Multifunctional test platform for rotary actuator

Abstract

The utility model provides a multifunctional test platform for a rotary actuator, relates to the technical field of test platforms, and solves the problems that an existing test platform for the rotary actuator is relatively high in price, single in function, inconvenient to operate and inaccurate in test data. The device comprises a first support frame and a second support frame, the first support frame is connected with a fixing flange used for fixing a tested rotary actuator, and the second support frame is connected with a magnetic powder brake used for providing a test load. The output end of the magnetic powder brake penetrates through the second supporting rack to be fixedly connected with one end of an adapter shaft, the other end of the adapter shaft is connected with one end of an output shaft through an elastic coupler, the other end of the output shaft is connected with one end of a torque sensor, and the other end of the torque sensor is connected with a tested rotary actuator. The multifunctional parameter measuring device has the advantages of being capable of achieving multifunctional parameter measurement, simple in structure, low in price, convenient to operate and accurate in data.

Description

TECHNICAL FIELD

[0001] The utility model relates to test platform technical field, concretely relates to a kind of multifunctional test platform of rotary actuator. BACKGROUND

[0002] Current humanoid robot market is hot, joint product hundred flowers, parameter is uneven. Harmonic reducer is familiar with and high probability is as first choice with its high torque, high precision, small volume, small back gap, and the rotary actuator product extended from harmonic reducer is mainstream, current market product is complicated, there are roughly following several problems: ①in order to meet the structural appearance demand, reduce the power density of motor, actual use torque is smaller than identification parameter;②in order to pursue extreme short, reduce the use quantity of support bearing;③in order to reduce weight, sacrifice strength, part size is particularly extreme limit.

[0003] In order to test whether the actual use parameter of rotary actuator is consistent with identification, and whether it can be used normally, without unexpected conditions such as noise vibration, need to complete by means of test. After understanding the price of test platform on market is expensive, function is single, operation is inconvenient, test data is inaccurate, therefore design this rotary actuator multifunctional test platform. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the problems of existing rotary actuator test platform, expensive price, single function, inconvenient operation and inaccurate test data.

[0005] In order to achieve the above object, the utility model adopts the following technical scheme:

[0006] A kind of multifunctional test platform of rotary actuator, characterized by: including first support frame and second support frame, the first support frame is connected with the fixed flange for fixing the rotary actuator to be measured on the side towards second support frame, the second support frame is connected with the magnetic powder brake for providing test load on the side away from first support frame, one end of the output end of the magnetic powder brake is fixedly connected with the one end of adapter shaft passing through second support frame, the other end of the adapter shaft is connected with the one end of output shaft by elastic coupling, the other end of the output shaft is connected with the one end of torque sensor, the other end of the torque sensor is connected with the rotary actuator to be measured.

[0007] Further improvement is that: the fixed flange is connected with the rotary actuator to be measured by fastening screw.

[0008] Further improvement is that: the fixed flange is connected with the first support frame by fastening screw.

[0009] Further improvement is that: the magnetic powder brake is connected with the second support frame by fastening screw.

[0010] Further improvement is that the output end of the magnetic powder brake is connected with one end of the adapter shaft through a fastening screw and a C-shaped flat key.

[0011] Further improvement is that the other end of the adapter shaft is connected with one end of the elastic coupling through a side inner hexagonal flat end set screw.

[0012] Further improvement is that one end of the output shaft is connected with the other end of the elastic coupling through a side inner hexagonal flat end set screw.

[0013] Further improvement is that one end of the torque sensor is connected with the other end of the output shaft through a fastening screw.

[0014] Further improvement is that the other end of the torque sensor is connected with the measured rotary actuator through a fastening screw.

[0015] Further improvement is that the bottom of the first support frame and the second support frame is provided with a plurality of fixing hole positions at equal intervals.

[0016] Further improvement is that the part materials of the torque sensor and the output shaft adopt aviation aluminum.

[0017] After the above technical scheme is adopted, the following beneficial effects are obtained compared with the prior art:

[0018] The measured rotary actuator and the load are connected together through the elastic coupling as a bridge, and the magnetic powder brake is used as the load, so that multifunctional parameter measurement can be realized, the structure is simple, the price is cheap, the operation is convenient, and the data accuracy can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a three-dimensional structural schematic diagram of the present application;

[0021] Figure 2 is a top view structural schematic diagram of the present application;

[0022] Figure 3 is a front view structural schematic diagram of the present application;

[0023] Figure 4 is a front view structural schematic diagram of the present application.

[0024] Explanation of reference signs: measured rotary actuator 1, first support frame 2, second support frame 3, fixed flange 4, torque sensor 5, output shaft 6, magnetic powder brake 7, elastic coupling 8, adapter shaft 9. DETAILED DESCRIPTION

[0025] Reference Figures 1-4 The technical solution adopted in the specific embodiment is shown as follows: a multifunctional test platform for rotary actuators, characterized in that it comprises a first support frame 2 and a second support frame 3, one side of the first support frame 2 is connected with a fixed flange 4 for fixing a measured rotary actuator, one side of the second support frame 3 away from the first support frame 2 is connected with a magnetic powder brake 7 for providing a test load, one end of the output end of the magnetic powder brake 7 is fixedly connected with one end of an adapter shaft 9 penetrating through the second support frame 3, the other end of the adapter shaft 9 is connected with one end of an output shaft 6 through an elastic coupling 8, the other end of the output shaft 6 is connected with one end of a torque sensor 5, and the other end of the torque sensor 5 is connected with the measured rotary actuator 1.

[0026] The torque sensor 5 has a range that can meet the test torque use requirements of multiple models of rotary actuators. The torque sensor has a range that can meet the test torque use requirements of multiple models of rotary actuators. Since the torque sensor is expensive, it can be connected through different fixed flanges, so it is not necessary to purchase multiple torque sensors, which can effectively reduce costs.

[0027] The size of the output shaft 6 and the elastic coupling 8 is uniquely determined considering the multiple sharing of torque sensors and the general use of multiple tests. The output shaft and the elastic coupling are uniquely sized considering the multiple sharing of torque sensors and the general use of multiple tests at the beginning of the design. After the unique size is determined, the output shaft and the elastic coupling have only one size, reducing the diversity of parts, reducing the difficulty of processing, reducing the procurement difficulty and the complexity of process design and process development when multiple test benches are tested simultaneously, reducing the processing cycle, and using pre-assembly during the use process. When replacing new specifications, it can not be necessary to disassemble, shorten the assembly time, and reduce the probability of errors.

[0028] The fixed flange 4 is connected with the measured rotary actuator through fastening screws.

[0029] The fixed flange 4 is connected with the first support frame 2 through fastening screws.

[0030] The magnetic powder brake 7 is connected with the second support frame 3 through fastening screws.

[0031] The output end of the magnetic powder brake 7 is connected with one end of the adapter shaft 9 through fastening screw and C-shaped flat key.

[0032] The other end of the adapter shaft 9 is connected with one end of the elastic coupling 8 through the inner hexagonal flat end set screw on the side.

[0033] One end of the output shaft 6 is connected with the other end of the elastic coupling 8 through the inner hexagonal flat end set screw on the side.

[0034] One end of the torque sensor 5 is connected with the other end of the output shaft 6 through fastening screw.

[0035] The other end of the torque sensor 5 is connected with the measured rotary actuator through fastening screw.

[0036] The bottom of the first support frame 2 and the second support frame 3 are provided with a plurality of fixed hole positions at equal intervals. The plurality of fixed hole positions arranged at equal intervals can realize multi-interval adjustment of the support frame.

[0037] The parts material of the torque sensor 5 and the output shaft 6 is aviation aluminum. Due to the characteristics of the magnetic powder brake 11, the magnetic field disappears without power supply, the magnetic powder returns to loose state, the connection between the rotor and the ring pole is disconnected, and there is almost no resistance. At this time, if there is external force acting on the rotor, the rotor can rotate relatively easily, but this is not a strict sense of "rotation", only the resistance from the magnetic powder brake disappears, that is, the no-load state is in the test. It can realize any value test in the interval from approximately equal to 0 (since the parts material of the torque sensor 5 and the output shaft 6 is aviation aluminum, the mass of aviation aluminum is very light) to the measured torque value.

[0038] The utility model discloses a working principle: when using, through the elastic coupling as the bridge together with the measured rotary actuator and load connection, the magnetic powder brake is used as the load, after electrification, the coil generates the magnetic field, and the magnetic powder forms the magnetic chain under the action of the magnetic field, and the ring pole and rotor are connected, when the rotor rotates, due to the linking action of the magnetic powder, will produce certain resistance moment, thereby realizes the control to the movement, after electrification, the magnetic field intensity determines the combination of the magnetic powder close degree, and then influences the braking effect, and the current is greater, and the magnetic field is stronger, and the magnetic powder is combined more closely, and the resistance moment that produces is greater, so this can not have to process multiple different weight loads to complete different test working condition requirements, and the load can be realized through the current size adjustment, shorten the processing period, reduce the time occupation of manpower and material resources, and the structure is also more simple, reduces the transmission error, and is also more convenient, and the value can be directly calculated through the current; Torque sensor adopts the torque test requirement of multiple models of rotary actuator that can meet the range, due to the expensive torque sensor, can be connected through different fixed flanges, need not purchase multiple torque sensors, can effectively reduce the cost; The output shaft and the elastic coupling, since considering the multiple sharing and multiple test general situation of torque sensor at the beginning of design, after being settled down with the only size, the output shaft and the elastic coupling two parts only have the only size, reduce the diversity of parts, reduce the processing difficulty, when multiple test product platform synchronous test, reduce the procurement difficulty of procurement and the program design and complicated process of reducing the processing procedure, reduce the processing period, and the use process can also adopt preassembly, and when replacing new specifications, can not disassemble, shorten the assembly time, reduce the error probability; Due to the characteristics of the magnetic powder brake, in the case of not electrification, the magnetic field disappears, and the magnetic powder restores the loose state, and the connection of the rotor and the ring pole is disconnected, and there is almost no resistance, at this time, if there is external force acting on the rotor, the rotor can rotate relatively easily, but this is not strictly the "rotation" in the sense, only without the resistance from the magnetic powder brake, i.e. the load state is in the test, and the torque sensor 5 and the output shaft 6 can be completely realized arbitrary numerical value test in the interval equal to 0 (since the part material of the torque sensor 5 and the output shaft 6 adopts aviation aluminum, and the quality of the aviation aluminum is very light) to the measured torque value.

[0039] The above shows and describes the basic principle and main features of the utility model and its advantages, and the person skilled in the art should understand that the utility model is not limited to the above examples, and the above examples and descriptions are only to illustrate the principle of the utility model, and various changes and improvements can be made to the utility model without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the claimed utility model, and the scope of protection of the utility model is defined by the appended claims and their equivalents. The utility model is not described in detail, and is the known technology of the person skilled in the art.

Claims

1. A multifunctional test platform for rotary actuators, characterized in that it comprises: The first support frame and the second support frame are connected with a fixing flange for fixing the measured rotary actuator on one side of the first support frame, and a magnetic powder brake for providing a test load is connected on the other side of the second support frame, one end of the output end of the magnetic powder brake is fixedly connected with one end of an adapter shaft, the other end of the adapter shaft is connected with one end of an output shaft through an elastic coupling, one end of a torque sensor is connected with the other end of the output shaft, and the other end of the torque sensor is connected with the measured rotary actuator.

2. The multi-functional test platform for rotary actuators of claim 1, wherein: The fixing flange is connected with the measured rotary actuator through fastening screws.

3. The multi-functional test platform for rotary actuators of claim 1, wherein: The fixing flange is connected with the first support frame through fastening screws.

4. The multi-functional test platform for rotary actuators of claim 1, wherein: The magnetic powder brake is connected with the second support frame through fastening screws.

5. The multi-functional test platform for rotary actuators of claim 1, wherein: One end of the adapter shaft is connected with the output end of the magnetic powder brake through fastening screws and a C-shaped flat key.

6. The multi-functional test platform for rotary actuators of claim 1, wherein: The other end of the adapter shaft is connected with one end of the elastic coupling through a hexagonal flat end set screw on the side.

7. The multi-functional test platform for rotary actuators of claim 1, wherein: One end of the output shaft is connected with the other end of the elastic coupling through a hexagonal flat end set screw on the side.

8. The multi-functional test platform for rotary actuators of claim 1, wherein: One end of the torque sensor is connected with the other end of the output shaft through fastening screws.

9. The multi-functional test platform for rotary actuators of claim 1, wherein: The other end of the torque sensor is connected with the measured rotary actuator through fastening screws.

10. The multi-functional test platform for rotary actuators of claim 1, wherein: The bottom of the first support frame and the second support frame is provided with a plurality of fixing hole positions at equal intervals.

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