A method for detecting a drive chain gap

Abstract

The present application relates to a kind of detection methods for transmission chain gap, belong to the technical field of gap detection, solve the low problem of efficiency and detection accuracy of gap detection of actuator in prior art.The present application is provided with fixed tooling, installation base, automatic measuring table, spacing adjustment mechanism and detection mechanism;Detection mechanism includes: angle encoder, angular displacement output device and taper spline shaft;Two output ends of angular displacement output device are respectively connected with angle encoder and taper spline shaft;Taper spline shaft can be butt-jointed with the output shaft sleeve of the actuator of control device;When angular displacement output device drives taper spline shaft to rotate, angle encoder can monitor the deflection angle of taper spline shaft.The present application drives the end of actuator to rotate by angular displacement output device, and the deflection angle is monitored by angle encoder, which improves the precision of gap detection of actuator and improves the detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of gap detection technology, and in particular to a method for detecting gaps in a transmission chain. Background Technology

[0002] The control device is a precision servo product, consisting of a controller and four actuators. During the assembly and debugging of the control device, it is necessary to accurately detect the internal clearances and make corresponding controls and adjustments based on these clearances to improve the product's assembly pass rate. The four actuators (drive chains) of the control device are evenly distributed at 90° intervals within the frame body. Each actuator mainly consists of a transmission mechanism, output shaft, and other components. Internal clearances exist within the transmission mechanism; clearances that are too small or too large will affect the performance of the entire control device.

[0003] Therefore, after assembly, it is necessary to initially measure the internal assembly clearance of the product and adjust products with excessively large or small clearances. This clearance belongs to the internal assembly clearance of the actuator and cannot be directly measured. The current detection method involves the operator using a tool connected to the output shaft to swing the output shaft counterclockwise and clockwise, feeling the minute angle of rotation. This minute angle is the transmission clearance. Based on assembly experience, the operator adjusts the transmission clearance by replacing parts and adjusting shims. Since the clearance value cannot be obtained directly, this adjustment method cannot guarantee assembly consistency, requires repeated disassembly and assembly during adjustment, and has low adjustment efficiency.

[0004] To address the aforementioned problems, this invention proposes a method for detecting transmission chain clearance, which can determine the internal clearance of the control device through measurement, without relying on human perception or indirect calculation. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a method for detecting transmission chain clearance, in order to solve the problems of low efficiency and accuracy in detecting clearance in actuators.

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

[0007] A transmission chain gap detection device includes: a fixed fixture, a mounting base, an automatic measuring table, a gap adjustment mechanism, and a detection mechanism;

[0008] The fixed fixture is fixedly mounted on the mounting base for mounting and fixing the control device to be tested; the detection mechanism is slidably mounted on the automatic measuring table, and the spacing adjustment mechanism can drive the detection mechanism to move; the detection mechanism includes: an angle encoder, an angular displacement output device, and a tapered spline shaft; the angular displacement output device is used to drive the tapered spline shaft to rotate; the tapered spline shaft can be connected to the output shaft sleeve of the actuator of the control device; when the angular displacement output device drives the tapered spline shaft to rotate, the angle encoder can monitor the deflection angle of the tapered spline shaft.

[0009] Furthermore, it also includes: a product installation platform, an orientation adjustment mechanism, and a lifting mechanism; the installation base is rotatably mounted on the product installation platform; the orientation adjustment mechanism can drive the installation base to rotate circumferentially relative to the product installation platform; a lifting mechanism is provided below the product installation platform, and the lifting mechanism is used to adjust the longitudinal height of the product installation platform.

[0010] Furthermore, the orientation adjustment mechanism includes: a base adjustment motor, an adjustment gear, and a motor gear; the adjustment gear is fixedly installed below the mounting base and rotates coaxially with the mounting base; the motor gear is rotatably installed above the product mounting platform and meshes with the adjustment gear for transmission; the base adjustment motor is used to drive the motor gear to rotate.

[0011] Furthermore, the lifting mechanism includes an electric cylinder; the electric cylinder is located below the product installation platform and is capable of driving the product installation platform to lift.

[0012] Furthermore, the spacing adjustment mechanism includes: a slider, a guide rail, and a cylinder; the guide rail is fixedly installed above the automatic measuring table and slides in cooperation with the slider; the output end of the cylinder is connected to the slider and is used to drive the slider to move linearly along the guide rail.

[0013] Furthermore, the angular displacement output device is a dual-axis stepper motor fixedly mounted on the slider; the tapered spline shaft is rotatably mounted above the slider and connected to one end output shaft of the dual-axis stepper motor, and the other end output shaft of the dual-axis stepper motor is connected to the angle encoder.

[0014] Furthermore, a locking device is provided below the product mounting platform; the locking device is used to restrict the rotation of the mounting base relative to the product mounting platform.

[0015] Furthermore, the locking device includes a locking shaft and a locking shaft seat; the locking shaft seat is fixedly installed below the mounting base, and a locking hole is provided on its lower surface; when the locking shaft moves up and down, it can be engaged into the locking hole or moved out of the locking hole, thereby locking or unlocking the mounting base.

[0016] Furthermore, multiple locking shaft seats are provided below the mounting base, and the multiple locking shaft seats are distributed at equal intervals in the circumferential direction.

[0017] A method for detecting transmission chain gap, employing the aforementioned transmission chain gap detection device.

[0018] The technical solution of this invention can achieve at least one of the following effects:

[0019] 1. The transmission chain gap detection device of the present invention can adjust the circumferential position of the control device in real time through the orientation adjustment mechanism, thereby driving the multiple actuators of the control device to connect with the detection mechanism in sequence and perform gap detection through the detection mechanism. This realizes the gap detection of multiple actuators through a set of detection mechanisms, thus improving the detection efficiency.

[0020] 2. In the transmission chain gap detection device of the present invention, the vertical alignment of the axis of the tapered spline shaft and the output shaft sleeve is completed by the lifting and lowering of the electric cylinder, and the horizontal alignment is completed by the base adjustment motor driving the adjustment gear to rotate. The circumferential orientation of the spline and the spline groove of the output shaft sleeve is completed by the dual-axis stepper motor driving the tapered spline shaft to rotate along its own axis and is tightened by the cylinder, ultimately achieving a tight fit between the tapered spline shaft and the actuator, realizing precise measurement of the output angle of the actuator with high measurement accuracy.

[0021] 3. This invention proposes a method for detecting transmission chain clearance. It directly measures the clearance value inside the actuator by using a high-precision angle encoder, thereby reducing measurement errors, minimizing human influence on the measurement, improving measurement efficiency through automation, and ensuring the accuracy and efficiency of the internal clearance value.

[0022] 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

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the transmission chain gap detection device according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a schematic diagram of the orientation adjustment mechanism of the transmission chain gap detection device according to Embodiment 1 of the present invention;

[0026] Figure 3 This is a schematic diagram of the locking principle of the locking device of the transmission chain gap detection device in Embodiment 1 of the present invention;

[0027] Figure 4 This is a schematic diagram of the actuator of the control device;

[0028] Figure 5 This is a schematic diagram showing the docking state between the tapered spline shaft and the actuator of the transmission chain clearance detection device in Embodiment 1 of the present invention;

[0029] Figure 6 This is a schematic diagram of the protection mechanism of the transmission chain gap detection device in Embodiment 3 of the present invention;

[0030] Figure 7 This is a schematic diagram showing the mating state of the rotating bushing and the radial locking assembly;

[0031] Figure 8 A cross-sectional view of the protected structure;

[0032] Figure 9 A longitudinal sectional view of the protected structure.

[0033] Figure label:

[0034] 1-Control device; 2-Fixed fixture; 3-Mounting base; 4-Product mounting platform; 5-Locking device; 6-Base adjustment motor; 7-Electric cylinder; 8-Slider; 9-Guide rail; 10-Automatic measuring table; 11-Cylinder; 12-Angle encoder; 13-Dual-axis stepper motor; 14-Conical spline shaft; 15-Actuating motor; 16-Transmission gear assembly; 17-Lead screw; 18-Guide rod; 19-Lead screw nut; 20-Output bushing; 21-Locking shaft; 22-Locking shaft seat; 23-Adjusting gear; 24-Motor gear; 25-Radial locking assembly; 26-Rotating bushing; 27-Pressure sleeve; 28-Threaded section; 29-Conical limiting surface; 30-Spline shaft hole; 31-Pressure block mounting hole; 32-Spring mounting hole; 33-Spring; 34-Trapezoidal pressure block; 35-Locking block. Detailed Implementation

[0035] 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.

[0036] Example 1

[0037] A specific embodiment of the present invention discloses a transmission chain gap detection device, such as... Figure 1 As shown, it includes: a fixed fixture 2, a mounting base 3, an automatic measuring table 10, a spacing adjustment mechanism, and a detection mechanism; the fixed fixture 2 is fixedly mounted on the mounting base 3 for mounting and fixing the control device 1 to be tested; the detection mechanism is slidably mounted on the automatic measuring table 10, and the spacing adjustment mechanism can drive the detection mechanism to move; the detection mechanism includes: an angle encoder 12, an angular displacement output device, and a tapered spline shaft 14; the tapered spline shaft 14 can be connected to the output shaft sleeve 20 of the actuator of the control device 1; when the angular displacement output device drives the tapered spline shaft 14 to rotate, the angle encoder 12 can monitor the deflection angle of the tapered spline shaft 14.

[0038] In one specific embodiment of the present invention, the angular displacement output device is a dual-axis stepper motor 13; the two output terminals of the dual-axis stepper motor 13 are respectively connected to the angle encoder 12 and the tapered spline shaft 14; as shown Figure 1 As shown.

[0039] In one specific embodiment of the present invention, the control device 1 is installed on the mounting base 3 and then fixed using a fixing fixture 2. Preferably, the fixing fixture 2 includes: an annular clamp and multiple sets of fastening structures disposed on the edge of the annular clamp; the fastening structure includes clamping blocks and adjusting bolts; the clamping blocks are slidably disposed on the inner side of the annular clamp and can slide towards the center of the annular clamp under the action of the adjusting bolts, thereby clamping and fixing the control device 1 disposed inside the annular clamp.

[0040] Preferably, the adjusting bolt is screwed onto the outside of the annular clamp via a thread, and the axis of the adjusting bolt coincides with the radial direction of the annular clamp; multiple sets of fastening structures are evenly distributed along the circumference of the annular clamp.

[0041] Preferably, a rotating tray is provided in the middle of the mounting base 3, which can cooperate with the bottom of the control device 1; the rotating tray is rotatably connected to the main structure of the mounting base 3 via bearings; thus, when the control device 1 is placed on the rotating tray, it can rotate circumferentially relative to the mounting base 3. When the control device 1 rotates circumferentially, it can adjust the circumferential alignment of the tapered spline shaft 14 of its actuator and detection mechanism, and enable the control device 1 to follow the degree of engagement between the tapered spline shaft 14 and the spline groove during the initial orientation adjustment stage, so that one of the actuators can cooperate with the tapered spline shaft 14. After one actuator is fully engaged with the tapered spline shaft 14, the control device 1 is clamped and fixed by the fixing fixture 2, restricting the circumferential rotation of the control device 1 relative to the mounting base 3, and realizing the complete fixation of the control device 1 on the mounting base 3.

[0042] Furthermore, such as Figure 1 As shown, it also includes: a product installation platform 4, an orientation adjustment mechanism, and a lifting mechanism; the installation base 3 is rotatably installed on the product installation platform 4; the orientation adjustment mechanism can drive the installation base 3 to rotate circumferentially relative to the product installation platform 4; a lifting mechanism is provided below the product installation platform 4, and the lifting mechanism is used to adjust the longitudinal height of the product installation platform 4.

[0043] Specifically, the mounting base 3 is rotatably mounted above the product mounting platform 4; the orientation adjustment mechanism and the lifting mechanism are both located below the product mounting platform 4.

[0044] In one specific embodiment of the present invention, such as Figure 2 As shown, the orientation adjustment mechanism includes: a base adjustment motor 6, an adjustment gear 23, and a motor gear 24; the adjustment gear 23 is fixedly installed below the mounting base 3 and rotates coaxially with the mounting base 3; the motor gear 24 is rotatably installed above the product mounting platform 4 and meshes with the adjustment gear 23 for transmission; the base adjustment motor 6 is used to drive the motor gear 24 to rotate.

[0045] Preferably, such as Figure 2 As shown, the base adjustment motor 6 is fixedly installed below the product mounting platform 4; the output shaft of the base adjustment motor 6 passes through the product mounting platform 4 and is fixedly connected to the motor gear 24, thereby driving the motor gear 24 to rotate; specifically, the adjustment gear 23 is rotatably installed above the product mounting platform 4 through a bearing; the motor gear 24 meshes with the adjustment gear 23, thereby driving the adjustment gear 23 to rotate.

[0046] Furthermore, the mounting base 3 is fixedly connected to the adjusting gear 23, enabling synchronous adjustment of the gear 23's rotation, such as... Figure 1As shown. Furthermore, the rotation axis of the mounting base 3 is collinear with the rotation axis of the adjusting gear 23.

[0047] In this embodiment, when the mounting base 3 rotates, it can adjust the multiple sets of actuators of the control device 1 to connect with the tapered spline shaft 14 of the detection mechanism. The four sets of actuators of the control device 1 are arranged at 90° intervals. Therefore, the base adjustment motor 6 drives the mounting base 3 to rotate 90° through the gear set, and then switches to the next set of actuators for detection.

[0048] Furthermore, such as Figure 2 As shown, the lifting mechanism includes an electric cylinder 7; the electric cylinder 7 is located below the product mounting platform 4 and can drive the product mounting platform 4 to lift.

[0049] Preferably, four electric cylinders 7 are provided, and all four electric cylinders 7 are fixedly connected to the lower surface of the product mounting platform 4. The four electric cylinders 7 synchronously output linear displacement, driving the product mounting platform 4 to rise and fall, thereby driving the control device 1 to move up and down, so that the output shaft sleeve 20 of the actuator of the control device 1 can be aligned with the height of the tapered spline shaft 14, and the tapered spline shaft 14 can be inserted into the spline groove of the output shaft sleeve 20.

[0050] Specifically, the base adjustment motor 6 is located in the middle of the product installation platform 4; the electric cylinder 7 is located on the outside of the base adjustment motor 6.

[0051] In one specific embodiment of the present invention, such as Figure 1 As shown, the spacing adjustment mechanism includes: a slider 8, a guide rail 9, and a cylinder 11; the guide rail 9 is fixedly installed above the automatic measuring table 10 and slides in cooperation with the slider 8; the output end of the cylinder 11 is connected to the slider 8 and is used to drive the slider 8 to move linearly along the guide rail 9.

[0052] Furthermore, a dual-axis stepper motor 13 is fixedly mounted on the slider 8; the tapered spline shaft 14 is rotatably mounted above the slider 8 and connected to the output shaft of one end of the dual-axis stepper motor 13. The other output shaft of the dual-axis stepper motor 13 is connected to an angle encoder 12. Since the output angular displacements of the two output shafts of the dual-axis stepper motor 13 are equal, the angle encoder 12 can monitor the deflection angle of the tapered spline shaft 14, thereby enabling the monitoring of the deflection angle of the output shaft sleeve 20 of the actuator and realizing the clearance detection of the actuator.

[0053] In this embodiment, the angle encoder 12 adopts a high-precision angle encoder with a positioning accuracy of ±10″, which enables the gap measurement accuracy to reach within 0.01°, greatly improving the measurement accuracy and ensuring good consistency in the assembly of the control device. At the same time, the measurement process adopts an automated device, which can ensure the efficiency of the measurement.

[0054] Furthermore, such as Figure 1 , Figure 2 As shown, a locking device 5 is also provided below the product mounting platform 4; the locking device 5 is used to restrict the rotation of the mounting base 3 relative to the product mounting platform 4.

[0055] Furthermore, such as Figure 3 As shown, the locking device 5 includes a locking shaft 21 and a locking shaft seat 22; the locking shaft seat 22 is fixedly installed below the mounting base 3, and a locking hole is provided on its lower surface; when the locking shaft 21 moves up and down, it can be engaged in the locking hole or moved out of the locking hole, thereby locking or unlocking the mounting base 3.

[0056] Preferably, multiple locking shaft seats 22 are provided below the mounting base 3, and the multiple locking shaft seats 22 are distributed at equal intervals in the circumferential direction.

[0057] Preferably, the locking shaft 21 is disposed through the product mounting platform 4, and its end is driven to move up and down by a linear drive device, thereby realizing engagement or disengagement with the locking shaft seat 22; the linear drive device can be a linear motor, electric push rod, cylinder or hydraulic cylinder.

[0058] In this embodiment, the control device 1 has four sets of actuators, which are distributed at equal intervals of 90°. Correspondingly, four locking shaft seats 22 are fixedly arranged below the mounting base 3, and the four locking shaft seats 22 are arranged at equal intervals of 90°. In practice, the circumferential position of the control device 1 is adjusted by rotating the mounting base 3 circumferentially through the base adjustment motor 6, and the locking shaft 21 of the locking device 5 engages with the four locking shaft seats 22 respectively, thereby realizing the sequential positioning of the four sets of actuators. This allows the tapered spline shaft 14 of the detection mechanism to be connected to the output shaft sleeves 20 of the four sets of actuators respectively, thereby enabling the detection of the gap between the four sets of actuators.

[0059] Example 2

[0060] A specific embodiment of the present invention provides a method for detecting transmission chain clearance, employing the transmission chain clearance detection device of Embodiment 1. The detection method includes the following steps:

[0061] Step S1: Install the control device 1 onto the mounting base 3, and mate one of the actuators of the control device 1 with the tapered spline shaft 14 of the detection mechanism; fix the control device 1 onto the mounting base 3 using the fixing fixture 2;

[0062] Step S2: Drive the tapered spline shaft 14 to deflect left and right through the angular displacement output device, and detect the deflection angle of the tapered spline shaft 14 to deflect left and right through the angle encoder 12 to perform clearance detection of one actuator.

[0063] Step S3: The orientation adjustment mechanism drives the mounting base 3 to rotate 90° so that the next actuator is aligned with the tapered spline shaft 14; at the same time, the locking mechanism 5 locks the current position of the mounting base 3.

[0064] Step S4: Repeat steps S2 and S3 until the gap detection of the four actuators is completed.

[0065] In step S1, as follows Figure 4 As shown, one of the actuators of the control device includes: an actuator motor 15, a transmission gear assembly 16, a lead screw 17, a guide rod 18, a lead screw nut 19, and an output shaft sleeve 20; the actuator motor 15 drives the lead screw 17 to rotate through the transmission gear assembly 16, and then the lead screw nut 19 slides along the guide rod 18. During the sliding process of the lead screw nut 19 along the guide rod 18, it can drive the output shaft sleeve 20 to output rotational motion.

[0066] In step S1, the cylinder 11 is connected to the slider 8. The cylinder 11 can push the slider 8 to move back and forth on the guide rail 9, thereby driving the tapered spline shaft 14 to dock or disengage from the actuator of the control device 1. The tapered spline shaft 14 can achieve a tight connection with the output shaft of the control device 1 through preload.

[0067] In step S1, before the measurement begins, the control device 1 is installed on the mounting base 3. After aligning one of the output shaft sleeves 20 of the control device 1 with the tapered spline shaft 14, the control device 1 is fixed and clamped by the fixing fixture 2. Since the four actuators of the control device 1 are evenly distributed at 90° intervals, the gap detection of the actuators in different orientations can be achieved simply by driving the mounting base 3 to rotate at a fixed angle, without the need for repeated adjustments, thus saving detection time and improving detection efficiency.

[0068] In step S1, if the tapered spline shaft 14 cannot mate with the spline groove of the output sleeve 20 of the control device 1, the position of the control device 1 is adjusted. The adjustment method is as follows:

[0069] Step S101: The height of the product mounting platform 4 is finely adjusted in the vertical direction by the electric cylinder 7 so that the height of the output sleeve 20 of the control device 1 is close to that of the axis of the tapered spline shaft 14 in the vertical direction; the orientation angle of the control device 1 is adjusted to change the parallelism between the axis of the output sleeve 20 and the axis of the tapered spline shaft 14 until the two axes are close to parallel; then the tapered spline shaft 14 and the spline groove of the output sleeve 20 of the actuator can be connected and fitted.

[0070] Step S102: The cylinder 11 drives the slider 8 to slide along the slide rail 9, causing the tapered spline shaft 14 to dock with the output sleeve 20 of the control device 1. During the docking process, the dual-axis stepper motor 13 outputs reciprocating micro-rotations to adjust the fit between the tapered spline shaft 14 and the output sleeve 20, so that the tapered spline shaft 14 can fully fit with the spline groove of the output sleeve 20. As the tapered spline at the end of the tapered spline shaft 14 gradually engages with the spline groove of the output sleeve 20, the axis of the control device 1 relative to the mounting base 3 rotates circumferentially, causing the axis of the output sleeve 20 and the axis of the tapered spline shaft 14 to gradually become consistent. At the same time, the electric cylinder 7 synchronously adjusts the height of the product mounting platform 4, so that the vertical height of the axis of the output sleeve 20 and the axis of the tapered spline shaft 14 gradually becomes consistent. At this time, the fit between the tapered spline shaft 14 and the output sleeve 20 of the actuator is as follows. Figure 5 As shown.

[0071] Step S103: After the docking is completed, the tapered spline shaft 14 and the spline groove of the output shaft sleeve 20 of the actuator are fully engaged; then the control device 1 is clamped by the fixing fixture 2, which restricts the circumferential rotation of the control device 1 and the mounting base 3, and the control device 1 is completely fixed on the mounting base 3; the cylinder 11 docks and presses the tapered spline shaft 14 and the output shaft sleeve 20 according to the set preload force, so that the control device 1 has the conditions for measurement.

[0072] In step S1, the locking device 5 maintains the locking state on the mounting base 3. After the detection mechanism and one of the actuators of the control device 1 are connected, the control device 1 is completely fixed on the mounting base 3 by the fixing fixture 2.

[0073] In step S2, after the tapered spline shaft 14 is connected and installed with the actuator of the control device 1, the dual-axis stepper motor 13 rotates counterclockwise and clockwise according to the set preload force. The angle encoder 12 records the difference between the angle values ​​at the two extreme positions. This difference is the internal clearance value of the actuator of the control device.

[0074] In step S2, one end of the dual-axis stepper motor 13 is connected to the tapered spline shaft 14 to provide torque and rotation; the other end is connected to the angle encoder 12, which measures the rotation angle of the output sleeve 20 of the control device 1. By measuring the angle difference between the two extreme positions of the left and right deflection of the output sleeve 20, the gap detection of the actuator can be realized.

[0075] In this embodiment, the vertical alignment of the axis of the tapered spline shaft 14 and the output shaft sleeve 20 is achieved by the lifting and lowering of the electric cylinder 7. The horizontal alignment is achieved by the base adjustment motor 6 driving the adjustment gear 23 to rotate. The circumferential orientation of the spline and the spline groove of the output shaft sleeve 20 is achieved by the dual-axis stepper motor 13 driving the tapered spline shaft 14 to rotate along its own axis and being tightened by the cylinder, ultimately achieving a tight fit between the tapered spline shaft 14 and the actuator. The deflection angle range of the tapered spline shaft reflects the clearance size of the actuator, realizing precise measurement of the clearance of the actuator with high measurement accuracy.

[0076] In step S3, after one actuator completes the measurement, the cylinder 11 drives the slider 8 to move backward, so that the tapered spline shaft 14 disengages from the output shaft sleeve 20 of the control device 1, and the slider 8 retracts to the starting position; at the same time, the locking device 5 loosens the mounting base 3, so that the base adjustment motor 6 can drive the mounting base 3 to rotate, thereby enabling the switching of the next actuator for detection.

[0077] Furthermore, in step S3, the base adjustment motor 6 drives the adjustment gear 23 and the mounting base 3 to rotate through the motor gear 24. After the mounting base 3 rotates 90°, it stops moving and causes the locking shaft 21 of the locking device 5 to move upward and engage with the locking shaft seat 22, locking the current position of the mounting base 3. Then, repeating the detection process of step S2 can detect the gap of the actuator.

[0078] In step S4, by repeating steps S2 and S3, the mounting base 3 is rotated sequentially by the base adjustment motor 6 through 90°, 180° and 270°, so that the output shaft sleeves 20 of the four actuators of the control device 1 can all be connected with the tapered spline shaft 14, and the gap detection of the four actuators can be realized by the detection mechanism.

[0079] Compared with the prior art, the technical solution provided in this embodiment has at least one of the following beneficial effects:

[0080] 1. The clearance of the transmission chain in the control device can be directly measured;

[0081] The clearance detection method for the actuator of the present invention uses a dual-axis stepper motor 13 to rotate counterclockwise and clockwise according to a set torque value, which drives the angle encoder 12 and the tapered spline shaft 14 to rotate synchronously. The angle encoder 12 records the difference between the angle values ​​under the two extreme states. This difference is the internal clearance value of the actuator of the control device 1, which can directly realize the measurement of the rotation clearance.

[0082] 2. High measurement accuracy;

[0083] The gap detection method for the actuator of the present invention uses a high-precision angle encoder with a positioning accuracy of ±10″ to ensure that the measurement accuracy is within 0.01°, which can improve the consistency of the internal gap measurement value of the actuator of the control device 1.

[0084] 3. Measurement work can be completed automatically;

[0085] The clearance detection method for the actuator of the present invention can realize the orientation angle change of the mounting base 3 through the orientation adjustment mechanism, so that the four actuators of the control device 1 can be connected with the tapered spline shaft 14 of the detection mechanism, thereby realizing the sequential detection of the four actuators of the control device 1; except for manual loading, the entire testing process is automatically completed by the equipment without manual intervention, which improves the measurement efficiency.

[0086] Example 3

[0087] In one specific embodiment of the present invention, an improvement is made based on Embodiment 1:

[0088] In this embodiment, to prevent the torque generated between the control device 1 and the angular displacement output device during the detection process from being transmitted in reverse to the angular displacement output device and causing damage, a protective mechanism is set between the tapered spline shaft 14 and the angular displacement output device to limit the maximum torque transmitted in reverse by the tapered spline shaft 14 during the detection process.

[0089] Specifically, one end of the tapered spline shaft 14 is provided with a tapered spline, and the other end is connected to the output shaft of the angular displacement output device through a protection mechanism. Furthermore, in this embodiment, an angle sensor connected to the tapered spline shaft 14 is used to monitor the deflection angle of the tapered spline shaft 14.

[0090] like Figure 6 , Figure 7 As shown, the protection mechanism includes: a rotating bushing 26, a pressure sleeve 27, and a radial locking assembly 25.

[0091] Specifically, such as Figure 8 , Figure 9As shown, the rotating bushing 26 has multiple radial locking holes in its radial direction, and the radial locking assembly 25 is disposed in the radial locking holes; the rotating bushing 26 has a spline shaft hole 30 extending along its own axis in its axial direction; the spline shaft hole 30 mates with a tapered spline shaft 14, and the circumferential side of the tapered spline shaft 14 has multiple spherical grooves; the radial locking assembly 25 is disposed in the radial locking holes, and the end of the radial locking assembly 25 is engaged in the spherical grooves; the pressure sleeve 27 is threaded onto the outside of the rotating bushing 26, and the inner wall of the pressure sleeve 27 presses against the radial locking assembly 25; the radial locking assembly 25 is in a normal compressed state, and the tapered spline shaft 14 and the rotating bushing 26 are connected as one unit by multiple sets of radial locking assemblies 25 and can rotate synchronously.

[0092] Preferably, the radial locking hole is a stepped hole, including a pressure block mounting hole 31 and a spring mounting hole 32; the spring 33 is disposed in the spring mounting hole 32, and the trapezoidal pressure block 34 is slidably mounted in the pressure block mounting hole 31.

[0093] Preferably, such as Figure 8 ,like Figure 9 As shown, multiple sets of radial locking components 25 are arranged at equal intervals in the circumferential direction of the rotating bushing 26.

[0094] Preferably, the radial locking assembly 25 includes: a spring 33, a trapezoidal pressure block 34, and a locking block 35; the two ends of the spring 33 are fixedly connected to the trapezoidal pressure block 34 and the locking block 35 respectively; the trapezoidal pressure block 34 has a trapezoidal structure, and the outer surface of the trapezoidal pressure block 34 is in contact with the conical limiting surface 29 inside the pressure sleeve 27.

[0095] Specifically, the spring mounting hole 32 connects the pressure block mounting hole 31 and the spline 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 round structure, which can engage with the spherical groove, so that the tapered spline shaft 14 and the rotating bushing 26 can rotate synchronously.

[0096] Furthermore, the rotating bushing 26 is connected to the angular displacement output device and can rotate under the drive of the angular displacement output device; when the rotating bushing 26 rotates, it can drive the tapered spline shaft 14 in the spline shaft hole 30 to rotate through multiple sets of radial locking components 25, and drive the actuator to move through the docking of the tapered spline shaft 14 with the actuator, thereby realizing gap detection.

[0097] Specifically, the trapezoidal pressure block 34 is slidably installed in the pressure block mounting hole 31, and the upper end of the trapezoidal pressure block 34 protrudes from the outer surface of the rotating bushing 26; the end of the rotating bushing 26 is provided with a threaded section 28, and the diameter of the threaded section 28 is larger than the diameter of the rotating bushing 26; for example Figure 8 As shown. The pressure 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 pressure 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 bushing 26; the inner wall of the tapered section is a conical limiting surface 29; as shown. Figure 8 As shown.

[0098] In this embodiment, adjusting the engagement degree between the pressure sleeve 27 and the rotating bushing 26 can adjust the pressure of the conical limiting surface 29 or the inner wall of the pressure sleeve 27 against the radial locking assembly 25, thereby adjusting the clamping force of the radial locking assembly 25 on the tapered spline shaft 14, and consequently adjusting the maximum torque that can be transmitted between the tapered spline shaft 14 and the angular displacement output device. In other words, the higher the engagement degree between the pressure sleeve 27 and the rotating bushing 26, the greater the torque required for the tapered spline shaft 14 to overcome the clamping force of the radial locking assembly 25 and rotate relative to the rotating bushing 26.

[0099] In practice, by rotating the pressure sleeve 27 to move it along the axial direction of the rotating bushing 26, the degree of compression of the trapezoidal pressure block 34 by the conical limiting surface 29 can be adjusted, thereby adjusting the pressure of the radial locking assembly 25 on the conical spline shaft 14, and thus controlling the maximum torque that can be transmitted between the conical spline shaft 14 and the rotating bushing 26. When the torque between the conical spline shaft 14 and the rotating bushing 26 is greater than the maximum transmission torque of the protection mechanism, the conical spline shaft 14 can overcome the elastic force of the radial locking assembly 25 to compress the spring 33, and the locking block 35 can slide out from the spherical groove on the surface of the conical spline shaft 14. At this time, the rotating bushing 26 will spin freely, and the torque transmission between the rotating bushing 26 and the conical spline shaft 14 will be interrupted, which can prevent the actuator from being damaged by excessive torque, and at the same time prevent the motor from being damaged by excessive torque transmitted in the reverse direction.

[0100] 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. A transmission chain gap detection device, characterized in that, include: Fixed fixture (2), mounting base (3), automatic measuring table (10), spacing adjustment mechanism and detection mechanism; The fixed fixture (2) is fixedly installed on the mounting base (3) for installing and fixing the control device (1) to be tested; the detection mechanism is slidably installed on the automatic measuring table (10), and the spacing adjustment mechanism can drive the detection mechanism to move; The detection mechanism includes: an angle encoder (12), an angular displacement output device, and a tapered spline shaft (14); the angular displacement output device is used to drive the tapered spline shaft (14) to rotate; the tapered spline shaft (14) can be connected to the output shaft sleeve (20) of the actuator of the control device (1); when the angular displacement output device drives the tapered spline shaft (14) to rotate, the angle encoder (12) can monitor the deflection angle of the tapered spline shaft (14).

2. The transmission chain gap detection device according to claim 1, characterized in that, Also includes: Product installation platform (4), orientation adjustment mechanism and lifting mechanism.

3. The transmission chain gap detection device according to claim 2, characterized in that, The mounting base (3) is rotatably mounted on the product mounting platform (4); the orientation adjustment mechanism can drive the mounting base (3) to rotate circumferentially relative to the product mounting platform (4).

4. The transmission chain gap detection device according to claim 2, characterized in that, A lifting mechanism is provided below the product installation platform (4), which is used to adjust the longitudinal height of the product installation platform (4).

5. The transmission chain gap detection device according to claim 2, characterized in that, The lifting mechanism includes an electric cylinder (7).

6. The transmission chain gap detection device according to claim 5, characterized in that, The electric cylinder (7) is located below the product mounting platform (4) and can drive the product mounting platform (4) to rise and fall.

7. The transmission chain clearance detection device according to any one of claims 2-6, characterized in that, A locking device (5) is also provided below the product installation platform (4).

8. The transmission chain gap detection device according to claim 7, characterized in that, The locking device (5) is used to restrict the rotation of the mounting base (3) relative to the product mounting platform (4).

9. The transmission chain gap detection device according to claim 1, characterized in that, The angular displacement output device is a dual-axis stepper motor (13) fixedly mounted on the slider (8).

10. A method for detecting transmission chain clearance, using the transmission chain clearance detection device according to any one of claims 1-9.

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