CN110529466B - A digital servo valve debugging device - Google Patents

Abstract

The embodiment of the invention provides a digital servo valve debugging device, which comprises: the device comprises an elastic force loading mechanism, an elastic force measuring mechanism, a position measuring mechanism, a driving mechanism and a fixed rack; the elastic force loading mechanism, the elastic force measuring mechanism, the position measuring mechanism and the driving mechanism are arranged on the fixed rack, the elastic force loading mechanism is connected with the elastic force measuring mechanism, the elastic force measuring mechanism is connected with one end of the valve core of the tested servo valve, and the other end of the valve core of the tested servo valve is connected with the driving mechanism. The embodiment of the invention provides a digital servo valve debugging device, and aims to provide a load simulation device which can apply adjustable elastic force to a valve core when detecting the performance of the valve core of a servo valve after movement and micro deformation under a load condition.

Description

A digital servo valve debugging device

technical field

The invention relates to the technical field of load simulators, in particular to a digital servo valve debugging device.

Background technique

The load simulator is based on the drive of the servo motor to load the movement of the spool of the servo valve, and the load torque is applied through the load simulation device.

The digital servo valve drive mechanism is the power and control component of the digital servo valve. During operation, the digital servo valve overcomes the resistance of the spool movement of the spool valve through the drive mechanism, precisely controls the movement of the spool valve spool, and then adjusts the output flow. The digital servo valve precisely controls the position of the spool valve spool through the driving mechanism, and then controls the flow output. The accuracy of the output displacement of the driving mechanism will directly affect the flow output quality of the digital servo valve. The displacement of the spool of the digital servo valve has the characteristics of high resolution, good repeatability and fast response. At present, the maximum stroke of the high-flow digital servo valve is only a few millimeters, and its resolution order of magnitude is required to reach 0.01mm, the error tolerance is less than 0.5%, and the response time of the full-amplitude step signal is less than 10ms.

The servo valve spool performance accuracy test loading device is used to detect the performance of the tested flexible rod under the elastic load condition of the servo valve spool; by applying different elastic load conditions, to detect the reliability of the servo valve spool after slight deformation, In turn, the performance of the high-flow digital servo valve is improved. At present, the existing load simulators cannot accurately measure the displacement of the spool while applying axial force.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a digital servo valve debugging device to overcome the defects of the prior art.

In order to achieve the above objects, the present invention adopts the following technical solutions.

A digital servo valve debugging device, comprising: an elastic force loading mechanism, an elastic force measuring mechanism, a position measuring mechanism, a driving mechanism and a fixed stand;

The elastic force loading mechanism, the elastic force measuring mechanism, the position measuring mechanism and the driving mechanism are arranged on the fixed platform, the elastic force loading mechanism is connected with the elastic force measuring mechanism, and the elastic force measuring mechanism is connected with the tested servo One end of the valve spool is connected, and the other end of the tested servo valve spool is connected with the driving mechanism;

The position measuring mechanism includes: a first displacement sensor, a second displacement sensor, a first displacement sensor bracket, a second displacement sensor bracket, a first photosensitive plate and a second photosensitive plate, and the first displacement sensor is fixed to the first displacement sensor. Above a displacement sensor bracket, the second displacement sensor is fixed above the second displacement sensor bracket, the first sensor bracket and the second displacement sensor bracket are arranged above the fixed platform, the first The sensor bracket and the second displacement sensor bracket are respectively located on both sides of the tested servo valve spool, and the first photosensitive plate and the second photosensitive plate are respectively fixed on the tested servo valve spool.

Preferably, the tested servo valve spool is connected to the driving mechanism through a spool connecting piece.

Preferably, the first photosensitive plate and the second photosensitive plate are respectively fixed to the tested servo valve spool through photosensitive plate connectors, and the photosensitive plate connectors include: No. 1 photosensitive plate connector and No. 2 photosensitive plate Connector, the No. 1 photosensitive plate connector is connected with the photosensitive plate by bolts, and the No. 1 photosensitive plate connector and the No. 2 photosensitive plate connector have semicircular through holes with the same radius, two and a half The circular through holes are placed opposite each other to form a circular through hole through bolts, and the tested servo valve spool is connected to the photosensitive plate connecting piece through the through hole.

Preferably, the elastic force loading mechanism includes: an elastic plate, two elastic plate fixing parts and two elastic plate brackets, two ends of the elastic plate are respectively fixed between the elastic plate fixing part and the elastic plate bracket, two elastic plate brackets The elastic plate fixing member is respectively fixedly connected with two elastic plate brackets, the two elastic plate brackets are oppositely arranged on the fixed platform, the two elastic plate brackets are slidably connected with the fixed platform, and the elastic plate brackets are slidably connected to the fixed platform. The stiffness of the plate is adjustable;

The elastic plate is connected to the elastic force measuring mechanism through an elastic plate connecting piece.

Preferably, the elastic force measuring mechanism includes: a force sensor, a first linear bushing, a second linear bushing, a first linear bearing support, a second linear bearing support, a first linear bearing and a second linear bearing , the first linear bearing bracket and the second linear bearing bracket are fixed above the fixed platform by bolts, the first linear bearing is fitted in the first linear bushing, the first linear bushing is fixedly connected with the first linear bearing bracket, the second linear bearing is fitted in the second linear bushing, and the second linear bushing is fixedly connected with the second linear bearing bracket;

The first linear bearing is respectively connected with the elastic plate connecting piece and the force sensor through the first force sensor connecting piece, and the second linear bearing is respectively connected with the force sensor and the tested servo valve spool through the second force sensor connecting piece .

Preferably, the fixing platform comprises: a base, a rectangular parallelepiped-shaped centering bar protruding above the base, and an inverted T-shaped groove perpendicular to the centering bar;

The elastic plate bracket and the inverted T-shaped groove are slidably connected through a T-shaped nut, and the distance between the elastic plate brackets is adjusted to adjust the stiffness of the elastic plate;

The first linear bearing bracket and the second linear bearing bracket are placed above the centering bar, the bottom of the first linear bearing bracket and the bottom of the second linear bearing bracket are provided with grooves, and the grooves are connected to the bottom of the second linear bearing bracket. The centering strip is an interference fit.

Preferably, a driving mechanism bracket is also included, the driving mechanism bracket is fixed above the fixed platform, and the driving mechanism is fixedly connected with the driving mechanism bracket.

Preferably, the elastic plate fixing member and the elastic plate support are respectively provided with grooves that can be centered, and the groove width is smaller than the thickness of the elastic plate, so that the grooves fix the elastic plate and prevent the elastic plate from moving.

Preferably, the elastic plate fixing member or the elastic plate support is provided with a groove, and the width of the groove is smaller than the thickness of the elastic plate, so that the groove can fix the elastic plate and prevent the movement of the elastic plate.

Preferably, the elastic plate is made of elastic material 60Si2CrVA.

It can be seen from the technical solutions provided by the above embodiments of the present invention that the embodiment of the present invention provides a digital servo valve debugging device, which loads the servo valve spool by applying an axial force through the driving mechanism, and simultaneously applies an elastic load. It can accurately measure the displacement of the valve core while the elastic force is loaded and continuously adjustable; in addition, the photosensitive plate is fixed to the valve core of the servo valve, and the displacement of the receiving plate is measured to realize the displacement and deformation of the valve core of the servo valve. Measurement, this installation method eliminates the unstable connection during the test process and improves the experimental effect.

Additional aspects and advantages of the present invention will be set forth in part in the following description, which will be apparent from the following description, or may be learned by practice of the present invention.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic perspective view of a digital servo valve debugging device according to an embodiment of the present invention;

2 is a schematic perspective view of a digital servo valve debugging device according to an embodiment of the present invention;

3 is a schematic top view of a digital servo valve debugging device according to an embodiment of the present invention;

4 is a schematic front view of a digital servo valve debugging device according to an embodiment of the present invention;

FIG. 5 is a B-B cross-sectional schematic diagram of a digital servo valve debugging device provided by an embodiment of the present invention;

6 is a detailed schematic diagram of part a of a digital servo valve debugging device provided by an embodiment of the present invention;

FIG. 7 is a detailed schematic diagram of part b of a digital servo valve debugging device provided by an embodiment of the present invention;

8 is a schematic diagram of a photosensitive plate connector according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a photosensitive plate connector according to an embodiment of the present invention.

Reference number:

1, elastic force loading mechanism; 11, elastic plate; 12, elastic plate fixing part; 13, elastic plate fixing part; 14, elastic plate bracket; 15, elastic plate bracket;

2. Elastic force measuring mechanism; 21. Force sensor; 22. First linear bushing; 23. Second linear bushing; 24. First linear bearing bracket; 25. Second linear bearing bracket; 26. First linear bearing Linear bearing; 27, second linear bearing 27;

3. Position measuring mechanism; 31, first laser displacement sensor; 32, second laser displacement sensor; 33, first displacement sensor bracket; 34, second displacement sensor bracket; 35, first photosensitive plate; 36, second photosensitive plate; 37, photosensitive plate connector; 371, No. 1 photosensitive plate connector; 372, No. 2 photosensitive plate connector;

4. Drive mechanism; 41. Drive mechanism bracket;

5. Fixed bench; 51. Base; 52. Centering strip; 53. Inverted T-shaped groove; 54. Groove;

6. Elastic plate connector; 7. First force sensor connector; 8. Second force sensor connector;

9. The valve core of the tested servo valve; 10. The valve core connector.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, but not to be construed as a limitation of the present invention.

It will be understood by those skilled in the art that the singular forms "a", "an", "the" and "the" as used herein can include the plural forms as well, unless expressly stated otherwise. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of stated features, integers, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components and/or groups thereof. It will be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Furthermore, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.

In order to facilitate the understanding of the embodiments of the present invention, the following will take several specific embodiments as examples for further explanation and description in conjunction with the accompanying drawings, and each embodiment does not constitute a limitation to the embodiments of the present invention.

The embodiment of the present invention provides a digital servo valve debugging device, which aims to detect the performance of the servo valve spool after movement and slight deformation under load conditions, and a load simulation device capable of applying an adjustable elastic force to the spool.

As shown in FIGS. 1 to 5 , a digital servo valve debugging device includes an elastic force loading mechanism 1 , an elastic force measuring mechanism 2 , a position measuring mechanism 3 , a driving mechanism 4 , a driving mechanism bracket 41 and a fixed platform 5 . The elastic force loading mechanism 1 , the elastic force measuring mechanism 2 , and the position measuring mechanism 3 are arranged on the fixed platform 5 . The driving mechanism 4 is fixedly connected with the driving mechanism bracket 41 , and the driving bracket 41 is fixed on the fixed platform 5 by bolts. The elastic force loading mechanism 1 is connected with the elastic force measuring mechanism 2, the elastic force measuring mechanism 1 is threadedly connected with one end of the tested servo valve spool 9, and the other end of the tested servo valve spool 9 is threaded with the driving mechanism 4 through the valve core connector 10 Connection, the two ends of the tested servo valve spool 9 are locked with lock nuts.

The fixed platform 5 includes: a base 51 , a centering bar 52 and an inverted T-shaped groove 53 . A groove 54 is provided along the central axis of the base 51 , and the centering bar 52 is in the shape of a rectangular parallelepiped. The base 51 is provided with an inverted T-shaped groove 53 for sliding connection with the elastic force loading mechanism 1 , and the inverted T-shaped groove 53 is perpendicular to the centering bar 52 .

The elastic force loading mechanism 1 includes: an elastic plate 11 , elastic plate fixing members 12 and 13 , and elastic plate brackets 14 and 15 . The elastic plate 11 is connected with the elastic force measuring mechanism 2 through the elastic plate connecting piece 6. As shown in FIG. 6, one end of the elastic plate connecting piece 6 passes through the elastic plate 11 and is locked with a locking nut, and the other end is connected with the elastic force measuring Institution 2 is connected. The elastic plate 11 is rectangular and made of elastic material 60Si2CrVA to ensure good performance. The elastic plate fixing members 12 and 13 and the elastic plate brackets 14 and 15 are respectively provided with centered grooves, and both ends of the elastic plate 11 are respectively placed in the grooves for fixing. The elastic plate fixing member 12 and the elastic plate bracket 14 are connected by bolts, and the elastic plate fixing member 13 and the elastic plate bracket 15 are connected by bolts. The elastic plate brackets 14 and 15 are inverted T-shaped, located on both sides of the centering bar, and are opposite to each other. The bases of the elastic plate brackets 14 and 15 are respectively slidably connected to the inverted T-shaped groove 53 through the T-shaped nut, and the stiffness of the spring plate is adjusted by adjusting the distance between the elastic plate brackets according to the required elastic force.

The key to the realization of the load simulation of the driving mechanism of the present invention lies in the loading form and loading accuracy of the load force. According to the past design experience, the elastic force of the mechanical load simulator is realized by the deformation of the spring steel plate.

The size of the elastic force in this embodiment is related to the material and size of the elastic plate. According to the mechanical properties of 60Si2CrVA, the allowable bending normal stress [σ]=620.7Mpa, the allowable shear stress [τ]=372.4Mpa, and the elastic modulus E=2.06 * ^105Mpa .

由最大正应力计算公式(1)：The elastic plate is bent by transverse force, and it is suitable for pure bending when the ratio of span L to cross-section height h is greater than or equal to 5 from elastic theoretical analysis. so

Formula (1) is calculated from the maximum normal stress:

and the maximum shear stress formula (2):

where W _Z is the bending section coefficient, b and h are the width and height of the cross section, respectively, and A is the area of the cross section.

The selected elastic plate specifications in this embodiment are b=5mm, h=27mm, L=185mm and b=5mm, h=27mm, L=124mm. According to the required rated elastic loading force F=1200N, the maximum normal stress and the maximum shear stress can be calculated, and the requirements can be met.

The elastic force measuring mechanism 2 includes: a force sensor 21 , a first linear bushing 22 , a second linear bushing 23 , a first linear bearing bracket 24 , a second linear bearing bracket 25 , a first linear bearing 26 and a second linear bearing Bearing 27. The first linear bearing 26 is respectively connected with the elastic plate connecting member 6 and the force sensor 21 through the first force sensor connecting member 7, and the connection between the first force sensor connecting member 7 and the elastic plate connecting member 6 is locked by a locking nut, Prevents screw loosening during axial movement. The second linear bearing 27 is respectively connected with the force sensor 21 and the tested servo valve spool 9 through the second force sensor connecting piece 8 , and the connection between the second force sensor connecting piece 8 and the tested servo valve spool 9 is locked by a lock nut tight. The first linear bearing bracket 24 and the second linear bearing bracket 25 are I-shaped brackets, which are respectively placed above the centering bar 52. The bottom of the first linear bearing bracket 24 and the bottom of the second linear bearing bracket 25 are provided with grooves, The grooves are in interference fit with the centering bars, and the first linear bearing bracket 24 and the second linear bearing bracket 25 are also fixedly connected to the base 51 through bolts. The first linear bearing 26 is fitted in the first linear bushing 22 , and the first linear bushing 22 and the first linear bearing bracket 24 are fixedly connected by bolts. The second linear bearing 27 is fitted in the second linear bushing 23 , and the second linear bushing 23 and the second linear bearing bracket 25 are fixedly connected by bolts.

The position measuring mechanism 3 includes: a first laser displacement sensor 31, a second laser displacement sensor 32, a first displacement sensor bracket 33, a second displacement sensor bracket 34, a first photosensitive plate 35, a second photosensitive plate 36 and two photosensitive plates Connector 37. The first laser displacement sensor 31 and the first displacement sensor bracket 33 are connected by bolts and nuts, and the second laser displacement sensor 32 and the second displacement sensor bracket 34 are connected by bolts and nuts. The first sensor bracket 33 and the second displacement sensor bracket 34 are I-shaped brackets, which are respectively fixed above the base 51 by bolts. The first sensor bracket 33 and the second displacement sensor bracket 34 are located on both sides of the tested servo valve spool 9 respectively. , the first photosensitive plate 35 and the second photosensitive plate 36 are respectively fixed on the tested servo valve spool 9 through the photosensitive plate connecting member 37 . The distance between the laser displacement sensor and the photosensitive plate is adjustable, and the appropriate distance is set to meet the measurement requirements.

As shown in Figs. 7-9, the photosensitive plate connecting member 37 includes: a No. 1 photosensitive plate connecting member 371 and a No. 2 photosensitive plate connecting member 372. The No. 1 photosensitive plate connecting member 371 and the No. 2 photosensitive plate connecting member 372 both have a radius The same semi-circular through hole, two semi-circular through-holes are placed opposite each other to form a circular through-hole by bolting, which is convenient for coaxial and fitting with the valve core. The tested servo valve spool 9 is connected to the photosensitive plate connecting member 37 through the circular through hole, and the No. 1 photosensitive plate connecting member 371 is also connected to the photosensitive plate by bolts.

This embodiment provides a digital servo valve debugging device, and the test process is as follows: the computer controls the drive mechanism to drive the whole machine to move, the elastic plate in the elastic force loading mechanism is bent under force and exerts elastic force on the tested servo valve spool, The deformation of the tested servo valve spool is detected by the laser displacement sensor and the elastic force is detected by the force sensor, and the performance of the tested servo valve spool is measured by collecting the displacement and elastic force.

To sum up, the present invention has the following beneficial effects:

1. The displacement and deformation of the measured servo valve spool of the present invention use a laser displacement sensor, which has better performance than the wire displacement sensor, magnetostrictive displacement sensor, grating displacement sensor, and differential displacement sensor in previous studies. Measurement accuracy, the measurement accuracy can reach 1μm.

2. In the measurement principle, the position of the RS-CMOS reflected light is detected by the triangulation method, and the position of the object to be measured can be measured by detecting the change. The photosensitive plate is fixed with the servo valve spool, and the displacement of the photosensitive plate is measured to measure the displacement and deformation of the servo valve spool. This installation method eliminates the unstable connection during the test process and improves the experimental effect.

3. The elastic force loading mechanism is equipped with a T-shaped nut. When changing the length of the elastic plate, the position of the T-shaped nut can be changed. This method can reduce the number of parts and save the processing cost. Considering the fixing method of the elastic adjusting device and its connecting mechanism in the servo valve structure, the fixing method in the actual mechanical load simulator should be consistent with the real situation, and the fixed gap between the elastic adjusting device and its supporting connecting mechanism should be minimized. The device is positioned and fastened by means of elastic plate tightening, which eliminates the gap at the connection to the greatest extent.

Those of ordinary skill in the art can understand that the accompanying drawing is only a schematic diagram of an embodiment, and the modules or processes in the accompanying drawing are not necessarily necessary to implement the present invention.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the apparatus or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for related parts. The apparatus and system embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, It can be located in one place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (9)

1. A digital servo valve debugging device is characterized in that, comprising: elastic force loading mechanism, elastic force measuring mechanism, position measuring mechanism, driving mechanism and fixed platform; The elastic force loading mechanism, the elastic force measuring mechanism, the position measuring mechanism and the driving mechanism are arranged on the fixed platform, the elastic force loading mechanism is connected with the elastic force measuring mechanism, and the elastic force measuring mechanism is connected with the tested servo One end of the valve spool is connected, and the other end of the tested servo valve spool is connected with the driving mechanism; The position measuring mechanism includes: a first displacement sensor, a second displacement sensor, a first displacement sensor bracket, a second displacement sensor bracket, a first photosensitive plate and a second photosensitive plate, and the first displacement sensor is fixed to the first displacement sensor. Above a displacement sensor bracket, the second displacement sensor is fixed above the second displacement sensor bracket, the first displacement sensor bracket and the second displacement sensor bracket are arranged above the fixed platform, the first displacement sensor bracket A displacement sensor bracket and the second displacement sensor bracket are respectively located on both sides of the tested servo valve spool, and the first photosensitive plate and the second photosensitive plate are respectively fixed on the tested servo valve spool; The elastic force measurement mechanism includes: a force sensor, a first linear bushing, a second linear bushing, a first linear bearing support, a second linear bearing support, a first linear bearing and a second linear bearing, the The first linear bearing bracket and the second linear bearing bracket are fixed above the fixed platform by bolts, the first linear bearing is fitted in the first linear bushing, and the first linear bushing is connected with the first linear bushing. The linear bearing bracket is fixedly connected, the second linear bearing is fitted in the second linear bushing, and the second linear bushing is fixedly connected with the second linear bearing bracket; the first linear bearing passes the first force The sensor connecting piece is respectively connected with the elastic plate connecting piece and the force sensor, and the second linear bearing is respectively connected with the force sensor and the tested servo valve spool through the second force sensor connecting piece. 2 . The device according to claim 1 , wherein the tested servo valve spool is connected to the driving mechanism through a spool connecting piece. 3 . 3. The device according to claim 1 or 2, wherein the first photosensitive plate and the second photosensitive plate are respectively fixed to the tested servo valve spool through a photosensitive plate connecting piece, and the photosensitive plate is connected to The components include: No. 1 photosensitive plate connector and No. 2 photosensitive plate connector, the No. 1 photosensitive plate connector and the photosensitive plate are connected by bolts, and the No. 1 photosensitive plate connector and the No. 2 photosensitive plate connector have Semicircular through-holes with the same radius, two semi-circular through-holes are placed opposite each other to form a circular through-hole by bolting, and the tested servo valve spool is connected to the photosensitive plate through the circular through-hole connect. 4 . The device according to claim 3 , wherein the elastic force loading mechanism comprises: an elastic plate, two elastic plate fixing parts and two elastic plate brackets, and two ends of the elastic plate are respectively fixed to the elastic plate. 5 . Between the plate fixing member and the elastic plate bracket, the two elastic plate fixing members and the two elastic plate brackets are respectively fixedly connected, and the two elastic plate brackets are oppositely arranged on the fixed platform, and the two elastic plate brackets slidably connected with the fixed platform, and the rigidity of the elastic plate is adjustable; The elastic plate is connected to the elastic force measuring mechanism through an elastic plate connecting piece. 5 . The device according to claim 4 , wherein the fixing platform comprises: a base, a rectangular parallelepiped-shaped centering bar protruding above the base, and an inverted T-shaped concave perpendicular to the centering bar. 6 . groove; The elastic plate bracket and the inverted T-shaped groove are slidably connected through a T-shaped nut, and the distance between the elastic plate brackets is adjusted to adjust the stiffness of the elastic plate; The first linear bearing bracket and the second linear bearing bracket are placed above the centering bar, the bottom of the first linear bearing bracket and the bottom of the second linear bearing bracket are provided with grooves, and the grooves are connected to the bottom of the second linear bearing bracket. The centering strip is an interference fit. 6 . The device according to claim 1 , further comprising a drive mechanism bracket, the drive mechanism bracket is fixed above the fixed platform, and the drive mechanism is fixedly connected to the drive mechanism bracket. 7 . 7 . The device according to claim 4 , wherein the elastic plate fixing member and the elastic plate bracket are respectively provided with grooves that can be centered, and the groove width is smaller than the thickness of the elastic plate, so that the groove is fixed elastically. 8 . plate, preventing the movement of the elastic plate. 8 . The device according to claim 4 , wherein the elastic plate fixing member or the elastic plate bracket is provided with a groove, and the width of the groove is smaller than the thickness of the elastic plate, so that the groove is fixed to the elastic plate to prevent the elastic plate from being damaged. the movement of the elastic plate. 9 . The device according to claim 4 , wherein the elastic plate is made of elastic material 60Si2CrVA. 10 .

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