Multi-channel servo mechanism automatic reciprocating running-in method and device

Abstract

The present application relates to a kind of multi-channel servo mechanism automatic reciprocating running-in method and device, belong to servo mechanism running-in technical field, solve the problem of low running-in efficiency of servo mechanism, poor running-in consistency.The present application includes: fixed platform, product fixed seat and reciprocating running-in mechanism;Reciprocating running-in mechanism includes: mobile base, linear drive device, transmission shaft, rotary drive device and docking tool;Mobile base is slidably installed on fixed platform, and can be displaced under the driving of linear drive device;Transmission shaft is rotatably installed above mobile base and can be rotated under the driving of rotary drive device;Transmission shaft can be docked with the transmission chain of servo mechanism by docking tool, and then can drive transmission chain reverse motion.The present application will four-channel running-in mechanism and the end shaft sleeve of servo mechanism are docked, realize the reverse running-in of servo mechanism, and can guarantee the running-in effect consistency of batch product.

Description

Technical Field

[0001] This invention relates to the field of servo mechanism break-in technology, and in particular to an automatic reciprocating break-in method and apparatus for a multi-channel servo mechanism. Background Technology

[0002] The servo mechanism's transmission chain is a crucial component in executing control commands. Therefore, the smoothness of the transmission chain's operation significantly impacts the overall execution performance. Its main working principle involves the transmission chain being mounted on a fixed frame. An externally powered motor drives the transmission chain, which in turn rotates a lead screw gear via an intermediate transmission gear. This rotation causes the ball screw nut to reciprocate, resulting in a rotational motion of a bushing that is interference-fitted with the support sleeve on the ball screw pair. This, in turn, drives the external actuators connected to the bushing to achieve the preset actions. (See attached diagram.) Figure 1 The smoothness of the fit between the transmission gear and the lead screw gear, the fit between the lead screw nut and the lead screw, and the fit between the bushing and the support sleeve all affect the performance of the entire product to a certain extent.

[0003] The transmission chain consists of a motor, motor gears, transmission gears, lead screw gears, ball screw pairs, bushings, support sleeves, bushing bearings, and lead screw bearings, etc. Figure 1 The diagram shows the transmission chain composition. To ensure smooth transmission and meet performance indicators and modal requirements, servo mechanisms typically undergo a break-in test after assembly. Due to various influencing factors during the test, such as equipment and product inherent issues, two different break-in methods are currently used: manual break-in and active break-in via external control commands from the servo device. Both methods have limitations in effectiveness, with some degree of deficiency or excess. Break-in cannot be quantified and controlled; the break-in time is generally calculated indirectly by accumulating operating time.

[0004] To address the above problems, this invention proposes an automatic reciprocating break-in device and method for a multi-channel servo mechanism. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide an automatic reciprocating break-in method and apparatus for multi-channel servo mechanisms, in order to solve the problems of low break-in efficiency, uncontrollable break-in time, and poor consistency of existing servo mechanism break-in methods.

[0006] The objective of this invention is mainly achieved through the following technical solutions:

[0007] An automatic reciprocating break-in device for a multi-channel servo mechanism includes: a fixed table, a product fixing seat, and a reciprocating break-in mechanism;

[0008] The fixed platform is provided with a product mounting base for fixing and installing the servo mechanism in the middle; the product mounting base is provided with multiple sets of reciprocating running-in mechanisms in the circumferential direction.

[0009] The reciprocating running-in mechanism includes: a movable base, a linear drive device, a transmission shaft, a rotary drive device, and a docking fixture;

[0010] The mobile base is slidably mounted on the fixed platform and can move closer to or further away from the servo mechanism under the drive of the linear drive device;

[0011] The drive shaft is rotatably mounted above the movable base and can rotate under the drive of the rotary drive device; the drive shaft can be connected to the transmission chain of the servo mechanism through the docking fixture, thereby driving the transmission chain to move in the opposite direction.

[0012] Furthermore, the linear drive device is a linear motor, a cylinder, or a hydraulic cylinder.

[0013] Furthermore, the docking fixture includes: a conical clamping block, a connecting shaft, and a connecting structure; the conical clamping block is fixedly installed at the end of the transmission shaft; one end of the connecting shaft is provided with a connecting structure for fixed connection with the bushing of the servo mechanism, and the other end is provided with a conical docking hole that can engage with the conical clamping block.

[0014] Furthermore, two tapered clamping blocks are arranged side by side at the end of the drive shaft.

[0015] Furthermore, the connection structure is a flange with threaded holes, which can be fixedly connected to the bushing at the output end of the servo mechanism by bolts.

[0016] Furthermore, the rotary drive device includes a rotary motor for outputting torque.

[0017] Furthermore, the drive shaft is fixedly connected to the output end of the rotary drive device via a coupling.

[0018] Furthermore, a torque sensor is also provided between the drive shaft and the rotary drive device; the torque sensor is used to monitor the torque when the drive shaft drives the servo mechanism to move.

[0019] Furthermore, the reciprocating running-in mechanism is also provided with a slide rail and a slide rail seat; the slide rail seat is fixedly mounted on the fixed platform; two slide rails are arranged side by side on the slide rail seat, and the slide rails are arranged radially along the product fixed seat; the bottom of the movable base is provided with a sliding groove that cooperates with the slide rail, so that the movable base is slidably mounted on the slide rail.

[0020] An automatic reciprocating break-in method for a multi-channel servo mechanism, employing an automatic reciprocating break-in device for the multi-channel servo mechanism; the automatic reciprocating break-in method for the multi-channel servo mechanism includes the following steps:

[0021] Step S1: Install the servo mechanism on the product mounting base, and align the port of the bushing of the transmission chain with the transmission shaft of the reciprocating running-in mechanism; fix the bushings at the ends of the multiple sets of transmission chains of the servo mechanism to the docking fixture.

[0022] Step S2: The linear drive device drives the moving base to move linearly until the transmission shaft docks with the docking fixture;

[0023] Step S3: After docking is completed, the rotary drive device drives the transmission shaft to rotate. The transmission shaft drives the docking fixture pre-installed on the bushing to rotate. Then, the reciprocating rotation of the transmission shaft is transmitted in reverse through the docking fixture and the bushing to the transmission chain of the servo mechanism, thereby causing the transmission chain of the servo mechanism to reciprocate and achieve the running-in effect on the transmission chain of the servo mechanism.

[0024] The technical solution of this invention can achieve at least one of the following effects:

[0025] 1. The multi-channel servo mechanism automatic reciprocating break-in device of the present invention achieves the break-in of the servo mechanism transmission chain by driving the transmission shaft to rotate through the rotary drive device 8. The break-in time can be directly preset, and the break-in time does not need to be calculated indirectly. In addition, a torque sensor is set to monitor the break-in torque, and the break-in amount and break-in torque are controllable and reliable.

[0026] 2. The multi-channel servo mechanism automatic reciprocating break-in device of the present invention addresses the problems of over-break-in, under-break-in, and uneven break-in consistency in existing servo mechanism break-in processes. It designs multiple sets of reciprocating break-in mechanisms to synchronously break in multiple sets of transmission chains of the servo mechanism, shortening the operation time and increasing the work efficiency. At the same time, it can ensure that multiple sets of transmission chains of the servo mechanism and multiple sets of servo mechanisms in the same batch achieve the same degree of break-in during the break-in process, avoiding over-break-in or under-break-in phenomena, and also helps to maintain good consistency in the break-in state of products in the same batch.

[0027] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0028] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0029] Figure 1 This is a schematic diagram of the structure of the automatic reciprocating break-in device for the multi-channel servo mechanism in Embodiment 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of the connecting shaft.

[0031] Figure 3 This is a schematic diagram showing the mating state of the connecting shaft and the conical clamping block.

[0032] Figure 4 This is a schematic diagram of the conical clamping block.

[0033] Figure 5 A schematic diagram of the servo mechanism being broken in;

[0034] Figure 6 This is a schematic diagram of the rotational limit position of the connecting shaft of the automatic reciprocating running-in device of the multi-channel servo mechanism in Embodiment 1 of the present invention.

[0035] Figure 7 This is a flowchart of the break-in method according to Embodiment 2 of the present invention;

[0036] Figure 8 This is a schematic diagram of the synchronous drive mechanism of the multi-channel servo mechanism automatic reciprocating break-in device in Embodiment 3 of the present invention;

[0037] Figure 9 Side view of the synchronous drive mechanism;

[0038] Figure 10 A bottom view of the synchronous drive mechanism;

[0039] Figure 11 This is a schematic diagram of the torque limiting component.

[0040] Figure 12 This is a cross-sectional schematic diagram of the torque limiting component;

[0041] Figure 13 This is a schematic diagram of the rotating sleeve.

[0042] Figure 14 This is a schematic diagram of the limiting sleeve.

[0043] Figure label:

[0044] 1-Fixed platform; 2-Product fixing seat; 3-Moving base; 4-Linear drive device; 5-Slide rail; 6-Slide rail seat; 7-Coupling; 8-Rotary drive device; 9-Torque sensor; 10-Encoder; 11-Drive shaft; 12-Conical clamping block; 13-Connecting shaft; 14-Conical mating hole; 15-Connecting structure; 16-T-shaped slider; 17-Rack; 18-First drive gear; 19-Second drive gear; 20-Synchronous gear; 21-Transmission mechanism; 22-Synchronous motor; 23-Synchronous gear ring; 24-Synchronous shaft; 25-L-shaped limit block; 26-Rotating sleeve; 27-Limit sleeve; 28-Threaded section; 29-Conical limit surface; 30-Intermediate shaft hole; 31-Compression block mounting hole; 32-Spring mounting hole; 33-Spring; 34-Compression block; 35-Locking block. Detailed Implementation

[0045] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0046] Example 1

[0047] A specific embodiment of the present invention discloses an automatic reciprocating break-in device for a multi-channel servo mechanism, such as... Figure 1 As shown, it includes: a fixed platform 1, a product mounting base 2, and a reciprocating running-in mechanism; the fixed platform 1 is provided with a product mounting base 2 for fixing and installing the servo mechanism in the middle; multiple sets of reciprocating running-in mechanisms are arranged in the circumferential direction of the product mounting base 2; the reciprocating running-in mechanism is used to connect with multiple sets of transmission chains of the servo mechanism, thereby driving the transmission chains of the servo mechanism to perform reverse running-in.

[0048] like Figure 5 As shown, the transmission chain of the servo mechanism includes: a drive motor, a gear transmission mechanism, a lead screw mechanism, and a bushing; the drive motor outputs rotational motion to the gear transmission mechanism, which in turn drives the sliding block of the lead screw mechanism to slide linearly and actuates the bushing to deflect left and right; the reciprocating running-in mechanism of the present invention docks with the bushing at the end of the transmission chain of the servo mechanism, and after docking, it can drive the bushing to deflect left and right, and then drive the transmission chain of the servo mechanism to move in the reverse direction through the bushing, thereby realizing the reverse running-in of the transmission chain of the servo mechanism.

[0049] like Figure 6 As shown, when the reciprocating running-in mechanism drives the bushing to rotate left and right, the left limit position A and right limit position B of the bushing are determined by the maximum rotation angles X1 and X2 at the connection point between the servo mechanism and the bushing. In practice, the reciprocating running-in mechanism drives the bushing to oscillate back and forth between the left limit position A and the right limit position B, thereby achieving the running-in of the servo mechanism.

[0050] In one specific embodiment of the present invention, such as Figure 1 As shown, the reciprocating running-in mechanism includes: a movable base 3, a linear drive device 4, a transmission shaft 11, a rotary drive device 8, and a docking fixture; the movable base 3 is slidably mounted on the fixed platform 1 and can move closer to or further away from the servo mechanism under the drive of the linear drive device 4; the transmission shaft 11 is rotatably mounted above the movable base 3 and can rotate under the drive of the rotary drive device 8; the transmission shaft 11 can dock with the transmission chain of the servo mechanism through the docking fixture, thereby driving the transmission chain to move in the opposite direction.

[0051] Specifically, the linear drive device 4 is a linear motor, a cylinder, or a hydraulic cylinder.

[0052] Furthermore, such as Figure 2 , Figure 3 , Figure 4 As shown, the docking fixture includes: a conical clamping block 12, a connecting shaft 13, and a connecting structure 15; the conical clamping block 12 is fixedly installed at the end of the transmission shaft 11; one end of the connecting shaft 13 is provided with a connecting structure 15 for fixed connection with the bushing of the servo mechanism, and the other end is provided with a conical docking hole 14 that can engage with the conical clamping block 12.

[0053] Preferably, the end of the conical clamping block 12 is a circular conical head; such as Figure 3 As shown, two tapered clamping blocks 12 are arranged side by side at the end of the drive shaft 11. Furthermore, when the two tapered clamping blocks 12 are inserted into the two tapered mating holes 14 at the end of the connecting shaft 13, the torque output by the drive shaft 11 can be transmitted to the bushing of the transmission chain of the servo mechanism through the connecting shaft 13.

[0054] Specifically, such as Figure 2 As shown, the connection structure 15 is a flange with a threaded hole, which can be fixedly connected to the bushing at the output end of the servo mechanism by bolts.

[0055] Furthermore, the rotary drive device 8 includes a rotary motor for outputting torque. Preferably, the rotary drive device 8 further includes a speed reducer connected to the rotary motor for reducing the output speed of the rotary motor before outputting torque.

[0056] Furthermore, the drive shaft 11 is fixedly connected to the output end of the rotary drive device 8 via a coupling 7.

[0057] In one specific embodiment of the present invention, a torque sensor 9 and an encoder 10 are further provided between the drive shaft 11 and the rotary drive device 8; both the torque sensor 9 and the encoder 10 are connected in series between the drive shaft 11 and the rotary drive device 8 via a coupling 7. During operation, the inner rings of the encoder 10 and the torque sensor 9 rotate together with the drive shaft 11. The torque sensor 9 is used to monitor the torque when the drive shaft 11 drives the servo mechanism. The encoder 10 is used to monitor the rotation angle of the drive shaft 11. Specifically, the coupling 7 is used to connect the drive shaft 11, the rotary drive device 8, the torque sensor 9, and the encoder 10. The number and installation position of the coupling 7 are set as needed.

[0058] like Figure 1 As shown, the reciprocating running-in mechanism is also provided with a slide rail 5 and a slide rail seat 6; the slide rail seat 6 is fixedly mounted on the fixed platform 1; two slide rails 5 are arranged side by side on the slide rail seat 6, and the slide rails 5 are arranged radially along the product fixed seat 2; the bottom of the movable base 3 is provided with a sliding groove that cooperates with the slide rail 5, so that the movable base 3 is slidably mounted on the slide rail 5.

[0059] Specifically, the end output of the linear drive device 4 is fixedly connected to the movable base 3. When the linear drive device 4 outputs linear displacement, it can drive the movable base 3 to slide linearly along the slide rail 5, thereby driving the transmission shaft 11 installed on the movable base 3 to approach or move away from the servo mechanism installed on the product fixed seat 2, realizing the docking or separation of the transmission shaft 11 with the docking tool, thereby driving the servo mechanism to run in or to disengage from the servo mechanism after the run-in is completed.

[0060] The working principle of the multi-channel servo mechanism automatic reciprocating break-in device in this embodiment is as follows: the servo mechanism is placed on the product fixing seat 2, and the linear drive device 4 drives the moving base 3 to move longitudinally on the slide rail 5. When the product is placed in the fixed position, the conical clamping block 12 installed on the transmission shaft 11 pushes into the conical docking hole 14 of the connecting shaft 13 pre-assembled to the product bushing; the motor drives the transmission shaft 11 to rotate, and the rotational motion of the transmission shaft 11 is transmitted to the transmission chain through the conical clamping block 12 and the connecting shaft 13, thereby causing the transmission chain of the servo mechanism to reciprocate, thereby realizing the break-in effect.

[0061] The multi-channel servo mechanism automatic reciprocating break-in device of the present invention, by setting the running time of the rotary drive device 8, makes the break-in time and break-in amount controllable and reliable, so as to quantify the indicators controlled by the break-in time, while reducing the time cost of the break-in test process and improving the work efficiency.

[0062] Specifically, after the conical clamping block 12 is connected to the connecting shaft 13, multiple sets of rotary drive devices 8 work synchronously. Under the action of the reducer, the motor output speed slows down, and then the motor drives multiple transmission shafts 11 to rotate, which in turn transmits to multiple sets of transmission chains of the servo mechanism to perform reciprocating motion. The multiple sets of transmission chains of the product move synchronously, realizing the synchronous running-in effect of multiple sets of transmission chains. During the test, the encoder 10 reads the stroke midpoint and determines the limit position to control the running-in amount of the test. The torque sensor 9 collects and feeds back the torque during the running-in process, and processes the torque information to ensure that the torque is always within the preset limit value. If the limit value is exceeded, the equipment stops running-in.

[0063] This paper proposes a break-in method for servo mechanism transmission chains. After assembling the single-stage components of the servo mechanism transmission chain, a multi-channel automatic break-in test of the whole machine-level servo mechanism is conducted. Its features include parallel and simultaneous automatic break-in of multiple servo mechanisms, which greatly saves operation time, improves production efficiency, ensures that the upper limit of the break-in torque is controllable during the break-in process, and ensures that the break-in state is controllable and reliable. Furthermore, the break-in state of the transmission chains of the same batch of products has good consistency and reliability.

[0064] Example 2

[0065] This embodiment provides an automatic reciprocating break-in method for a multi-channel servo mechanism, using the automatic reciprocating break-in device for a multi-channel servo mechanism described in Embodiment 1; the automatic reciprocating break-in method for a multi-channel servo mechanism includes the following steps:

[0066] Step S1: Install the servo mechanism on the product mounting base 2, and align the port of the bushing of the transmission chain with the transmission shaft 11 of the reciprocating running-in mechanism; fix the bushings at the ends of the multiple sets of transmission chains of the servo mechanism to the docking fixture.

[0067] Step S2: The linear drive device 4 drives the movable base 3 to move linearly until the transmission shaft 11 docks with the docking fixture.

[0068] Step S3: After docking is completed, the rotary drive device 8 drives the transmission shaft 11 to rotate. The transmission shaft 11 drives the docking fixture pre-installed on the bushing to rotate. Then, the reciprocating rotation of the transmission shaft 11 is transmitted in reverse through the docking fixture and the bushing to the transmission chain of the servo mechanism, thereby causing the transmission chain of the servo mechanism to reciprocate and achieve the running-in effect on the transmission chain of the servo mechanism.

[0069] In step S1, before the break-in period, the transmission chain of the servo mechanism is assembled onto its outer frame, and then the outer frame of the servo mechanism with multiple sets of transmission chains is connected and fixed to the product mounting base 2.

[0070] In step S2, the linear drive device 4 inflates the cylinder by moving it back and forth according to the pre-set program instructions, which drives the moving base 3 to move linearly along the slide rail 5 on the slide rail seat 6. When it moves to the position of the servo mechanism, the conical clamping block 12 is inserted into the conical docking hole 14 of the connecting shaft 13 pre-assembled on the bushing of the servo mechanism transmission chain to complete the docking of the conical clamping block 12 and the connecting shaft 13, and at the same time realize the docking of the transmission shaft 11 and the transmission chain of the servo mechanism.

[0071] In step S2, after the transmission shafts 11 of the multiple reciprocating running-in mechanisms are connected to the multiple transmission chains of the servo mechanism through the docking fixture, the rotary drive device 8 of the multiple reciprocating running-in mechanisms can drive the multiple transmission chains of the servo mechanism to run-in synchronously.

[0072] In step S3, after docking is completed, the rotary motors of multiple sets of rotary drive devices 8 are powered on and work synchronously. Under the action of the reducer, the speed is reduced. Then, through multiple couplings 7, the torque sensor 9, encoder 10 and transmission shaft 11 are driven to rotate synchronously. The rotational motion is then transmitted to the transmission chain of the servo mechanism, which drives the transmission chain to reciprocate, thereby realizing the running-in effect of multiple sets of transmission chains.

[0073] In step S3, when the reciprocating running-in mechanism drives multiple transmission chains of the servo mechanism for running-in, the encoder 10 determines the limit position of the stroke and reads the midpoint of the stroke to control the degree of running-in during the running-in test.

[0074] In step S1, before installing the servo mechanism, the total duration of the break-in process is set by a pre-set program command, so that the servo mechanism can reciprocate within the set break-in time to perform multiple break-ins. The preset torque Ttheoretical for the break-in process is set according to the maximum output torque of the product motor multiplied by a safety factor. The safety factor is 0.5, that is, Ttheoretical = 0.5 × Tmotor rated torque. Then, the test is performed to verify the torque. The minimum value of multiple test torque values ​​is taken to obtain the preset actual torque value Tactual. Tactual satisfies Tactual ≤ Ttheoretical.

[0075] In step S3, the torque of the transmission shaft 11 is monitored in real time by the torque sensor 9. When the running-in torque is within the qualified range, the device automatically disconnects and the running-in stops when the preset total running-in time is reached.

[0076] The automatic break-in method for multi-channel servo mechanisms in this embodiment directly sets the break-in time for the servo mechanism's transmission chain, ensuring good consistency after break-in. By setting a theoretical preset torque T, the torque output of the rotary drive device 8 is controlled, making the upper limit of the break-in torque controllable. The maximum break-in torque is controlled during the break-in process, and the device automatically stops the break-in process when the preset maximum torque value is exceeded.

[0077] Example 3

[0078] In one specific embodiment of the present invention, the automatic reciprocating break-in device for the multi-channel servo mechanism in Embodiment 1 or Embodiment 2 is improved by design:

[0079] In this embodiment, a synchronous drive mechanism is set to drive multiple sets of reciprocating break-in mechanisms to move synchronously; such as Figure 8 , Figure 9 , Figure 10 As shown, the synchronous drive mechanism includes: a synchronous motor 22, a synchronous gear 20, and a synchronous gear ring 23 disposed below the fixed platform 1, and a first drive gear 18, a second drive gear 19, and a T-shaped slider 16 disposed above the fixed platform 1; the number of synchronous gears 20 is equal to the number of transmission chains of the servo mechanism; multiple synchronous gears 20 mesh with the synchronous gear ring 23 simultaneously, so that when the synchronous motor 22 drives one of the synchronous gears 20 to rotate, multiple synchronous gears 20 will rotate synchronously under the drive of the synchronous gear ring 23; a synchronous shaft 24 is disposed through the fixed platform 1, and the upper and lower ends of the synchronous shaft 24 are fixedly connected to the first drive gear 18 and the synchronous gear 20 respectively; the first drive gear 18 and the second drive gear 19 mesh and transmit power, and the first drive gear 18 and the second drive gear 19 mesh with the racks 17 on the inner sides of the two T-shaped sliders 16 respectively, so that when the first drive gear 18 and the second drive gear 19 rotate synchronously in opposite directions, they can drive the two T-shaped sliders 16 to move synchronously in the same direction.

[0080] Furthermore, multiple sets of slide rails 5 are provided on the fixed platform 1. Each set of slide rails 5 has two parallel slide rails, and T-shaped sliders 16 are slidably installed on both slide rails 5. The upper part of the T-shaped sliders 16 is fixedly connected to the translation base 3 of the reciprocating running-in mechanism. Thus, when the T-shaped sliders 16 slide along the slide rails 5, they can drive the translation base 3 to move closer to or away from the product fixing seat 2 located in the middle of the fixed platform 1.

[0081] Specifically, the gear ring 23 is rotatably mounted below the fixed platform 1, and a plurality of L-shaped limiting blocks 25 are provided on the edge of the gear ring 23; the L-shaped limiting blocks 25 are fixedly connected to the bottom surface of the fixed platform 1, and the ends of the L-shaped limiting blocks 25 are in contact with the lower surface of the gear ring 23.

[0082] Specifically, each of the two T-shaped sliders 16 has a rack 17 on one side facing each other, and the two racks 17 facing each other simultaneously mesh with the first drive gear 18 and the second drive gear 19 respectively; thus, when the first drive gear 18 and the second drive gear 19 rotate synchronously in opposite directions, they can drive the two T-shaped sliders 16 to move synchronously in the same direction, such as... Figure 8 As shown.

[0083] Furthermore, such as Figure 9 , Figure 10As shown, the synchronous motor 22 is fixedly mounted on the bottom of the fixed platform 1; and the synchronous motor 22 drives the synchronous gear 20 to rotate directly or indirectly through the transmission mechanism 21. Preferably, the transmission mechanism 21 is a belt drive mechanism.

[0084] In practice, the synchronous motor 22 drives one of the synchronous gears 20 to rotate through the transmission mechanism 21. Then, multiple synchronous gears 20 rotate synchronously under the drive of the synchronous gear ring 23. The multiple synchronous gears 20 drive multiple sets of first drive gears 18 and second drive gears 19 to rotate. Then, the multiple sets of first drive gears 18 and second drive gears 19 drive multiple sets of T-shaped sliders 16 to move synchronously, realizing the synchronous displacement of the translation base 3 of multiple sets of reciprocating running-in mechanisms. Multiple transmission shafts 11 synchronously approach the servo mechanism located in the middle of the fixed platform 1. Then, the transmission shafts 11 of multiple sets of reciprocating running-in mechanisms can be synchronously connected with multiple sets of transmission chains of the servo mechanism, realizing the synchronous connection and synchronous running-in of multiple sets of reciprocating running-in mechanisms and multiple synchronous transmission chains of the servo mechanism. The synchronous displacement drive of multiple sets of reciprocating running-in mechanisms can be realized by only one motor, which makes the control more convenient and improves the running-in efficiency.

[0085] In one specific embodiment of the present invention, in order to prevent the torque generated during the break-in period from being transmitted in reverse to the rotary drive device 8 and damaging the rotary motor, a torque limiting component is provided in this embodiment to limit the maximum torque transmitted by the drive shaft 11 during the break-in period.

[0086] like Figure 11 , Figure 12 As shown, the torque limiting assembly includes: a rotating sleeve 26, a limiting sleeve 27, and an elastic pressure assembly; the rotating sleeve 26 has multiple elastic component mounting holes in its radial direction, and the elastic pressure assembly is disposed in the elastic component mounting holes; the rotating sleeve 26 has an intermediate shaft hole 30 extending along its own axis in its axial direction; the intermediate shaft hole 30 mates with the drive shaft 11, and the circumferential side of the drive shaft 11 has multiple spherical grooves; the elastic pressure assembly is disposed in the elastic component mounting holes, and the end of the elastic pressure assembly is engaged in the spherical grooves; the limiting sleeve 27 is threaded onto the outside of the rotating sleeve 26, and the inner wall of the limiting sleeve 27 presses against the elastic pressure assembly; the elastic pressure assembly is in a normal compressed state, and the drive shaft 11 and the rotating sleeve 26 are connected as one unit through multiple sets of elastic pressure assemblies and can rotate synchronously.

[0087] Preferably, the elastic component mounting hole is a stepped hole, including a compression block mounting hole 31 and a spring mounting hole 32; the spring 33 is disposed in the spring mounting hole 32, and the compression block 34 is slidably mounted in the compression block mounting hole 31.

[0088] Preferably, such as Figure 11,like Figure 12 As shown, multiple sets of elastic pressure components are arranged at equal intervals in the circumferential direction of the rotating sleeve 26.

[0089] Preferably, the elastic pressure assembly includes: a spring 33, a compression block 34, and a locking block 35; the two ends of the spring 33 are fixedly connected to the compression block 34 and the locking block 35 respectively; the compression block 34 has a trapezoidal structure, and the outer surface of the compression block 34 is in extrusion contact with the conical limiting surface 29 inside the limiting sleeve 27.

[0090] Specifically, the spring mounting hole 32 connects the compression block mounting hole 31 and the intermediate shaft hole 30; the locking block 35 is disposed at the lower end of the spring mounting hole 32, and the end of the locking block 35 is provided with a convex circular structure, which can engage with the spherical groove, thereby enabling the drive shaft 11 and the rotating sleeve 26 to rotate synchronously.

[0091] Furthermore, the rotating sleeve 26 is connected to the rotary drive device 8 of the reciprocating running-in mechanism and can rotate under the drive of the rotary drive device 8; when the rotating sleeve 26 rotates, it can drive the transmission shaft 11 in the intermediate shaft hole 30 to rotate through multiple sets of elastic pressure components, and then drive the transmission chain running-in movement of the servo mechanism through the docking of the transmission shaft 11 with the docking fixture.

[0092] Specifically, the compression block 34 is slidably installed in the compression block mounting hole 31, and the upper end of the compression block 34 protrudes from the outer surface of the rotating sleeve 26; the end of the rotating sleeve 26 is provided with a threaded section 28, and the diameter of the threaded section 28 is larger than the diameter of the rotating sleeve 26; for example Figure 13 As shown. The limiting sleeve 27 has a three-section stepped structure, including: a large-diameter section, a tapered section, and a small-diameter section; the large-diameter section of the limiting sleeve 27 can be screwed onto the outside of the threaded section 28 by means of threads, and the inner diameter of the small-diameter section is equal to the outer diameter of the rotating sleeve 26; the inner wall of the tapered section is a conical limiting surface 29; as shown. Figure 14 As shown.

[0093] In this embodiment, adjusting the degree of engagement between the limiting sleeve 27 and the rotating sleeve 26 can adjust the degree of compression of the elastic pressing component by the conical limiting surface 29, thereby adjusting the clamping force of the elastic pressing component on the drive shaft 11. In other words, the higher the degree of engagement between the limiting sleeve 27 and the rotating sleeve 26, the greater the torque required for the drive shaft 11 to overcome the clamping force of the elastic pressing component and rotate relative to the rotating sleeve 26.

[0094] In practice, by rotating the limiting sleeve 27 to move it along the axial direction of the rotating sleeve 26, the degree of compression of the compression block 34 by the conical limiting surface 29 can be adjusted, thereby adjusting the pressure of the elastic pressing component on the drive shaft 11, and thus controlling the maximum torque that can be transmitted between the drive shaft 11 and the rotating sleeve 26. When the torque between the drive shaft 11 and the rotating sleeve 26 is greater than the maximum transmission torque of the torque limiting component, the drive shaft 11 can overcome the elastic force of the elastic pressing component to compress the spring 33, and then the locking block 35 can slide out from the spherical groove on the surface of the drive shaft 11. At this time, the rotating sleeve 26 will spin freely, and the torque transmission between the rotating sleeve 26 and the drive shaft 11 will be interrupted. This can prevent excessive break-in of the servo mechanism due to excessive break-in torque, and at the same time, it can prevent excessive torque transmitted to the rotary motor in the reverse direction from damaging the motor.

[0095] Compared with the prior art, the technical solution provided in this embodiment has at least one of the following beneficial effects:

[0096] 1. The automatic reciprocating break-in device for the multi-channel servo mechanism in this embodiment limits the maximum break-in torque through a torque limiting component. When the break-in torque is too large, the transmission shaft 11 and the rotating sleeve 26 rotate relative to each other, interrupting the transmission of the excessive torque, eliminating the influence on the motor during the break-in test, and reducing the excessive break-in of the servo mechanism.

[0097] 2. The multi-channel servo mechanism automatic reciprocating break-in device of this embodiment drives the synchronous gear 20 to rotate synchronously by setting the synchronous gear ring 23, and drives multiple sets of drive gears (first drive gear 28, second drive gear 29) to rotate synchronously by the synchronous gear 20, so as to realize the synchronous docking of the multi-channel reciprocating break-in mechanism and the multiple sets of transmission chains of the servo mechanism, and realize multi-channel synchronous operation; then the multiple sets of reciprocating break-in mechanism drive the multiple sets of transmission chains to move synchronously; the present invention adopts multi-channel synchronous parallel break-in, and the reciprocating break-in of the multiple sets of transmission chains of the servo mechanism is greatly improved in terms of break-in efficiency and break-in consistency.

[0098] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic reciprocating break-in device for a multi-channel servo mechanism, characterized in that, include: Fixed platform (1), product fixing seat (2), and reciprocating running-in mechanism; The fixed platform (1) is provided with a product fixing seat (2) for fixing and installing the servo mechanism in the middle; the product fixing seat (2) is provided with multiple sets of reciprocating running-in mechanisms in the circumferential direction; The reciprocating running-in mechanism includes: a movable base (3), a linear drive device (4), a transmission shaft (11), a rotary drive device (8), and a docking fixture; The movable base (3) is slidably mounted on the fixed platform (1) and can move closer to or further away from the servo mechanism under the drive of the linear drive device (4); The drive shaft (11) is rotatably mounted above the movable base (3) and can rotate under the drive of the rotary drive device (8); the drive shaft (11) can be connected to the transmission chain of the servo mechanism through the docking fixture, thereby driving the transmission chain to move in the opposite direction.

2. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 1, characterized in that, The linear drive device (4) is a linear motor, a cylinder or a hydraulic cylinder.

3. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 2, characterized in that, The docking fixture includes: a conical clamping block (12), a connecting shaft (13), a conical docking hole (14), and a connecting structure (15); one end of the connecting shaft (13) is provided with a connecting structure (15) for fixed connection with the bushing of the servo mechanism, and the other end is provided with a conical docking hole (14) that can engage with the conical clamping block (12).

4. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 3, characterized in that, The conical clamping block (12) is fixedly installed at the end of the drive shaft (11).

5. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 4, characterized in that, Two tapered clamping blocks (12) are arranged side by side at the end of the drive shaft (11).

6. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 5, characterized in that, The connection structure (15) is a flange with a threaded hole, which can be fixedly connected to the bushing at the output end of the servo mechanism by bolts.

7. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 6, characterized in that, The rotary drive device (8) includes a rotary motor for outputting torque.

8. The automatic reciprocating break-in device for a multi-channel servo mechanism according to claim 7, characterized in that, The drive shaft (11) is fixedly connected to the output end of the rotary drive device (8) via a coupling (7).

9. The automatic reciprocating break-in device for a multi-channel servo mechanism according to any one of claims 1-8, characterized in that, A torque sensor (9) is also provided between the drive shaft (11) and the rotary drive device (8); the torque sensor (9) is used to monitor the torque when the drive shaft (11) drives the servo mechanism to move.

10. A method for automatic reciprocating break-in of a multi-channel servo mechanism, characterized in that, The automatic reciprocating break-in device of the multi-channel servo mechanism as described in any one of claims 1-9 is adopted.

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