Test apparatus for linear actuators

Abstract

This utility model relates to linear actuator testing and discloses a testing device for a linear actuator, including a linear actuator, a load assembly, a support base, and a mounting base. The linear actuator is disposed on the mounting base, and the load assembly is hinged to the mounting base via a first hinge point. The mounting base is disposed on the support base and is movable relative to the support base between a first position and a second position. The extension direction of the linear actuator in the first position forms a predetermined angle with the extension direction of the linear actuator in the second position. Through this technical solution, by changing the extension direction of the linear actuator to change the driving direction of its output end, different joint movements can be simulated without needing different testing devices for simulating different joint movements. Therefore, the structure is simplified, costs are reduced, and testing efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of linear actuator testing, and more specifically to a testing device for linear actuators. Background Technology

[0002] Linear actuators, also known as planetary roller screw actuators, are integrated motion units that combine servo motors, reducers, screws, sensors, and drivers. They enable robots to move more smoothly and with better balance, and are characterized by high precision and high load capacity. They can achieve precise speed control, position control, and force control, and are the core motion components of robots.

[0003] To ensure the safety and reliability of linear actuators, simulation tests are required. Robots have different types of joints, and the linear actuators used in these joints extend and output power in different directions. Current technology requires different testing devices to mount the linear actuators at different angles to simulate different types of joints. Utility Model Content

[0004] The purpose of this invention is to overcome the problem that existing testing devices cannot simulate different types of joints in linear actuators.

[0005] To achieve the above objectives, this utility model provides a testing device for a linear actuator, comprising a linear actuator, a load assembly, a support base, and a mounting base. The linear actuator is disposed on the mounting base, and the load assembly is hinged to the mounting base via a first hinge point. The mounting base is disposed on the support base and is movable relative to the support base between a first position and a second position. The extension direction of the linear actuator in the first position and the extension direction of the linear actuator in the second position form a predetermined angle. In the first position and the second position, the output end of the linear actuator can respectively drive the load assembly to rotate relative to the mounting base around the first hinge point, thereby simulating different types of joint movements.

[0006] In some embodiments, the load assembly is hinged to the output end of the linear actuator via a second hinge point, and the end of the linear actuator furthest from the output end is hinged to the load assembly via a third hinge point. In some embodiments, the load assembly includes a load connector and a load member detachably disposed on the load connector, the load connector being hinged to the mounting base via a first hinge point and to the output end of the linear actuator via a second hinge point.

[0007] In some embodiments, an encoder is provided between the load connection and the linear actuator. The encoder includes a stator and a rotor that are rotatable relative to each other. One of the stator and the rotor is connected to the load connection and the other is connected to the linear actuator.

[0008] In some embodiments, the load connector includes a load rod, and the load member can be selectively mounted at different positions along the length of the load rod to adjust the lever arm of the load member.

[0009] In some embodiments, the load rod is provided with external threads and two positioning nuts for clamping the load component are screwed on. The two positioning nuts can be screwed at different positions along the length of the load rod to adjust the position of the load component.

[0010] In some embodiments, in the first position, the linear actuator extends horizontally to simulate arm joint movements, and in the second position, the linear actuator extends vertically to simulate leg joint movements.

[0011] In some embodiments, the mounting base is mounted to the support base via a pivot and is rotatable between the first position and the second position about the pivot.

[0012] In some embodiments, a locking element is also included, which is capable of selectively locking the mounting base in either the first position or the second position.

[0013] In some embodiments, the support base is provided with a first locking hole and a second locking hole, and the mounting base is provided with a third locking hole. In the first position, the locking member is inserted into the first locking hole and the third locking hole, and in the second position, the locking member is inserted into the second locking hole and the third locking hole.

[0014] By using the above technical solution, different joint movements can be simulated by changing the extension direction of the linear actuator to change the driving direction of its output end. It is not necessary to provide different test devices for simulating different joint movements, thus simplifying the structure, reducing costs, and improving test efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the test device for the linear actuator in this embodiment of the solution, wherein the linear actuator is in the second position; Figure 2 This is a schematic diagram of the structure of the test device for the linear actuator in this embodiment of the solution, wherein the linear actuator is in the first position; Figure 3This is an exploded view of part of the structure of the support base and mounting base in this embodiment of the solution; Figure 4 This is a structural schematic diagram of the load connector and load rod in an embodiment of this solution; Figure 5 This is an exploded view of the linear actuator and load connector in this embodiment of the solution.

[0016] Explanation of reference numerals in the attached figures 1-First hinge point, 2-Second hinge point, 3-Third hinge point, 10-Linear actuator, 20-Load assembly, 21-Load connection seat, 22-Load component, 23-Load rod, 24-Positioning nut, 30-Support seat, 31-First locking hole, 32-Second locking hole, 33-Rotating shaft, 40-Mounting seat, 41-Mounting bracket, 42-Base plate, 43-First connection seat, 44-Second connection seat, 45-Third locking hole, 50-Locking component, 60-Encoder. Detailed Implementation

[0017] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0018] refer to Figures 1-5 As shown, this utility model discloses a testing device for a linear actuator, comprising a linear actuator 10, a load assembly 20, a support base 30, and a mounting base 40. The linear actuator 10 is disposed on the mounting base 40, and the load assembly 20 is hinged to the mounting base 40 via a first hinge point 1. The mounting base 40 is disposed on the support base 30 and is movable relative to the support base 30 between a first position and a second position. The extension direction of the linear actuator 10 in the first position forms a predetermined angle with the extension direction of the linear actuator 10 in the second position. In the first position and the second position, the output end of the linear actuator 10 can respectively drive the load assembly 20 to rotate relative to the mounting base 40 around the first hinge point 1 to simulate different types of joint movements.

[0019] The support base 30 is a support foundation, which can be set on a support foundation, such as the ground.

[0020] Both the linear actuator 10 and the load assembly 20 are mounted on the mounting base 40. The load assembly 20 is rotatably hinged to the mounting base 40 via the first hinge point 1. The linear actuator 10 can drive the load assembly 20 to rotate relative to the mounting base 40 around the first hinge point 1 to simulate joint movement.

[0021] The mounting base 40 can move between two positions relative to the support base 30. When the mounting base 40 is in the first position and the second position respectively, a specific angle is formed between the extension directions of the linear actuator 10. That is, by moving the mounting base 40, the linear actuator 10 can be extended along different angles, and the driving direction of its output end also changes accordingly.

[0022] The terms "first position" and "second position" are relative concepts used to indicate that the linear actuator 10 moves between two different positions, in which the extension direction of the linear actuator 10 is different, and a predetermined angle is formed between the extension directions of the linear actuator 10 in these two positions, such as the right angle described below (the linear actuator 10 can extend vertically and horizontally), or of course, other angles.

[0023] For different types of joints of a robot, the corresponding linear actuators extend in different directions. Therefore, by changing the extension direction of the linear actuator 10 and driving the load assembly 20 to rotate, different types of joint movements can be simulated.

[0024] In this scheme, by changing the extension direction of the linear actuator to change the drive direction of its output end, different joint movements can be simulated. There is no need to provide different test devices for simulating different joint movements, thus simplifying the structure, reducing costs, and improving test efficiency.

[0025] In some embodiments, the load assembly 20 is hinged to the output end of the linear actuator 10 via a second hinge point 2. The load assembly 20 is rotatably hinged to the output end of the linear actuator 10 via the second hinge point 2, allowing the load assembly 20 to rotate relative to its output end around the second hinge point 2 when the output end of the linear actuator 10 moves, thus preventing jamming. The second hinge point 2 and the first hinge point 1 are arranged parallel to each other.

[0026] In some embodiments, the end of the linear actuator 10 furthest from the output end is hinged to the mounting base 40 via a third hinge point 3. The first hinge point 1, the second hinge point 2, and the third hinge point 3 are parallel to each other, and these hinge points can rotatably hinge the two structures together via shafts, such as pins. The end of the linear actuator 10 furthest from the output end is rotatably hinged to the mounting base 40 via the third hinge point 3. When the output end of the linear actuator 10 moves, its overall length changes, and correspondingly, it rotates relative to the mounting base 40 around the third hinge point 3.

[0027] In some embodiments, reference is made to Figure 2As shown, the load assembly 20 includes a load connecting seat 21 and a load member 22 detachably mounted on the load connecting seat 21. The load connecting seat 21 is hinged to the mounting seat 40 via a first hinge point 1 and to the output end of the linear actuator 10 via a second hinge point 2. The connection between the load connecting seat 21 and the mounting seat 40, and its connection to the linear actuator 10, are both hinged structures, making disassembly inconvenient. The load member 22, however, is mounted on the load connecting seat 21 in a more easily detachable manner. Therefore, it allows for faster replacement of load members 22 of different masses to change the load on the linear actuator 10. The testing device for the linear actuator in this solution can include multiple load members 22 of different masses, allowing the appropriate load member 22 to be mounted on the load connecting seat 21 as needed, for example, selected according to the load size of different joints.

[0028] Furthermore, the load connector 21 has a relatively small mass. When the load component 22 is not installed, performance tests such as the maximum stroke, limit speed, and positioning accuracy of the linear actuator 10 can be performed solely using the load connector 21. When the load component 22 is connected to the load connector 21, the limit tensile and compressive strength and fatigue performance tests of the linear actuator 10 can be performed. The load component 22 can be connected to the load connector 21 by means of snap-fit, screw-fit, adhesive, magnetic attraction, etc.

[0029] In some embodiments, reference is made to Figure 4 As shown, the load connection seat 21 includes a load rod 23, and the load member 22 can be selectively installed at different positions along the length of the load rod 23 to adjust the lever arm of the load member 22. Specifically, the distance from the first hinge point 1 to the second hinge point 2 is set as L1, the tension and force applied by the linear actuator 10 are set as F1, the distance from the first hinge point 1 to the center of gravity of the load assembly 20 (mainly the center of gravity of the load member 22) is set as L2, and the load of the load assembly 20 (mainly the load of the load member 22) is set as F2. According to the lever principle, the torques of these two forces are balanced, i.e., F1×L1=F2×L2. L2 is generally more than 10 times L1, so the weight and size of the load member 22 can be greatly reduced, and the load of the linear actuator 10 can be adjusted by adjusting the load lever arm L2 applied by the load member 22.

[0030] In some embodiments, the load rod 23 is provided with external threads and two positioning nuts 24 for clamping the load member 22 are screwed onto it. The two positioning nuts 24 can be screwed onto different positions along the length of the load rod 23 to adjust the position of the load member 22. The load member 22 can be a disc-shaped structure with a through hole to accommodate the load rod 23 passing through. The positioning nuts 24 are screwed onto different positions on the load rod 23, thereby positioning the load member 22 in different positions to change the load lever arm. Of course, in other embodiments, the load member 22 can also be other shapes, as long as it can be set on the load rod 23, such as a cube, a ball, etc. By reasonably configuring the size of different load members 22 and adjusting the position of the load members 22, stepless adjustment of the load of the linear actuator can theoretically be achieved, making the operation simpler and the overall cost lower.

[0031] In some embodiments, in the first position, the linear actuator 10 extends horizontally to simulate arm joint movements, and in the second position, the linear actuator 10 extends vertically to simulate leg joint movements. When the linear actuator 10 extends horizontally, it can be used to simulate arm joint movements, such as elbow and wrist joint movements; when it extends vertically, it can be used to simulate leg joint movements, such as knee and ankle joint movements. Of course, in other embodiments, the linear actuator 10 extends at other specific angles to simulate corresponding joint movements. The mounting base 40 and the load assembly 20 correspond to the two parts at the joint, and the first hinge point 1 corresponds to the rotation axis of the joint.

[0032] In some embodiments, the mounting base 40 is mounted to the support base 30 via a pivot 33 and is rotatable about the pivot 33 between the first position and the second position. The pivot 33 may be connected to the support base 30 and passes through the mounting base 40 to allow the mounting base 40 to rotate relative to the support base 30.

[0033] Additionally, in some embodiments, the testing apparatus for the linear actuator further includes a locking member 50 capable of selectively locking the mounting base 40 in either the first or second position. The locking member 50 is detachably disposed on the mounting base 40 and the support base 30 to achieve mutual locking between them, thereby holding the mounting base 40 in either the first or second position.

[0034] In some embodiments, the support base 30 is provided with a first locking hole 31 and a second locking hole 32, and the mounting base 40 is provided with a third locking hole 45. In the first position, the locking member is inserted into the first locking hole 31 and the third locking hole 45; in the second position, the locking member 50 is inserted into the second locking hole 32 and the third locking hole 45. (Reference) Figure 3 As shown, the support base 30 is provided with a rotating shaft 33, a first locking hole 31 and a second locking hole 32. The mounting base 40 is rotatably mounted on the rotating shaft 33. When the third locking hole 45 is aligned with the first locking hole 31, the locking member 50 can be inserted into the first locking hole 31 and the third locking hole 45 to lock the mounting base 40 in the first position. When the mounting base 40 is rotated to the third locking hole 45 being aligned with the second locking hole 32, the locking member 50 can be inserted into the second locking hole 32 and the third locking hole 45 to lock the mounting base 40 in the second position.

[0035] Additionally, in some embodiments, the support base 30 is provided with two first locking holes 31 located on opposite sides of the horizontal axis of the rotating shaft 33. (See reference) Figure 3 As shown, aligning the third locking hole 45 with two different first locking holes 31 can also make the horizontally extending linear actuator 10 have different orientations.

[0036] In some embodiments, reference is made to Figure 5 As shown, an encoder 60 is disposed between the load connection seat 21 and the linear actuator 10. The encoder 60 includes a stator and a rotor that can rotate relative to each other. One of the stator and the rotor is connected to the load connection seat 21, and the other is connected to the linear actuator 10. Alternatively, the linear actuator 10 includes a tension / compression sensor for sensing the force applied to the load member 22. The encoder 60 measures the relative rotation angle between the load connection seat 21 and the linear actuator 10 at the second hinge point 2. This rotation angle corresponds to the movement distance of the output end of the linear actuator 10, and the movement distance of the output end of the linear actuator 10 can be calculated from this rotation angle. The linear actuator 10 may include a motor, a lead screw mechanism, a controller, a tension / compression sensor, etc. The controller controls the movement of the motor, the lead screw mechanism converts the rotation of the motor into linear movement for output from the output end, and the tension / compression sensor detects the magnitude of the tension or compression at the output end. By using the tension and compression sensor to provide feedback on the magnitude of the tension and compression and the encoder to provide feedback on the output position of the linear actuator, closed-loop control of the load and the speed of the linear actuator can be achieved. This allows for more accurate simulation and verification of various performance indicators of the linear actuator. Encoders are also lower in cost and typically have encoding accuracy of 17 bits or more, resulting in relatively higher precision.

[0037] Among them, reference Figure 1As shown, in some embodiments, the mounting base 40 includes a mounting frame 41, a base plate 42, a first connecting seat 43, and a second connecting seat 44. The base plate 42 is detachably connected to the mounting frame 41. The mounting frame 41 is rotatably mounted on the support base 30 via a rotating shaft 33. The first connecting seat 43 and the second connecting seat 44 are detachably connected to the base plate 42. The linear actuator 10 is hinged to a third hinge point 3 on the first connecting seat 43, and the load connecting seat 21 is hinged to a first hinge point 1 on the second connecting seat 44.

[0038] The operation procedure of the testing device for the linear actuator in this scheme is as follows: The test begins with the load component 22 manually set on the load connector 21. The controller in the linear actuator 10 adjusts the motor speed and loading current according to the test requirements, driving the lead screw to reciprocate linearly. The magnitude of the tension and compression readings from the tension and compression sensors determines whether the load setting meets the requirements. If not, the weight and position of the load component 22 are adjusted. If the requirements are met, the next step is executed. The encoder 60 reads the relative rotation angle between the linear actuator 10 and the load connector 21 to determine the movement distance of the linear actuator 10. Combined with the movement time, the movement speed of the linear actuator 10 is determined to meet the requirements. If not, the motor speed is adjusted via the controller. If the requirements are met, the data is recorded, and the test ends.

[0039] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. A testing device for a linear actuator, characterized in that, The device includes a linear actuator (10), a load assembly (20), a support (30), and a mounting base (40). The linear actuator (10) is mounted on the mounting base (40). The load assembly (20) is hinged to the mounting base (40) via a first hinge point (1). The mounting base (40) is mounted on the support (30) and can move relative to the support (30) between a first position and a second position. The extension direction of the linear actuator (10) in the first position forms a predetermined angle with the extension direction of the linear actuator (10) in the second position. In the first position and the second position, the output end of the linear actuator (10) can drive the load assembly (20) to rotate relative to the mounting base (40) around the first hinge point (1) to simulate different types of joint movements.

2. The testing apparatus for a linear actuator according to claim 1, characterized in that, The load assembly (20) is hinged to the output end of the linear actuator (10) via a second hinge point (2), and the end of the linear actuator (10) away from the output end is hinged to the mounting base (40) via a third hinge point (3).

3. The testing apparatus for a linear actuator according to claim 2, characterized in that, The load assembly (20) includes a load connector (21) and a load element (22) detachably mounted on the load connector (21). The load connector (21) is hinged to the mounting base (40) via a first hinge point (1) and to the output end of the linear actuator (10) via a second hinge point (2).

4. The testing apparatus for a linear actuator according to claim 3, characterized in that, An encoder (60) is provided between the load connection seat (21) and the linear actuator (10). The encoder (60) includes a stator and a rotor that are rotatable relative to each other. One of the stator and the rotor is connected to the load connection seat (21), and the other is connected to the linear actuator (10).

5. The testing apparatus for a linear actuator according to claim 3, characterized in that, The load connector (21) includes a load rod (23), and the load member (22) can be selectively installed at different positions along the length of the load rod (23) to adjust the lever arm of the load member (22).

6. The testing apparatus for a linear actuator according to claim 5, characterized in that, The load rod (23) is provided with external threads and is screwed with two positioning nuts (24) for clamping the load member (22). The two positioning nuts (24) can be screwed at different positions in the length direction of the load rod (23) to adjust the position of the load member (22).

7. The testing apparatus for a linear actuator according to claim 1, characterized in that, In the first position, the linear actuator (10) extends horizontally to simulate arm joint movements, and in the second position, the linear actuator (10) extends vertically to simulate leg joint movements.

8. The testing apparatus for a linear actuator according to claim 1, characterized in that, The mounting base (40) is mounted on the support base (30) via a pivot (33) and is rotatable between the first position and the second position about the pivot (33).

9. The testing apparatus for a linear actuator according to claim 1, characterized in that, It also includes a locking element (50) that can selectively lock the mounting base (40) in the first position or the second position.

10. The testing apparatus for a linear actuator according to claim 9, characterized in that, The support base (30) is provided with a first locking hole (31) and a second locking hole (32), and the mounting base (40) is provided with a third locking hole (45). In the first position, the locking member is inserted into the first locking hole (31) and the third locking hole (45). In the second position, the locking member (50) is inserted into the second locking hole (32) and the third locking hole (45).

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