module 1; the angle input calibration module 4 is connected to the internal mechanical transmission input shaft of the electromechanical actuator 2; the electromechanical actuator 2 is mounted on the electromechanical actuator limit quick-release module 3.

[0022] The angle input calibration module 4 provides several sets of electromechanical actuator angle input values, and the gap output measurement module 1 records the corresponding electromechanical actuator output position data. The electromechanical servo gap calculation and analysis method can be used to obtain the gap characterization data of the internal mechanical transmission chain of the electromechanical actuator, and compare the difference with the gap installation margin value of the internal mechanical transmission chain of the electromechanical actuator. Based on the comparison result, the adjustment shims of the internal mechanical transmission chain of the electromechanical actuator are adjusted accordingly until the gap margin requirement is met.

[0023] This embodiment adopts an "L"-shaped modular and flexible structural layout, which is planned as a gap output measurement module 1, an electromechanical actuator limit quick-release module 3, and an angle input calibration module 4. The movable gap output measurement module 1 is set in the vertical direction, and the electromechanical actuator limit quick-release module 3 with positioning function is set in the horizontal direction. The L-shaped modular and flexible structural layout can quickly adapt to different types, sizes and lengths of electromechanical actuators for transmission gap detection and adjustment.

[0024] In this embodiment, the bottom of the device is a quick-release electromechanical actuator limiting module 3, which is connected to the base plate of the gap output measurement module 1 via a T-shaped slide rail. This eliminates the need for connecting screws that fix the electromechanical actuator under test to the gap detection device. A combination of a mechanical self-locking structure and a shaping design is used to achieve positional fixation between the electromechanical actuator under test 2 and the mechanical structure of the gap detection device. This invention eliminates the need for connecting screws, offering advantages such as quick assembly / disassembly and convenient use and maintenance.

[0025] like Figure 2 and Figure 3 As shown, the angle input calibration module 4 includes an angle scale 5, an input angle pointer 6, a rotating connecting shaft 7, and an angle knob 8; wherein, one end of the rotating connecting shaft 7 is connected to the internal mechanical transmission input shaft of the electromechanical actuator, and the other end of the rotating connecting shaft 7 passes through the angle scale 5 and is connected to the angle knob 8; the input angle pointer 6 is connected to the angle knob 8, and the input angle pointer 6 is used to indicate the angle of the angle scale 5.

[0026] The input angle calibration module 4 mainly consists of an angle scale dial 5, an input angle pointer 6, a rotary connecting shaft 7, and an angle knob 8. The input angle calibration module 4 is connected to the mounting interface of the electromechanical actuator under test via screws. The rotary connecting shaft 7 is connected to the internal mechanical transmission input shaft of the electromechanical actuator 2. The angle knob 8 and the rotary connecting shaft 7 are fixed and limited by a flat key. Rotating the rotary knob 8 causes the internal mechanical transmission input shaft of the electromechanical actuator 2 and the input angle pointer 6 to rotate via the rotary connecting shaft 7. The angle scale dial 5 can output the rotation angle value of the internal mechanical transmission input shaft of the electromechanical actuator 2.

[0027] like Figure 4 As shown, the main function of the electromechanical actuator limit quick-release module 3 is to fix the electromechanical actuator under test 2, while also having the ability to quickly replace the electromechanical actuator under test 2 and adapt to various different types of electromechanical actuators under test 2. The electromechanical actuator limit quick-release module 3 adopts a mechanical self-locking structure design concept. According to the interface structure of the electromechanical actuator under test 2 and the limit direction requirements during actual measurement, a corresponding self-locking structure is designed. This eliminates the need for the connecting screws between the electromechanical actuator under test 2 and the servo limit quick-release module 3, enabling rapid replacement of the same type of electromechanical actuator 2 for gap detection and adjustment, and realizing a streamlined operation for electromechanical actuator 2 gap adjustment and measurement. The electromechanical actuator limit quick-release module 3 and the gap output measurement module 1 are connected by a T-shaped slide rail and a U-shaped groove. This can limit the rotation direction of the electromechanical actuator 2 during gap measurement and also eliminate the screw connection between the electromechanical actuator 2 and the gap output measurement module 1. The T-shaped slide rail allows for the replacement of the limit quick-release module 3 for different types of electromechanical actuators 2 under test, thereby improving production line efficiency.

[0028] like Figure 5 As shown, the gap output measurement module 1 includes a micrometer displacement meter 9, a bidirectional spring clamp 10, a height adjustment support rod 11, and a mounting base 12. One end of the height adjustment support rod 11 is connected to the mounting base 12. A slide rail is provided on the mounting base 12, and the bottom of the electromechanical actuator limit quick-release module 3 is connected to the slide rail. One end of the bidirectional spring clamp 10 is fitted onto the outer surface of the height adjustment support rod 11, and the other end of the bidirectional spring clamp 10 is connected to the micrometer displacement meter 9. A U-shaped groove is formed on the side wall of the electromechanical actuator limit quick-release module 3, and the middle part of the height adjustment support rod 11 is engaged in the U-shaped groove. The height adjustment support rod 11 is perpendicular to the mounting base 12. The slide rail is a T-shaped slide rail.

[0029] The gap output measurement module 1 mainly consists of a mounting base 12, a height adjustment support rod 11, a bidirectional spring clamp 10, and a micrometer displacement meter 9. The electromechanical actuator limit quick-release module 3 is connected to the mounting base 12 via a T-shaped slide rail and to the height adjustment support rod 11 via a U-shaped groove, eliminating the need for connecting screws and enabling quick disassembly. The bidirectional spring clamp 10 connects to the height adjustment support rod 11 on one side and the micrometer displacement meter 9 on the other. By adjusting the connection position between the bidirectional spring clamp 10 and the height adjustment support rod 11, it can quickly adapt to the gap measurement and adjustment needs of different types of electromechanical actuators 2 under test, achieving flexible operation of quick disassembly, quick adjustment, and quick removal.

[0030] In the initial state, the probe of the micrometer displacement measuring instrument 9 is in contact with the output structure of the electromechanical actuator 2, and at this time, both the micrometer position measuring instrument and the input angle pointer are displayed at the zero position.

[0031] The electromechanical actuator 2 under test is fixed on the electromechanical actuator quick-release module 3. Adjust the height of the bidirectional spring clamp 10 and the micrometer displacement meter 9 so that the probe of the micrometer position meter 9 is close to the output structure of the electromechanical actuator 2 under test. At this time, both the micrometer position meter 9 and the input angle pointer 6 should be displayed at the zero position.

[0032] This embodiment also provides a method for detecting and adjusting the transmission backlash of an electromechanical actuator, the method comprising: Step S1: Rotate the angle knob 8 clockwise to drive the input angle pointer 6 to rotate the first preset angle X1°, read the value of the micrometer displacement measuring meter 9, and record the first displacement value Y1 of the output structure of the electromechanical actuator 2. Step S2: Rotate the angle knob 8 clockwise to drive the input angle pointer 6 to rotate the second preset angle X2°, read the micrometer displacement measuring table 9, and record the second displacement value Y2 of the output structure of the electromechanical actuator 2; Step S3: Rotate the angle knob 8 counterclockwise to drive the input angle pointer 6 to rotate the second preset angle X2°, read the micrometer displacement meter 9, and record the third displacement value Y3 of the output structure of the electromechanical actuator 2. Step S4: Obtain the first displacement change value δ1 based on the second displacement value Y2 and the first displacement value Y1; obtain the second displacement change value δ2 based on the second displacement value Y2 and the third displacement value Y3; obtain the third displacement change value δ3 based on the first displacement change value δ1 and the second displacement change value δ2; and obtain the fifth displacement change value δ5 based on the preset clearance margin value δ4 and the third displacement change value δ3. Step S5: Determine whether δ5 is greater than 0. If it is greater than 0, the clearance of the internal mechanical transmission chain of the electromechanical actuator meets the preset requirements. Step S6: If δ5 is less than 0, replace the adjusting shims inside the electromechanical actuator and repeat steps S1 to S5.

[0033] The first displacement change value δ1 is: δ1=Y2-Y1; the second displacement change value δ2 is: δ2=Y2-Y3; the third displacement change value δ3 is: δ3=δ1-δ2; the fifth displacement change value δ5 is: δ5=δ4-δ3.

[0034] The electromechanical actuator 2 under test is fixed on the quick-release module 3. Adjust the height of the bidirectional spring clamp 10 and the micrometer displacement gauge 9 so that the probe of the micrometer position gauge 9 is in close contact with the output structure of the electromechanical actuator 2 under test. At this point, both the micrometer position gauge 9 and the input angle pointer 6 should be displayed at the zero position. The specific measurement and adjustment method for the gap is as follows: a) Rotate the angle knob 8 clockwise to drive the input angle pointer 6 to rotate X1° (adjust accordingly according to different types of electromechanical actuators), read the value of the micrometer displacement meter 9, and record the output structural displacement value Y1 of the electromechanical actuator 2.

[0035] b) Rotate the angle knob 8 clockwise to drive the input angle pointer 6 to rotate X2° (adjust accordingly according to different types of electromechanical actuators), read the micrometer displacement meter 9, and record the output structural displacement value Y2 of the electromechanical actuator 2 under test.

[0036] c) Rotate the angle knob 8 counterclockwise to drive the input angle pointer 6 to rotate X2°, read the displacement meter 9, and record the output structural displacement value Y3 of the electromechanical actuator 2.

[0037] d) Based on the clearance characteristics of the internal mechanical transmission chain of the electromechanical actuator 2, analyze and calculate the above measurement results: δ1=Y2-Y1 (where δ1 is the change in output displacement of the electromechanical actuator after inputting X1° and then X2°), δ2=Y2-Y3 (where δ2 is the output displacement of the electromechanical actuator after inputting X2° clockwise and then X2° counterclockwise), δ3=δ1-δ2 (where δ3 is the difference in output displacement after inputting X2° counterclockwise and clockwise), δ5=δ4-δ3 (where δ4 is the different clearance margin values ​​obtained according to different types of electromechanical actuators 2). Determine whether δ5 is greater than 0. If it is greater than zero, the clearance of the internal mechanical transmission chain of the electromechanical actuator under test meets the requirements. If it is less than zero, the adjusting shims inside the electromechanical actuator 2 need to be replaced. After replacement, repeat the above 4 steps until δ5 is greater than 0 and meets the clearance requirements of the internal mechanical transmission chain of the electromechanical actuator 2 under test.

[0038] This embodiment also provides a system for detecting and adjusting the transmission clearance of an electromechanical actuator. The system includes: a first module for obtaining a first displacement change value δ1 based on a second displacement value Y2 and a first displacement value Y1, obtaining a second displacement change value δ2 based on a second displacement value Y2 and a third displacement value Y3, obtaining a third displacement change value δ3 based on the first displacement change value δ1 and the second displacement change value δ2, and obtaining a fifth displacement change value δ5 based on a preset clearance margin value δ4 and the third displacement change value δ3; and a second module for determining whether δ5 is greater than 0.

[0039] This embodiment analyzes and calculates the data from multiple measurements at the output of an electromechanical actuator by providing different angle values ​​at the input end. The results are then compared with the acceptable threshold for the internal transmission chain clearance of the electromechanical actuator to determine whether the requirements are met. Compared with existing technologies, the detection results for the internal mechanical transmission chain clearance of the electromechanical actuator are more intuitive, realistic, and accurate.

[0040] This embodiment eliminates the connecting screws that fix the electromechanical actuator under test to the gap detection device. It adopts a combination of mechanical self-locking structure design and shaping design, and fixes the electromechanical actuator and the gap detection device through the mutual positional constraints between their mechanical structures. Compared with the prior art, this embodiment has the advantages of quick disassembly and assembly and convenient use and maintenance, which greatly improves the testing efficiency of mass-produced electromechanical actuators.

[0041] The L-shaped modular and flexible structural layout of this embodiment features a modular design for the electromechanical actuator mechanical transmission chain clearance detection and adjustment device, which is planned as a clearance output measurement module, an electromechanical actuator limit quick-release module, and an angle input calibration module. Compared with the prior art, this embodiment can quickly adapt to different types and sizes of electromechanical actuators for internal mechanical clearance detection and adjustment, reducing the cost of replacing clearance measurement devices to adapt to different types and sizes of electromechanical actuators.

[0042] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An electromechanical actuator transmission gap detection and adjustment device, characterized by Comprise: Gap output measurement module (1), electromechanical actuator limit quick disassembly module (3) and angle input calibration module (4), wherein, The bottom of the electromechanical actuator limit quick disassembly module (3) is connected with the bottom rail of the gap output measurement module (1); The angle input calibration module (4) is connected with the internal mechanical transmission input shaft of the electromechanical actuator (2); The electromechanical actuator (2) is arranged on the electromechanical actuator limit quick disassembly module (3).

2. The electromechanical actuator transmission lash detection and adjustment device of claim 1, wherein: The angle input calibration module (4) comprises an angle scale disc (5), an input angle pointer (6), a rotating connection shaft (7) and an angle knob (8), wherein, One end of the rotating connection shaft (7) is connected with the internal mechanical transmission input shaft of the electromechanical actuator, and the other end of the rotating connection shaft (7) is connected with the angle knob (8) through the angle scale disc (5); The input angle pointer (6) is connected with the angle knob (8), and the input angle pointer (6) is used for indicating the angle of the angle scale disc (5).

3. The electromechanical actuator transmission lash detection and adjustment device of claim 2, wherein: The gap output measurement module (1) comprises a thousandth displacement measurement table (9), a two-way spring clamp (10), a height adjustment support rod (11) and a mounting base (12), wherein, One end of the height adjustment support rod (11) is connected with the mounting base (12); The mounting base (12) is provided with a slide rail, and the bottom of the electromechanical actuator limit quick disassembly module (3) is connected with the slide rail; One end of the two-way spring clamp (10) is sleeved on the outer surface of the height adjustment support rod (11), and the other end of the two-way spring clamp (10) is connected with the thousandth displacement measurement table (9).

4. The electromechanical actuator transmission lash detection and adjustment device of claim 3, wherein: A U-shaped groove is formed in the side wall of the electromechanical actuator limit quick disassembly module (3), and the middle part of the height adjustment support rod (11) is clamped in the U-shaped groove.

5. The electromechanical actuator transmission lash detection and adjustment device of claim 3, wherein: The height adjustment support rod (11) is perpendicular to the mounting base (12).

6. The electromechanical actuator transmission lash detection and adjustment device of claim 3, wherein: The slide rail is a T-shaped slide rail.

7. The electromechanical actuator transmission lash detection and adjustment device of claim 3, wherein: In the initial state, the probe of the thousandth displacement measurement table (9) is attached to the output structure of the electromechanical actuator (2), and at this time, the thousandth displacement measurement table and the input angle pointer are displayed at the zero position.

8. A method of detecting and adjusting the transmission gap of an electromechanical actuator according to any one of claims 1 to 7, characterized in that Comprise: Step S1: clockwise rotate the angle knob (8), drive the input angle pointer (6) to rotate the first preset angle X1°, read the value of the thousandth displacement measurement table (9), and record the first displacement value Y1 of the output structure of the electromechanical actuator (2); Step S2: clockwise rotate the angle knob (8), drive the input angle pointer (6) to rotate the second preset angle X2°, read the thousandth displacement measurement table (9), and record the second displacement value Y2 of the output structure of the electromechanical actuator (2); Step S3: counterclockwise rotate the angle knob (8), drive the input angle pointer (6) to rotate the second preset angle X2°, read the thousandth displacement measurement table (9), and record the third displacement value Y3 of the output structure of the electromechanical actuator (2); Step S4: obtaining a first displacement change value δ1 according to the second displacement value Y2 and the first displacement value Y1, obtaining a second displacement change value δ2 according to the second displacement value Y2 and the third displacement value Y3, obtaining a third displacement change value δ3 according to the first displacement change value δ1 and the second displacement change value δ2, and obtaining a fifth displacement change value δ5 according to the preset gap margin value δ4 and the third displacement change value δ3; Step S5: judging whether δ5 is greater than 0, if yes, the gap between the internal mechanical transmission chains of the electromechanical actuator meets the preset requirement; Step S6: if δ5 is less than 0, replacing the adjusting gasket inside the electromechanical actuator, and repeating steps S1 to S5.

9. The electromechanical actuator drive lash detection and adjustment method of claim 8, wherein: The first displacement change value δ1 is: δ1=Y2-Y1; The second displacement change value δ2 is: δ2=Y2-Y3; The third displacement change value δ3 is: δ3=δ1-δ2; The fifth displacement change value δ5 is δ5=δ4-δ3.

10. An electromechanical actuator transmission gap detection and adjustment system characterized by Comprise: A first module is used for obtaining a first displacement change value δ1 according to the second displacement value Y2 and the first displacement value Y1, obtaining a second displacement change value δ2 according to the second displacement value Y2 and the third displacement value Y3, obtaining a third displacement change value δ3 according to the first displacement change value δ1 and the second displacement change value δ2, and obtaining a fifth displacement change value δ5 according to the preset gap margin value δ4 and the third displacement change value δ3; A second module is used for judging whether δ5 is greater than 0.

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