CN113740039B - Linear displacement testing device and method for piston rod type multi-degree-of-freedom actuating mechanism - Google Patents
Linear displacement testing device and method for piston rod type multi-degree-of-freedom actuating mechanism Download PDFInfo
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- CN113740039B CN113740039B CN202010408458.6A CN202010408458A CN113740039B CN 113740039 B CN113740039 B CN 113740039B CN 202010408458 A CN202010408458 A CN 202010408458A CN 113740039 B CN113740039 B CN 113740039B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 155
- 238000012360 testing method Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims description 9
- 239000000758 substrate Substances 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 210000004907 gland Anatomy 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 239000002737 fuel gas Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The invention relates to a linear displacement testing device and a linear displacement testing method for a piston rod type multi-degree-of-freedom actuating mechanism, belongs to the technical field of displacement testing equipment, and solves the problem that the conventional displacement testing equipment cannot accurately test linear displacement detection of the piston rod type multi-degree-of-freedom actuating mechanism. The linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism comprises: the device comprises a substrate, a power supply, a displacement sensing assembly, a sliding block guide rail system, a connecting fork and an actuating mechanism mounting frame; the power supply, the displacement sensing assembly, the sliding block guide rail system and the actuating mechanism mounting rack are fixedly arranged on the upper part of the base plate; one end of the sliding block guide rail system is connected with the displacement sensing assembly, and the other end of the sliding block guide rail system is connected with the executing mechanism through a connecting fork. The invention realizes the high-precision detection of the linear displacement of the piston rod type multi-degree-of-freedom actuating mechanism.
Description
Technical Field
The invention relates to the technical field of displacement testing equipment, in particular to a linear displacement testing device and method of a piston rod type multi-degree-of-freedom actuating mechanism.
Background
In the field of industrial servo control, for a linear actuator with high requirement on position output precision, in order to meet the requirement on quality control, a displacement test is an important detection item of the linear actuator, and a displacement test device is needed to realize the displacement test.
Currently, the existing displacement testing device aims at displacement detection under the condition that a product moving part is in single-degree-of-freedom linear motion. However, the piston rod of the piston rod type multi-degree-of-freedom linear actuator and the piston form a spherical hinge pair, in actual work, the linear actuator is connected with high-pressure fuel gas energy, the test software applies a control instruction to drive the piston rod of the linear actuator to move, the ball head of the piston rod bears all the pressure from the piston rod and simultaneously moves relative to the spherical recess, and the degree of freedom of the piston rod in movement is not limited, so that the displacement test is difficult, and the precision of displacement detection is not called. Because the single-degree-of-freedom actuating mechanism and the piston rod type multi-degree-of-freedom linear actuating mechanism are different in product characteristics and application occasions, the conventional displacement testing device for the single-degree-of-freedom actuating mechanism is not applicable to displacement detection of the piston rod type multi-degree-of-freedom linear actuating mechanism.
Therefore, it is highly desirable to provide a linear displacement testing device of a piston rod type multi-degree-of-freedom actuating mechanism with simple structure, convenient operation and high testing precision, so as to meet the actual requirements of engineering.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a linear displacement testing device and method for a piston rod type multi-degree-of-freedom actuator, which are used for solving the problem that the existing displacement testing device is not suitable for displacement detection of the piston rod type multi-degree-of-freedom linear actuator.
The aim of the invention is mainly realized by the following technical scheme:
A linear displacement testing device of a piston rod type multi-degree-of-freedom actuating mechanism comprises: the device comprises a substrate, a power supply, a displacement sensing assembly, a sliding block guide rail system, a connecting fork and an actuating mechanism mounting frame; the power supply, the displacement sensing assembly, the sliding block guide rail system and the actuating mechanism mounting rack are fixedly arranged on the upper part of the base plate; one end of the sliding block guide rail system is connected with the displacement sensing assembly, and the other end of the sliding block guide rail system is connected with the executing mechanism through a connecting fork.
Further, the device also comprises a substrate support and handles, wherein the substrate support is fixedly arranged at the bottom of the substrate, and the handles are arranged at two sides of the substrate.
Further, the displacement sensing assembly comprises a linear displacement sensor mounting support, a linear displacement sensor mounting gland and a linear displacement sensor; the linear displacement sensor is detachably arranged on the linear displacement sensor mounting support through a linear displacement sensor mounting gland.
Further, the power supply is of a box structure and is connected with the base plate through screws.
Further, the slider guide rail system comprises a slider and a guide rail, wherein the lower end face of the slider is provided with a guide rail chute, and the slider is slidably arranged on the guide rail through the guide rail chute and can move along the guide rail.
Further, the cross section of the guide rail is I-shaped and comprises an upper transverse part, a lower transverse part and a vertical connecting part.
Further, the width of the vertical connecting part is smaller than that of the upper transverse part and the lower transverse part, and the cross section size and shape of the upper transverse part are the same as those of the guide rail chute.
Further, the width of the cross section of the opening at the lower end of the guide rail chute is smaller than the width of the upper transverse part, and the maximum width of the cross section of the guide rail chute is equal to the width of the upper transverse part.
Further, the upper surface of the upper transverse part is of an upward convex structure, the inner surface of the guide rail chute is of a concave curved surface matched with the upward convex structure, and the upward convex structure can be in seamless contact with the concave curved surface.
Further, the connecting fork comprises a first end and a second end, and the first end is rotationally connected with a piston rod of the actuating mechanism.
Further, the end face of the piston rod is provided with a radial groove in a straight shape, the first end of the connecting fork is provided with a tenon structure, and the radial groove in a straight shape and the tenon structure realize the precise positioning of the connecting fork and the piston rod.
Further, a connecting hole for installing a measuring rod of the linear displacement sensor is formed in the second end of the connecting fork, and the center line of the connecting hole coincides with the center line of the connecting fork.
On the other hand, the invention also provides a linear displacement detection method of the piston rod type multi-degree-of-freedom actuating mechanism, and a linear displacement testing device based on the piston rod type multi-degree-of-freedom actuating mechanism comprises the following steps:
Step one: an assembly line displacement testing device;
Step two: calibrating the displacement testing device;
step three: after the calibration is completed, detection is started.
Compared with the prior art, the invention has at least one of the following beneficial effects:
a) The linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism is used for detecting displacement of the piston rod type multi-degree-of-freedom linear actuating mechanism, is simple in structure and convenient to operate, and is used for supporting and guiding a piston rod to do reciprocating linear motion in a given direction by adding the sliding block guide rail system in the displacement testing device, so that additional stress caused by radial deformation of the piston rod in the motion process is avoided, and meanwhile, the position detection precision of the piston rod of the linear actuating mechanism is improved.
B) According to the linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism, which is provided by the invention, the two-stage limiting structure is arranged on the slide block guide rail system, so that the transverse movement of the slide block can be effectively prevented, the degree of freedom of the actuating mechanism is better limited, the testing precision is greatly improved, the precision can be improved to six parts per million, and the actual engineering requirements are met.
C) According to the linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism, the connecting fork is connected with the piston rod in a seamless rotating mode through the connecting pin, the straight radial grooves formed in the end face of the piston rod can be precisely positioned with tenons formed in the end face of the connecting fork, gaps can be prevented from being formed in the connecting position of the piston rod, and testing accuracy is guaranteed.
D) The linear displacement detection method of the piston rod type multi-degree-of-freedom actuating mechanism provided by the invention adopts the linear displacement testing device which is simple in structure and convenient to operate, can realize displacement detection of the piston rod type multi-degree-of-freedom linear actuating mechanism, and is high in testing precision.
In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic diagram of a linear displacement testing device of a piston rod type multiple degree of freedom actuator of the invention;
FIG. 2 is a state diagram of a linear displacement testing device with a piston rod type multi-degree-of-freedom actuating mechanism for displacement testing;
FIG. 3 is a schematic view of the structure of the substrate of the present invention;
FIG. 4 is a schematic diagram of the structure of the power supply of the present invention;
FIG. 5 is a schematic view of the structure of the linear displacement sensor mounting bracket of the present invention;
FIG. 6 is a schematic diagram of the structure of the linear displacement sensor mounting gland of the present invention;
FIG. 7 is a schematic diagram of a linear displacement sensor according to the present invention;
FIG. 8 is a schematic diagram of the structure of the slider rail system of the present invention;
FIG. 9 is a schematic view of the structure of the fork of the present invention;
FIG. 10 is a schematic view of the structure of the actuator mount of the present invention;
FIG. 11 is a schematic view of the structure of a substrate support of the present invention;
FIG. 12 is a schematic view of the structure of the handle of the present invention;
FIG. 13 is a schematic view of the structure of the connecting pin of the present invention;
fig. 14 is a cross-sectional view of a ball pivot mechanism with a piston rod and piston connection of an actuator of the present invention.
Reference numerals:
1. A substrate; 2. a power supply; 3. a linear displacement sensor mounting support; 4. the linear displacement sensor is provided with a gland; 5. a linear displacement sensor; 5-1, measuring rod; 6. a slider rail system; 7. a connecting fork; 8. an actuator mounting rack; 9. a substrate support; 10. a handle; 11. a connecting pin; 12. an actuator; 12-1, a piston rod; 12-2, a piston rod ball head; 12-3, a piston.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
In one embodiment of the present invention, a linear displacement testing device of a piston rod type multiple degree of freedom actuator is disclosed, as shown in fig. 1 to 2, comprising: base plate 1, power 2, displacement sensing assembly, slider rail system 6, clevis 7, actuator mount 8, base plate support 9 and handle 10.
As shown in fig. 3, a substrate 1 is used as a test platform of a mounting body and an actuator 12 of each functional component of a linear displacement testing device, each functional component and the actuator 12 of the linear displacement testing device are supported, a plurality of connecting holes for mounting each functional component are formed in the substrate 1, and the substrate 1 is provided with 4 power supply connecting holes of M6 and 4 power supply connecting holes of M6The device comprises a handle connecting hole, 8M 3 linear displacement sensor mounting support connecting holes, 2M 3 slide block guide rail system connecting holes, 4M 3 actuating mechanism mounting frame connecting holes and 4M 12 substrate support connecting holes.
In this embodiment, the power supply 2, the displacement sensing assembly, the slider rail system 6, and the actuator mounting frame 8 are fixedly disposed on the upper portion of the substrate 1, one end of the slider rail system 6 is connected to the displacement sensing assembly, and the other end is connected to the actuator 12 through the connecting fork 7. The substrate support 9 is fixedly arranged at the bottom of the substrate 1, is used for supporting the displacement testing device and can be used for adjusting the height of the displacement testing device; the handles 10 are arranged on two sides of the base plate 1, so that the displacement testing device can be conveniently moved.
In this embodiment, as shown in fig. 14, the actuator 12 is a linear actuator, the actuator 12 includes a piston rod 12-1 and a piston 12-3, one end of the piston rod 12-1 is provided with a connecting hole adapted to the connecting hole on the actuator mounting frame 8, the other end is provided with a piston rod ball head 12-2, the piston rod 12-1 and the piston 12-3 form a spherical hinge pair, in actual operation, the linear actuator is connected with a high-pressure fuel gas energy source, test software applies a control instruction to drive the piston rod 12-1 of the linear actuator to move, and the piston rod ball head 12-2 bears all the pressure from the piston rod 12-1 and moves relative to the spherical recess. By arranging the slide block guide rail system 6, additional stress caused by radial deformation of the piston rod 12-1 in the moving process can be avoided, and the freedom degree of the piston rod 12-1 in the moving process is limited, so that the position detection precision of the piston rod 12-1 of the linear actuating mechanism is improved.
In this embodiment, the displacement sensing assembly includes a linear displacement sensor mounting support 3, a linear displacement sensor mounting gland 4 and a linear displacement sensor 5, the linear displacement sensor 5 is mounted on the linear displacement sensor mounting support 3 through the linear displacement sensor mounting gland 4, the linear displacement sensor 5 adopts a split mounting and fixing mode of the linear displacement sensor mounting support 3 and the linear displacement sensor mounting gland 4, on one hand, the mounting and the dismounting of the sensor are convenient, and on the other hand, the adjustment of the sensor position is convenient. The linear displacement sensor 5 outputs level + -10V, measuring range + -20 mm, the displacement sensor has no sliding contact, is not influenced by nonmetallic factors such as dust during operation, has low power consumption and long service life, and can be used under various severe conditions.
As shown in fig. 5 to 7, the linear displacement sensor mounting support 3 is provided with 4 connection holes M2 for connection with the linear displacement sensor mounting gland 4; 4 linear displacement sensor mounting supports 3 are arranged on the linear displacement sensor mounting supportFor connection with the substrate 1.4 linear displacement sensor mounting gland 4 are provided with/>Is used for being connected with the linear displacement sensor mounting support 3 to compress tightly and fix the linear displacement sensor. The measuring rod 5-1 of the linear displacement sensor 5 is provided with M4 threads for being in threaded connection with the connecting fork 7.
In this embodiment, the power supply 2 has a box structure, as shown in fig. 4, and 4 power supplies 2 are providedIs connected to the substrate 1 by a screw. The power supply inputs 220V and outputs two paths of power supplies +15V/0.1A, -15V/0.1A, and the power supply has the advantages of high output voltage precision, low noise, small size and light weight.
In this embodiment, the slider rail system 6 includes a slider 6-1 and a rail 6-2, wherein a rail chute is provided on the lower end surface of the slider 6-1, and the slider 6-1 is slidably mounted on the rail 6-2 through the rail chute and is capable of moving along the rail 6-2, as shown in fig. 8.
Further, the cross section of the guide rail 6-2 is I-shaped and comprises an upper transverse part, a lower transverse part and a vertical connecting part, the width of the vertical connecting part is smaller than that of the upper transverse part and the lower transverse part, and the size and the shape of the cross section of the upper transverse part of the guide rail 6-2 are the same as those of the guide rail chute of the sliding block 6-1.
Further, the width of the cross section of the lower end opening of the guide rail chute is smaller than the maximum width of the cross section of the guide rail chute, the width of the cross section of the lower end opening of the guide rail chute is smaller than the width of the upper transverse part, the maximum width of the cross section of the guide rail chute is equal to the width of the upper transverse part, after the slide block 6-1 with the structure is arranged on the guide rail 6-2, the upper transverse part is seamlessly filled in the guide rail chute, and the guide rail chute can limit the freedom degree of the upper transverse part in the transverse direction and the longitudinal direction, so that the test precision is ensured.
Further, the upper surface of the upper transverse part is an upward convex structure, correspondingly, the inner surface of the guide rail chute is a concave curved surface matched with the upward convex structure, the upward convex structure can be in seamless contact with the concave curved surface, preferably, the upward convex structure is a hemispherical structure, and the inner surface of the guide rail chute is a hemispherical curved surface. The contact surface between the sliding block 6-1 and the guide rail 6-2 is larger, so that the sliding block 6-1 can be better limited, the degree of freedom of the actuating mechanism 12 is further limited, and the test precision is ensured.
Further, an auxiliary limiting part is arranged on the guide rail 6-2, the auxiliary limiting part is arranged along the length direction of the guide rail 6-2, the auxiliary limiting part is positioned on the upper surface of the guide rail 6-2, the central line of the auxiliary limiting part is parallel to the central line of the upper transverse part, an auxiliary limiting chute matched with the auxiliary limiting part is arranged on the inner surface of the guide rail chute, the auxiliary limiting part is a rectangular bulge or a hemispherical bulge, and the auxiliary limiting chute is a rectangular groove or a hemispherical groove. By arranging the two-stage limiting structure, the sliding block 6-1 can be further prevented from moving transversely, the degree of freedom of the actuating mechanism 12 is further limited better, and the testing precision is improved.
As shown in fig. 8, the slider 6-1 of the slider rail system 6 is provided with 4 connection holes M4 for connection with the connection fork 7; the guide rail 6-2 of the slide block guide rail system 6 is provided with 2For connection with the substrate 1. The slide block guide rail system 6 is made of steel materials, the slide block 6-1 and the guide rail 6-2 are of an integrated structure, the slide block guide rail system has the characteristics of high rigidity and high load, the requirements of high precision are obtained, the slide block guide rail system is easy to manufacture, the structure is simple, the motion error rule is obvious, the correction is easy, and the slide block guide rail system is suitable for a precision test device for detecting micro displacement.
As shown in fig. 9, the connecting fork 7 includes a first end and a second end, the first end of the connecting fork 7 is connected with the piston rod 12-1 of the actuator 12, the first end of the connecting fork 7 and the end of the piston rod 12-1 are provided with connecting holes, and the connecting fork 7 and the piston rod 12-1 are rotatably connected through the connecting holes. The end face of the piston rod 12-1 of the actuating mechanism 12 is provided with a straight radial groove, so that precise positioning can be realized with tenons corresponding to the end face of the first end of the connecting fork 7, meanwhile, a connecting hole on the piston rod 12-1 of the actuating mechanism 12 is connected with a connecting hole on the connecting fork 7 through a connecting pin 11, the structure schematic diagram of the connecting pin 11 is shown in fig. 13, and the connection clearance between the piston rod 12-1 of the actuating mechanism 12 and the connecting fork 7 is ensured.
Further, the cross section of the first end of the connecting fork 7 is of a 'mountain' -shaped structure, the 'mountain' -shaped structure comprises an intermediate wall, a transverse wall and two side walls, and the space surrounded by the transverse wall and the two side walls is divided into two installation spaces with equal volumes by the intermediate wall; the cross section of the end part of the piston rod 12-1 connected with the connecting fork 7 is of a concave structure, the concave structure is matched with the mountain-shaped structure, the protruding parts on the two sides of the concave structure are arranged in the two installation spaces of the mountain-shaped structure, the thickness of the protruding parts on the two sides of the concave structure is equal to the width of the installation space of the mountain-shaped structure, and the depth of the middle concave part of the concave structure is smaller than the depth of the installation space of the mountain-shaped structure so as to prevent the piston rod 12-1 from interfering with the first end of the connecting fork 7 when rotating.
The second end of the connecting fork 7 is provided with 1M 4 connecting hole, the central line of the M4 connecting hole coincides with the central line of the connecting fork 7, and the connecting fork 7 is in threaded connection with the measuring rod 5-1 of the linear displacement sensor; the connecting fork 7 is provided with 4 connecting forks which are used for being connected with the slide block guide rail system 6Is provided with a connecting hole; the first end of the connecting fork 7 is provided with a connecting hole M6, the center line of the connecting hole M6 is perpendicular to the center line of the connecting fork 7, and the connecting fork 7 is connected with a piston rod 12-1 of the actuating mechanism 12 through a screw.
As shown in fig. 10, the actuator mount 8 is used to mount an actuator 12. The actuator mounting frame 8 is L-shaped and comprises a vertical part and a transverse part, wherein 1 actuator mounting frame is arranged on the vertical partFor connection to the actuator 12; the transverse part is provided with 4/>Is connected to the substrate 1 by a screw.
As shown in fig. 11, the substrate holder 9 is provided with 1M 12 connection holes, and is connected to the substrate 1 by M12 screws.
As shown in fig. 12, the handle 10 is provided with 2M 10 connection holes, and is connected to the base plate 1 by M10 screws.
The linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism comprises the following steps:
step one: a linear displacement testing device for assembling a piston rod type multi-degree-of-freedom actuating mechanism.
Specifically, the substrate support 9 is connected with the substrate 1 by using screws of M12, the handle 10 is connected with the substrate 1 by using screws of M10, the power supply 2 is connected with the substrate 1 by using screws of M6, the linear displacement sensor mounting support 3 is connected with the substrate 1 by using screws of M3, the slide block guide rail system 6 is connected with the substrate 1 by using screws of M3, and the threads of M4 on the measuring rod of the linear displacement sensor 5 are connected with the connecting holes of M4 on the connecting fork 7; the linear displacement sensor 5 is placed on the linear displacement sensor mounting support 3, the connecting fork 7 is placed on the sliding block guide rail system 6, the linear displacement sensor mounting support 3 is connected with the linear displacement sensor mounting gland 4 through the connecting hole of M2, and the connecting fork 7 is connected with the sliding block guide rail system 6 through the connecting hole of M4; the actuator mount 8 is connected to the base plate 1 by a connection hole of M3.
Step two: and after the displacement testing device is installed, calibrating the displacement testing device.
In order to meet the requirement of high-precision displacement detection, after the displacement testing device is installed, the following steps are carried out:
step 2.1: the heights of the measuring rod 5-1, the connecting fork 7 and the actuating mechanism mounting frame 8 of the linear displacement sensor 5 are adjusted by increasing or decreasing gaskets at the joint, so that the center lines of the measuring rod 5-1, the connecting fork 7 and the actuating mechanism mounting frame 8 of the linear displacement sensor 5 are ensured to be coaxial, and the installation stress is prevented from being generated;
Step 2.2: the screw at the joint with the base plate 1 is adjusted to ensure that the central lines of the linear displacement sensor mounting support 3, the sliding block guide rail system 6 and the actuating mechanism mounting frame 8 are on the same straight line, so as to prevent the generation of mounting stress;
step 2.3: the actuating mechanism 12 is fixedly connected to the actuating mechanism mounting frame 8, a straight radial groove is formed in the end face of a piston rod 12-1 of the actuating mechanism 12 and is precisely positioned with a tenon on the end face of the connecting fork 7, and meanwhile, the piston rod 12-1 of the actuating mechanism 12 is connected with the connecting fork 7 through a connecting pin 11, so that the connection clearance between the piston rod 12-1 of the actuating mechanism 12 and the connecting fork 7 is guaranteed;
Step 2.4: the displacement testing device is powered on, the actuating mechanism 12 is connected with a fuel gas energy source, meanwhile, a control instruction is applied by testing software, a piston rod 12-1 of the actuating mechanism 12 makes reciprocating + -10 mm linear motion, after the displacement of the actuating mechanism 12 is measured by the high-precision displacement sensor 5, 0V to + -10V analog voltage is output and transmitted to testing equipment by a transmission cable, and the testing software automatically judges whether the displacement testing result of the actuating mechanism meets the index requirement;
Step 2.5: if the displacement test result of the interpretation executor 12 meets the index requirement, the calibration is completed; if the displacement test result of the interpretation actuating mechanism 12 does not meet the index requirement, the adjustment is continued according to the steps 2.1 to 2.4 until the displacement test result of the actuating mechanism 12 meets the index requirement.
Step three: after the calibration is completed, detection is started.
After the displacement testing device is installed and calibrated, the requirement of high-precision displacement detection can be met, and the displacement detection project during the mass production of the actuating mechanism is started. The displacement testing device is powered on, the executing mechanism 12 is connected with a fuel gas energy source, meanwhile, a control instruction is applied by testing software, the piston rod 12-1 of the executing mechanism 12 makes reciprocating + -10 mm linear motion, after the displacement of the executing mechanism 12 is measured by the high-precision displacement sensor 5, 0V to + -10V analog voltage is output and transmitted to testing equipment by a transmission cable, and the testing software obtains a displacement testing result by data processing.
Compared with the prior art, firstly, the linear displacement testing device of the piston rod type multi-degree-of-freedom actuating mechanism is simple in structure and convenient to operate, displacement detection of the piston rod type multi-degree-of-freedom linear actuating mechanism can be achieved, a slide block guide rail system is added in the displacement testing device, the slide block guide rail system is used for supporting and guiding a piston rod to do reciprocating linear motion in a given direction, additional stress caused by radial deformation of the piston rod in the motion process is avoided, and meanwhile, the position detection precision of the piston rod of the linear actuating mechanism is improved; secondly, the two-stage limiting structure is arranged on the slide block guide rail system, so that the lateral movement of the slide block can be effectively prevented, the degree of freedom of the actuating mechanism is better limited, the testing precision is greatly improved, the precision can be improved to six parts per million, and the actual engineering requirements are met; and the connecting pin is used for connecting the connecting fork with the piston rod in a seamless rotating way, the radial groove formed in the end face of the piston rod can be precisely positioned with the tenons formed on the end face of the connecting fork, so that the piston rod can be prevented from generating gaps at the connecting position, and the testing precision is ensured.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. The linear displacement testing method based on the piston rod type multi-degree-of-freedom actuating mechanism is characterized by comprising the following steps of: the device comprises a base plate (1), a power supply (2), a displacement sensing assembly, a sliding block guide rail system (6), a connecting fork (7) and an actuating mechanism mounting frame (8);
the power supply (2), the displacement sensing assembly, the sliding block guide rail system (6) and the actuating mechanism mounting frame (8) are fixedly arranged on the upper part of the substrate (1);
one end of the sliding block guide rail system (6) is connected with the displacement sensing assembly, and the other end of the sliding block guide rail system is connected with the actuating mechanism (12) through the connecting fork (7);
The displacement sensing assembly comprises a linear displacement sensor mounting support (3), a linear displacement sensor mounting gland (4) and a linear displacement sensor (5);
the actuating mechanism (12) comprises a piston rod (12-1) and a piston (12-3), the connecting fork (7) comprises a first end and a second end, the first end is rotationally connected with the piston rod (12-1) of the actuating mechanism, and the second end is in threaded connection with the measuring rod (5-1) of the linear displacement sensor (5);
The cross section of the first end of the connecting fork (7) is of a Chinese character 'shan' -shaped structure, the Chinese character 'shan' -shaped structure comprises an intermediate wall, a transverse wall and two side walls, and the space surrounded by the transverse wall and the two side walls is divided into two installation spaces with equal volumes by the intermediate wall; the cross section of the end part of the piston rod (12-1) connected with the connecting fork (7) is of a concave structure, the concave structure is matched with the mountain-shaped structure, the protruding parts on the two sides of the concave structure are arranged in the two installation spaces of the mountain-shaped structure, and the thickness of the protruding parts on the two sides of the concave structure is equal to the width of the installation space of the mountain-shaped structure; the other end of the piston rod (12-1) is provided with a piston rod ball head (12-2), and the piston rod (12-1) and the piston (12-3) form a spherical hinge pair;
the sliding block guide rail system (6) comprises a sliding block (6-1) and a guide rail (6-2), a guide rail chute is arranged on the lower end face of the sliding block (6-1), the sliding block (6-1) is slidably arranged on the guide rail (6-2) through the guide rail chute and can move along the guide rail (6-2), and the connecting fork (7) is arranged on the sliding block (6-1);
The cross section of the guide rail (6-2) is I-shaped and comprises an upper transverse part, a lower transverse part and a vertical connecting part;
The width of the cross section of the opening at the lower end of the guide rail chute is smaller than the maximum width of the cross section of the guide rail chute, the width of the cross section of the opening at the lower end of the guide rail chute is smaller than the width of the upper transverse part, and the maximum width of the cross section of the guide rail chute is equal to the width of the upper transverse part;
the upper surface of the upper transverse part is of an upward convex structure, the inner surface of the guide rail chute is of a concave curved surface matched with the upward convex structure, the upward convex structure is of a hemispherical structure, and the inner surface of the guide rail chute is of a hemispherical curved surface;
An auxiliary limiting part is arranged on the guide rail (6-2), the auxiliary limiting part is arranged along the length direction of the guide rail (6-2) in a through length mode, the auxiliary limiting part is positioned on the upper surface of the guide rail (6-2), the central line of the auxiliary limiting part is parallel to the central line of the upper transverse part, an auxiliary limiting chute matched with the auxiliary limiting part is arranged on the inner surface of the guide rail chute, the auxiliary limiting part is a rectangular bulge or a hemispherical bulge, and the auxiliary limiting chute is a rectangular groove or a hemispherical groove;
The method comprises the following steps:
Step one: assembling the linear displacement testing device;
Step two: calibrating the displacement testing device;
Step 2.1: the heights of the measuring rod (5-1), the connecting fork (7) and the actuating mechanism mounting frame (8) of the linear displacement sensor (5) are adjusted by increasing or decreasing gaskets at the joint, so that the central lines of the measuring rod (5-1), the connecting fork (7) and the actuating mechanism mounting frame (8) of the linear displacement sensor (5) are coaxial, and the installation stress is prevented;
Step 2.2: the screw at the joint of the linear displacement sensor mounting support (3), the sliding block guide rail system (6) and the actuating mechanism mounting frame (8) are guaranteed to be on the same straight line by adjusting the screw at the joint of the linear displacement sensor mounting support and the base plate (1), so that the installation stress is prevented from being generated;
Step 2.3: the actuating mechanism (12) is fixedly connected to the actuating mechanism mounting frame (8), a piston rod (12-1) of the actuating mechanism (12) is connected with the connecting fork (7) through a connecting pin (11), and the connection clearance between the piston rod (12-1) of the actuating mechanism (12) and the connecting fork (7) is guaranteed;
Step 2.4: the displacement testing device is powered on, the actuating mechanism (12) is connected with a fuel gas energy source, meanwhile, the testing software applies a control instruction, a piston rod (12-1) of the actuating mechanism (12) makes reciprocating + -10 mm linear motion, after the displacement of the actuating mechanism (12) is measured by the high-precision displacement sensor (5), 0V to + -10V analog voltage is output and transmitted to testing equipment through the transmission cable, and the testing software automatically judges whether the displacement testing result of the actuating mechanism meets the index requirement;
Step 2.5: if the displacement test result of the interpretation actuating mechanism (12) meets the index requirement, the calibration is completed; if the displacement test result of the judging executing mechanism (12) does not meet the index requirement, continuing to adjust according to the steps 2.1 to 2.4 until the displacement test result of the executing mechanism (12) meets the index requirement;
step three: after the calibration is completed, detection is started.
2. The linear displacement testing method of the piston rod type multi-degree-of-freedom actuating mechanism according to claim 1, further comprising a substrate support (9) and a handle (10), wherein the substrate support (9) is fixedly arranged at the bottom of the substrate (1), and the handle (10) is arranged at two sides of the substrate (1).
3. The linear displacement testing method of the piston rod type multi-degree-of-freedom actuating mechanism according to claim 2, wherein the linear displacement sensor (5) is detachably mounted on the linear displacement sensor mounting support (3) through the linear displacement sensor mounting gland (4).
4. The linear displacement testing method of the piston rod type multi-degree-of-freedom actuating mechanism according to claim 1, wherein the power supply (2) is of a box structure and is connected with the base plate (1) through screws.
5. The linear displacement testing method of the piston rod type multi-degree-of-freedom actuating mechanism according to claim 4, wherein the width of the vertical connecting portion is smaller than the widths of the upper transverse portion and the lower transverse portion, and the cross section size and the shape of the upper transverse portion are the same as those of the guide rail sliding groove.
6. The linear displacement testing method of the piston rod type multi-degree-of-freedom actuating mechanism according to claim 5, wherein a connecting hole for installing a measuring rod (5-1) of a linear displacement sensor is formed in the second end of the connecting fork (7), and the center line of the connecting hole coincides with the center line of the connecting fork (7).
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