Force feedback position closed-loop test bench

Abstract

The utility model provides a force feedback position closed loop testboard, which belongs to the technical field of engineering precision measuring equipment, and comprises a grating ruler, a moving plate is adaptively mounted on the side surface of the grating ruler, a screw rod is sleeved on the end surface of the moving plate, a coupler is arranged on the upper surface of the screw rod, a motor is fixedly mounted on the end surface of the coupler through a straight shaft, and the motor is connected with the grating ruler. The device comprises a shaft coupling, a moving plate substrate is placed beside the shaft coupling, a reader support is installed on the side face of the moving plate substrate in a matched mode, a reader is installed on one side of the reader support in an embedded mode, the reader is electrically connected with a pressure sensor, the pressure sensor is matched with a testing rod, and the testing rod is electrically connected with the moving plate substrate through a grating ruler and the moving plate in a matched mode. And the motion plate substrate, the reader support and the reader are connected in an embedded manner, so that data recorded by the grating ruler is matched with the reader, and the motion plate substrate, the reader support and the reader are combined to form the position encoder.

Description

TECHNICAL FIELD

[0001] The utility model belongs to engineering precision measuring equipment technical field, concretely relates to a force feedback position closed loop test board. BACKGROUND

[0002] The force feedback position closed loop test board is a kind of equipment for measuring and controlling the force and position of mechanical system, is widely used in multiple fields, and uses displacement sensor and force sensor to measure the displacement and force variation of mechanical system, for example, six-dimensional force sensor can measure the linear force of object in three spatial axis directions and the torque of the three axes simultaneously.

[0003] In the above, according to the basic requirement of test board, a kind of force and displacement measurement combination platform is provided, can realize the measurement displacement of micron level precision, and with the high accuracy measurement of force feedback, finally complete closed loop, comprehensive test effect. UTILITY MODEL CONTENTS

[0004] The utility model discloses a kind of force feedback position closed loop test board, to solve the problem proposed in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme: including grating ruler, the side surface of the grating ruler is adaptively installed with motion plate, the end surface of the motion plate is sleeved with screw rod, the upper surface of the screw rod is equipped with shaft coupling, the end surface of the shaft coupling is fixedly installed with motor by straight shaft, and the side of the shaft coupling is placed with motion plate base plate, the side surface of the motion plate base plate is adaptively installed with reader support, the one side of the reader support is embeddedly installed with reader, the reader is electrically connected with pressure sensor, the surface of the pressure sensor is equipped with fixed support, the surface of the fixed support is installed with fastening screw, and the one end of the fixed support is adaptively installed with test rod.

[0006] As a preferred scheme of the utility model, the bottom of the pressure sensor is equipped with displacement slider, the lower surface of the displacement slider is slidably matched with reinforcing rib plate, the side of the reinforcing rib plate is adaptively installed with motion plate, the side of the motion plate is slidably matched with motion plate base plate, the side away from the motion plate of the motion plate base plate is adaptively installed with top plate.

[0007] As a preferred scheme of the utility model, the outer surface of the test rod is in close contact with screw, and the outer surface of the screw is through the fixed support.

[0008] As a preferred scheme of the utility model, the sliding plane of the pressure sensor and the sliding plane of the motion plate are kept perpendicular, and the placement plane of the test rod and the plane of the motion plate are arranged in parallel.

[0009] As a preferred scheme of the utility model, the reinforcing rib plate is a protruding panel, and the reinforcing rib plate is an integrally formed steel plate.

[0010] As a preferred scheme of the utility model, the bottom of the fastening screw is in close contact with the upper surface of the reinforcing rib plate, and the fastening screw is arranged symmetrically.

[0011] As a preferred scheme of the utility model, the side surface of the motor is adapted to be mounted with motor adapting screws, and the motor adapting screws are symmetrically arranged on the surface of the motor.

[0012] As a preferred scheme of the utility model, the reinforcing rib plate is provided with alignment screws on the side close to the bottom, the number of the alignment screws is four, and the alignment screws are arranged at the four corners of the reinforcing rib plate.

[0013] Compared with the prior art, the utility model has the beneficial effects that: through the cooperation of the grating ruler and the motion plate, the linear displacement and the angular displacement of the measured object are recorded, the transmission cooperation of the motor, the shaft coupling and the lead screw can make the grating ruler have the motion ability, the displacement measurement of the measured object is more comprehensive and continuous, the embedded connection of the motion plate base plate, the reader support and the reader makes the data recorded by the grating ruler cooperate with the reader, and the two are combined into a position encoder, the position code can be transmitted to the motor, the motor can flexibly control its parameters according to the test requirements, the position data is transmitted between different parts in this way, the whole device forms a closed-loop control system, the closed-loop characteristics of the device are highlighted, and the electrical connection of the pressure sensor and the reader makes the pressure reading signal of the pressure sensor sent to the receiving end of the reader, and provides a source signal of force feedback. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without paying creative labor. Among them:

[0015] Fig. 1 It is the overall structure schematic diagram of the utility model;

[0016] Fig. 2 It is the disassembly structure schematic diagram of all parts in the utility model;

[0017] Fig. 3 It is the structure schematic diagram of the related parts for realizing the adjusting position effect in the utility model;

[0018] Fig. 4 The structure diagram of the related parts for realizing the force feedback effect in the utility model;

[0019] Fig. 5 The structure diagram of the related parts for realizing the force feedback effect in the utility model; Fig. 4 The local enlarged diagram of part A in the figure.

[0020] In the figure: 1, motor; 2, grating ruler; 3, reader support; 4, reader; 5, pressure sensor; 6, fixed support; 7, test rod; 8, reinforcing rib plate; 9, screw rod; 10, moving plate; 11, top plate; 12, displacement slider; 13, fastening screw; 14, screwing screw; 15, motor adapting screw; 16, aligning screw; 17, shaft coupling; 18, fixed plate; 19, moving plate base plate. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely explained below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0022] The utility model embodiment proposes a kind of force feedback position closed loop test platform, including grating ruler 2;Exemplarily, as shown in Figs. 1-3 As shown in the figure.

[0023] The side surface of the grating ruler 2 is adaptively installed with the moving plate 10, the end surface of the moving plate 10 is sleeved with the screw rod 9, the upper surface of the screw rod 9 is equipped with the shaft coupling 17, the end surface of the shaft coupling 17 is fixedly installed with the motor 1 by straight shaft, and the side of the shaft coupling 17 is placed with the moving plate base plate 19, the side surface of the moving plate base plate 19 is adaptively installed with the reader support 3, one side of the reader support 3 is embeddedly installed with the reader 4, the reader 4 is electrically connected with the pressure sensor 5, the surface of the pressure sensor 5 is equipped with the fixed support 6, the surface of the fixed support 6 is installed with the fastening screw 13 in penetration, and one end of the fixed support 6 is adaptively installed with the test rod 7.

[0024] The bottom of the pressure sensor 5 is equipped with the displacement slider 12, the lower surface of the displacement slider 12 is slidably matched with the reinforcing rib plate 8, one side of the reinforcing rib plate 8 is adaptively installed with the moving plate 10, one side of the moving plate 10 is slidably matched with the moving plate base plate 19, the side of the moving plate base plate 19 away from the moving plate 10 is adaptively installed with the top plate 11.

[0025] The outer surface of the test rod 7 is in close contact with a screw 14, and the outer surface of the screw 14 is through the fixed support 6.

[0026] Specifically, through the cooperation of the grating ruler 2 and the motion plate 10, the linear displacement and angular displacement of the measured object are recorded, and the transmission cooperation of the motor 1, the shaft coupling 17 and the lead screw 9 can make the grating ruler 2 have the motion ability, so that the displacement measurement of the measured object is more comprehensive and continuous. Further, the embedded connection of the motion plate base plate 19, the reader support 3 and the reader 4 makes the data recorded by the grating ruler 2 cooperate with the reader 4, and the two are combined into a position encoder, which can transmit the position code to the motor 1, so that the motor 1 can flexibly control its own parameters according to the test requirements. This way of transmitting position data between different parts forms a closed-loop control system for the whole device, which emphasizes the closed-loop characteristics of the device. The electrical connection of the pressure sensor 5 and the reader 4 makes the pressure reading signal of the pressure sensor 5 sent to the receiving end of the reader 4, providing a source signal for force feedback. Meanwhile, the through installation of the fastening screw 13 and the fixed support 6 makes the fixed support 6 keep stable, and the adaptive installation of the test rod 7 and the fixed support 6 can make the test rod 7 stably contact with the measured object, which is convenient for obtaining more prepared feedback data.

[0027] Through the sliding cooperation of the displacement slider 12 and the reinforcing rib plate 8, the pressure sensor 5 can be displaced to facilitate the overall measurement of pressure data. Meanwhile, the cooperation of the motion plate 10 and the motion plate base plate 19 can provide stable support for the side surface of the reinforcing rib plate 8, and the adaptive installation of the top plate 11 can make the motion plate 10 keep stable in structure. Then, the close contact of the fastening screw 14 and the test rod 7 can lock the position of the test rod 7, realizing the function of measuring the measured object multiple times.

[0028] The sliding plane of the pressure sensor 5 is perpendicular to the sliding plane of the motion plate 10. Figs. 2-4 As shown in the example.

[0029] The placement plane of the test rod 7 is parallel to the plane of the motion plate 10.

[0030] The structure of the reinforcing rib plate 8 is a protruding panel, and the reinforcing rib plate 8 is an integrally formed steel plate.

[0031] The bottom of the fastening screw 13 is in close contact with the upper surface of the reinforcing rib plate 8, and the fastening screw 13 is arranged symmetrically.

[0032] Specifically, by the protruding structure design of the reinforcing rib plate 8, the sliding displacement of the displacement slider 12 is more stable, and the pressure sensor 5 can continuously collect reading signals on the horizontal plane. Further, the close contact of the fastening screw 13 and the reinforcing rib plate 8 can make the reinforcing rib plate 8 and the moving plate 10 always adhere and be stable, thereby ensuring the collection accuracy of the pressure sensor 5.

[0033] The side surface of the motor 1 is adapted to be mounted with motor adapting screws 15; for example, as shown in the figure. Figs. 3-5

[0034] A plurality of motor adapting screws 15 are symmetrically distributed on the surface of the motor 1, and the outer wall surface of the shaft coupling 17 is sleeved with a fixed plate 18.

[0035] The reinforcing rib plate 8 is provided with alignment screws 16 on the side close to the bottom, and the number of the alignment screws 16 is four, which are distributed on the four corners of the reinforcing rib plate 8.

[0036] Specifically, by the cooperation of the motor adapting screws 15 and the fixed plate 18, the motor 1 runs more stably and does not shake, and the symmetrical arrangement of the alignment screws 16 can make the reinforcing rib plate 8 be disassembled or fastened as needed.

[0037] Working principle: first, start the motor 1, the motor 1 drives the lead screw 9 to rotate synchronously, then drives the moving plate 10 to displace along the surface of the lead screw 9, and then pushes the displacement slider 12 to move horizontally on the surface of the reinforcing rib plate 8. When the test rod 7 contacts the measured object, at this time, the tightening screw 14 and the fastening screw 13 are screwed, so that the displacement slider 12 and the fixed support 6 are immediately locked, and the pressure sensor 5 sends the pressure reading signal to the reader 4. Further, the grating ruler 2 and the reader 4 are combined into a position encoder, and the position data can be sent to the motor 1. The motor 1 flexibly adjusts its own operation parameters according to the received data. This data intercommunication mode embodies the closed-loop test function of the whole device.

[0038] ​It is important to note that the construction and arrangements of the application shown in the various exemplary embodiments are illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications can be made to the embodiments without departing from the novel teachings and advantages of the subject matter described herein. For example, elements described as integrated in a single unit can be separated, elements described as separate can be integrated, and the position, number, shape, and arrangements of elements can be varied. Accordingly, all such modifications are intended to be included within the scope of the present inventive subject matter. The order or sequence of any process or method steps can be varied or re-sequenced without departing from the general nature of the claims. Any "means plus function" clauses are intended to cover the structures described herein as performing the recited functionality and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions can be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present inventive subject matter. Accordingly, the present inventive subject matter is not limited to the particular embodiments described and illustrated herein, but extends to equivalents of which the foregoing describes are intended to cover.

[0039] Furthermore, in order to provide a concise description of the exemplary embodiments, not all features of an actual implementation can be described (i.e., those related to the

[0040] It is understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts can inevitably lead to a number of substitutions, modifications, changes, and omissions of parts illustrated as having a specific configuration. Such are the natural consequences of research and development efforts, and

[0041] It should be noted that the above examples are intended to illustrate the technical solutions of the present application but not limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all should be included in the scope of the claims of the present application.

Claims

1. A force feedback position closed loop test bench, characterized by: Including grating ruler (2), the side of grating ruler (2) is adapted to install motion plate (10), the end surface of motion plate (10) is sleeved with screw rod (9), the upper surface of screw rod (9) is equipped with coupling (17), the end surface of coupling (17) is fixedly installed with motor (1) through straight shaft, and the side of coupling (17) is placed with motion plate base plate (19), the side of motion plate base plate (19) is adapted to install reading device support (3), one side of reading device support (3) is embeddedly installed with reading device (4), reading device (4) is electrically connected with pressure sensor (5), the surface of pressure sensor (5) is equipped with fixed support (6), the surface of fixed support (6) is equipped with fastening screw (13) through, and one end of fixed support (6) is adapted to install test rod (7).

2. The force feedback position closed-loop test table according to claim 1, wherein: The bottom of the pressure sensor (5) is provided with a displacement slider (12), the lower surface of the displacement slider (12) is slidably connected with a reinforcing rib plate (8), one side of the reinforcing rib plate (8) is adapted to install a motion plate (10), one side of the motion plate (10) is slidably connected with a motion plate base plate (19), and the side of the motion plate base plate (19) away from the motion plate (10) is adapted to install a top plate (11).

3. The force feedback position closed-loop test table according to claim 1, wherein: The outer surface of the test rod (7) is in close contact with a tightening screw (14), and the outer surface of the tightening screw (14) is in close contact with the fixed support (6).

4. The force feedback position closed-loop test table according to claim 1, wherein: The sliding plane of the pressure sensor (5) is perpendicular to the sliding plane of the motion plate (10), and the placement plane of the test rod (7) is parallel to the plane of the motion plate (10).

5. The force feedback position closed-loop test table according to claim 2, wherein: The reinforcing rib plate (8) is a protruding panel, and the reinforcing rib plate (8) is an integral steel plate.

6. The force feedback position closed-loop test bench according to claim 1, wherein: The bottom of the fastening screw (13) is in close contact with the upper surface of the reinforcing rib plate (8), and the fastening screw (13) is symmetrically arranged.

7. The force feedback position closed-loop test bench according to claim 1, wherein: The side of the motor (1) is adapted to install a motor adapting screw (15), and a plurality of motor adapting screws (15) are symmetrically arranged on the surface of the motor (1).

8. The force feedback position closed-loop test bench according to claim 2, characterized in that: The outer wall of the coupling (17) is sleeved with a fixed plate (18). The side close to the bottom of the reinforcing rib plate (8) is provided with a positioning screw (16), and the number of the positioning screw (16) is four.

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