KR20030072802A - Dynamometer for Performance Evaluation of the Linear Motor - Google Patents

Abstract

PURPOSE: A dynamometer is provided to precisely and easily evaluate the performance of a linear motor by minimizing parameters harmful for the performance evaluation of the linear motor. CONSTITUTION: A rod extension part(125) is coupled to a linear motor(114) through a coupling(122). An MR variable load device(105) receives driving force of the linear motor(114) through the rod extension part(125). A microprocessor(108) is provided to calculate required intensity of load. A digital signal of load calculated by the microprocessor(108) is converted into an analog signal by means of a D/A converter(107). A current amplifier(106) applies the analog signal to the MR variable load device(105). A displacement measuring sensor(112) is provided to detect displacement or accelerator at an output terminal of the linear motor(114). A signal processor(113) processes signals detected by the displacement measuring sensor(112).

Description

Dynamometer for Performance Evaluation of the Linear Motor}

The present invention relates to an apparatus for evaluating linear motor performance, and more particularly, magneto-rheological (MR) fluid or electro-rheological (ER) fluid, which is a material that can be continuously loaded. The present invention relates to a dynamometer for evaluating linear motor performance that makes it possible to easily and accurately measure the performance of a linear motor by using a variable load device that generates a desired load by controlling the strength of a magnetic or electric field applied to a fluid.

Linear motors are reciprocating motors in a linear direction, and are being applied to various fields such as automation equipment, semiconductor production machines, measurement equipment, and medical equipment that require a linear reciprocating movement as a basic foundation device throughout the industry. Accordingly, various types of linear motors are under development / research, and there is a need for an apparatus capable of evaluating the efficiency and performance of linear motors in the development and practical application of linear motors.

While the apparatus for evaluating the performance of a conventional rotary motor has already been put to practical use, the apparatus for evaluating the performance of a linear motor has not yet been developed to a satisfactory level. Unlike the rotational motion of the rotary motor, the linear motor performs a linear reciprocating motion, so it is not easy to use the performance evaluation device of the existing rotary motor.

The most basic operating principle of a dynamometer for evaluating the performance of a rotating motor is to evaluate the performance of the motor by applying a desired amount of friction to a rotating object by the rotating motor and measuring the transmission force transmitted from the friction applying mechanism. However, in case of the linear motor, the displacement is instantaneously zero due to the reciprocating motion, and the frictional force of the friction mechanism is not constant. That is, it is difficult to accurately evaluate the performance due to the difference between the friction coefficient at the reciprocating motion and the maximum friction coefficient at the stop. In addition, linear motors vary in speed with time, which is mainly due to the sinusoidal input (since a common household power supply is used as input), which results in the amount of load on the linear motor, unlike a rotary motor. In some cases, it may be necessary to change in real time to the desired load. As the friction mechanism used for the performance evaluation of the rotary motor, it is not easy to adjust the magnitude of the frictional force in real time with the problems as described above, there is a problem that requires a very complex separate device.

As an example of an apparatus for evaluating the performance of a conventional linear motor, there is an apparatus for evaluating performance by measuring the displacement, speed, acceleration, and thrust in the direction of motion of a linear motor traveling on a rail and analyzing the data.

These devices do not measure the performance of a linear motor connected to a load element, but rather evaluate the performance of a linear motor by measuring the motion of the linear motor itself. Since the device does not have a variable load generating element, there is a problem in that it is not possible to evaluate the accurate performance of the linear motor applied to the actual mechanical system and subjected to the mechanical load.

As another example of the prior art linear motor performance evaluation apparatus for solving the above problems, the linear motor performance evaluation dynamometer as shown in the block diagram of Figure 1 is a linear motor (LOA) of the linear motor (LOA) Different linear motors are used as load devices to evaluate performance. In this case, since the precondition that the performance of the linear motor used as the load device must be already known accurately is required, a problem that requires a device for accurately measuring the performance of the linear motor for the load device is generated. The performance of the linear motor also had a problem that cannot be measured accurately.

In order to solve the above problems, the object of the present invention is to apply a variable load in consideration of the motion pattern of the linear motor to evaluate the performance, and to adjust the size of the load in real time By providing a variable load device, the dynamometer for linear motor performance evaluation, which can easily and accurately measure the performance of the linear motor by minimizing the obstacles to the performance evaluation caused by the stop friction at the momentary stop state that exists during the linear motor operation. To provide.

In addition, by controlling the magnetic field / electric field, it is possible to control the real-time control of the load delivered to the linear motor, thereby providing a simplified structure of the dynamometer for linear motor performance evaluation.

1 is a block diagram showing the configuration of a dynamometer for linear motor performance evaluation according to the prior art.

Figure 2 is a block diagram showing the configuration of the entire system to which the dynamometer for linear motor performance evaluation according to the present invention is applied

3A and 3B are graphs showing damping force output by maintaining a constant magnetic field with a dynamometer for linear motor performance evaluation according to the present invention.

4A and 4B are graphs showing damping force output by controlling a magnetic field with a dynamometer for evaluating linear motor performance according to the present invention.

5A and 5B are an exploded perspective view and a partially broken perspective view showing an embodiment of the MR variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

6A and 6B are an exploded perspective view and a partially broken perspective view showing another embodiment of the MR variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

Figure 7 is a partially broken perspective view showing another embodiment of the MR variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

8A and 8B are an exploded perspective view and a partially broken perspective view showing an embodiment of the ER variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

9A and 9B are an exploded perspective view and a partially broken perspective view showing another embodiment of the ER variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

10 is a partial fracture perspective view showing another embodiment of the ER variable load device of the dynamometer for linear motor performance evaluation according to the present invention.

* Description of the symbols for the main parts of the drawings *

101: dynamometer 102: linear motor control unit

103: variable load device portion 104: sensor portion

105: MR / ER variable load device 106: current / voltage amplifier

107: D / A converter 108: Microprocessor

109: force sensor 110: signal processor

112: acceleration (displacement) sensor 113: signal processor

114: linear motor 115: linear motor controller

116: linear motor driver 117: power measuring device

118: power measurement signal line 119: transmission force signal line

120: acceleration or displacement signal line 121: performance evaluation device

122: coupling 123: bed

125: rod extension

201: MR fluid 202: moving stimulus

203: fixed stimulus 204: base

205: bracket 206: solenoid

207: rod 208: linear bearing

209: protrusion 210: groove

220: fixed stimulation unit 230: moving stimulation unit

301: MR fluid 302: external stimulus

303: inner magnetic pole 304: housing

305: solenoid 306: piston

307: rod 308: fixed portion

309: fixed shaft 310: bracket

311: linear bearing 312: protrusion

313: groove 320: outer magnetic pole portion

330: inner magnetic pole portion 340: piston portion

401: MR fluid 402: mobile stimulation

403: fixed stimulation 404: diaphragm

405: solenoid 406: base

407: rod 408: fixed shaft

409: Bracket 410: Linear Bearing

411: protrusion 412: groove

420: fixed magnetic pole portion 430: moving magnetic pole portion

501: ER fluid 502: moving electrode

503: fixed electrode 504: housing

505: bracket 506: fixed portion

507: rod 508: linear bearing

509: turning 510: home

520: fixed electrode unit 530: moving electrode unit

601: ER fluid 602: outer electrode

603: inner electrode 604: housing

605: fixed portion 606: piston

607: rod 608: fixing part

609: linear bearing 610: protrusion

611: bracket 612: groove

620: outer electrode portion 630: inner electrode portion

640: piston

701: ER fluid 702: moving electrode

703: fixed electrode 704: diaphragm

705: base 706: fixed shaft

707: rod 708: bracket

709: linear bearing 710: protrusion

711: groove 720: fixed electrode portion

730: moving electrode portion

The present invention for realizing this,

The performance of the linear motor driven and controlled by the linear motor controller includes a linear motor driver for driving the linear motor, a linear motor controller for driving control, and a power measuring device for measuring the amount of power input to the linear motor. An apparatus for evaluating;

MR or ER variable load device receiving the movement of the linear motor through the rod extension coupled to the linear motor and coupling, a microprocessor for calculating the desired load size, digital load of the calculated from the microprocessor A variable load device unit comprising a D / A converter for converting a signal into an analog signal, a current or voltage amplifier for applying an analog signal processed from the D / A converter to an MR or ER variable load device, and

A force sensor installed on the rod extension part and the rod extension part to measure a transmission force between the linear motor and the MR or ER variable load device, and a sensor for measuring the acceleration or displacement of the output end of the linear motor; It provides a dynamometer for linear motor performance evaluation, comprising a sensor processor for processing a signal to be detected, and an A / D converter for converting an analog signal from the signal processor into a digital signal.

In addition, a performance evaluation program having a built-in performance evaluation program for evaluating the performance of the linear motor using the signal output from the power measuring device of the linear motor controller, the signal processor of the sensor unit, and the A / D converter through the signal processor as an input value. A device may be further provided.

In order to configure the variable load device of the dynamometer according to the present invention as described above, MR / ER fluid capable of continuously generating a load according to the size of the magnetic field / electric field is used as a working fluid. Hereinafter, the basic characteristics of the MR / ER fluid of the present invention will be described. The MR fluid is a colloidal solution in which paramagnetic particles are dispersed in a solvent having a low permeability, and the yield stress and the viscosity of the fluid change depending on the strength of the magnetic field being loaded. The MR fluid exhibits the behavior of a Newtonian fluid in which particles dispersed in a solvent freely move when no magnetic field is loaded, but shows the behavior of a fluid having a yield shear zone of the fluid by floating particles forming a chain structure upon application of a magnetic field. Therefore, it has a reversible flow property with respect to the magnetic field load, and has the feature that can be continuously controlled according to the strength of the magnetic field. The ER fluid is a colloidal solution in which strong conductive particles are dispersed in a non-conductive solvent, and refers to a fluid in which mechanical properties such as yield stress and viscosity change according to the size of an electric field loaded. In general, a system using MR / ER fluid has no energy source, but is mainly used as a vibration damping device by dispersing energy input into the system. However, in the present invention, the work transmitted from the linear motor is distributed by using MR / ER fluid to maintain a fixed state of motion and to apply a load to the linear motor to be operated, and to use it as a dynamometer for evaluating the performance of the linear motor. do.

BEST MODE Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

2 is a block diagram showing the configuration of the entire system to which the dynamometer for linear motor performance evaluation according to the present invention is applied. The linear motor 114, the linear motor controller 102 for controlling the linear motor 114, and the linear motor 114 are shown. The dynamometer 101 for the performance evaluation of FIG.

The linear motor control unit 102 is generally used to control the linear motor 114, the linear motor controller 115 for controlling the movement of the linear motor 114, and from the linear motor controller 115 The linear motor driver 116 for moving the linear motor 114 according to the control command of the, and a power measuring device 117 for measuring the amount of power input to the linear motor 114 is configured.

The dynamometer 101 for evaluating the performance of the linear motor according to the present invention includes a rod extension 125 which is coupled to the output end and one side of the linear motor 114 and is displaced on the rod extension 125. And the sensor unit 104 for measuring the transmission force and the other side of the rod extension unit 125 of the sensor unit 104 or are integrally formed with an MR / ER variable load device unit using MR / ER fluid ( 103). The apparatus further includes a performance evaluation apparatus 121 having a performance evaluation program for outputting a result by using the signal output from the linear motor control unit 102 and the sensor unit 104 as an input value.

The sensor unit 104 is installed on the rod extension unit 125 and the rod extension unit 125 to measure the transmission force between the linear motor 114 and the MR / ER variable load device 105 A sensor 112 for measuring acceleration or displacement of the outputs of the sensor 109 and the linear motor 114, signal processors 110 and 113 for processing signals detected from the sensors 109 and 112, and And a sensor unit 104 composed of an A / D converter 111 for converting an analog signal from the signal processor 113 into a digital signal.

The variable load device 103 receives the motion of the linear motor 114 through the rod extension 125 coupled by the linear motor 114 and the coupling 122 and MR / ER therein. MR / ER variable load device 105 capable of applying a magnetic / electric field to the fluid, a microprocessor 108 for calculating the desired load size, and a digital signal of the load calculated from the microprocessor 108 as an analog signal. Current / voltage amplifier 106 for applying a magnetic field / electric field to the MR / ER variable load device 105 and the analog signal processed by the D / A converter 107 It consists of. The performance evaluation apparatus 121 is an A / D converter 111 and a sensor unit 104 connected to the power measuring device 117 of the linear motor controller 102 and the signal processor 110 of the sensor unit 104. Display the result values and pictures related to the performance evaluation of the linear motor, which are calculated by the performance evaluation program, of signals input through the signal lines 118, 119, and 120 connected to the signal processor 113, respectively, on an output device such as a monitor. Configured to do so.

The principle and operation of the dynamometer for linear motor performance evaluation in the entire system as described above are as follows. Once the operating stroke and operating frequency of the linear motor 114 are determined, the linear motor 114 generates the desired motion by the linear motor controller 115 and the linear motor driver 116, and the linear motor 114 is coupled The rod 122 is axially coupled by the ring 122 to the MR / ER load device 105.

If the MR / ER variable load device 105 is not connected, no load will be measured by the force sensor 109. Once the size of the load is determined, the microprocessor 108 of the variable load unit 103 sends a control signal to the current / voltage amplifier 106 via the D / A converter 107 and the current / voltage amplifier 106. The control current / voltage is applied to the MR / ER variable load device 105. At this time, the load generated by the MR / ER load device 105 is transmitted to the linear motor 114 and the actual magnitude of the transfer force of this load is measured by the force sensor 109.

The signal generated from the force sensor 109 is fed back to the microprocessor 108 through the signal processor 110 and the A / D converter 111, and the microprocessor 108 can determine the desired load size and the actual load size. Comparing the control signal by calculating a control signal is applied to the MR / ER variable load device 105 again to transfer the desired load to the linear motor 114.

The amount of input applied to the linear motor 114 is output from the power measuring device 117 of the linear motor controller 102 and is obtained from the signal through the signal line 118, and the amount of output generated from the linear motor 114 is Acceleration and displacement output from the acceleration sensor or displacement sensor 112 of the sensor unit 104 and transmitted through the signal line 120, and the transmission force output from the force sensor 109 is obtained through the signal line 119 Since it can obtain by processing suitably, it can drive the performance evaluation program from this and can evaluate the efficiency of the linear motor 114. FIG.

The efficiency of the linear motor 114 can be expressed as Equation 1.

In Equation 1, η represents the efficiency of the linear motor 114, Ｗ _in represents the input applied to the linear motor 114, Ｗ _out represents the output of the linear motor 114, F is an MR or ER fluid Denotes a transmission force generated by the variable load device 105, and Ｖ denotes the speed of the linear motor 114 or variable load device 105.

3A and 3B are graphs showing damping force output by maintaining a constant magnetic field with a dynamometer for linear motor performance evaluation according to the present invention. FIG. 3A shows a relationship with damping force over time. 3b shows the relationship with the damping force according to the displacement. In calculating the efficiency of the linear motor, the transmission force measured by the force sensor 109 shown in FIG. 2 under magnetic field load is the sum of the inertia force of the MR / ER variable load device 105 and the damping force due to the basic viscosity. Since the linear motor generates the sinusoidal motion, the transmission force has the same shape as the thick solid line of FIGS. 3A and 3B. When the magnetic field is added at a constant value, the damping force is shaped like a dotted line and increases in proportion to the width of the magnetic pole, so that the total damping force has a square wave shape. At this time, and the energy is the area of the closed curve of Figure 3b dissipated in variable load device 105 which is the same as the output value of the linear motor (W _out).

4A and 4B are graphs showing the damping force output by controlling a magnetic field with a dynamometer for linear motor performance evaluation according to the present invention. The relationship with the damping force according to the displacement is shown. Since the viscosity of the MR fluid is variable with respect to the magnetic field, the size and shape of the load generated by the variable load device 105 shown in FIG. 2 can be obtained by controlling the magnitude of the magnetic field. The area of the closed curve of FIG. Same as the output value ( 값 _out ).

The output of the linear motor 114, which is obtained according to the foregoing (W _out) is a linear motor measured by the sensor (109, 112) a performance evaluation device 121 can, and power measurement device 117 to be calculated in the via ( The efficiency can be calculated with the input ( 의 _in ) of 114) and output to the monitor as a calculated value or picture.

Hereinafter, embodiments of the MR variable load device 105 of the variable load device unit 103 of the linear motor performance evaluation dynamometer according to the present invention will be described in detail.

5A and 5B are an exploded perspective view and a partially broken perspective view showing an embodiment of an MR variable load device of a dynamometer for linear motor performance evaluation according to the present invention, showing a shear mode MR variable load device. The MR variable load device includes a base 204 for supporting, a fixed magnetic pole portion 220 attached to a lower inner circumferential surface of the base 204, and a fixed magnetic pole by an output end of the linear motor 114 shown in FIG. MR fluid 201 in which shear resistance is generated by a parallel relative motion between the moving magnetic pole portion 230 and the fixed magnetic pole portion 220 and the moving magnetic pole portion 230 linearly moving inside the portion 220. Consists of.

The base 204 is formed in a roughly "c" shape, and two linear bearings 208 having protrusions 209 formed in the axial direction on the upper inner circumferential surface thereof are respectively provided at upper and lower sides thereof. A plurality of brackets 205 are formed at the bottom edge portion for securing to the bed 123 (shown in FIG. 2) having a flat top surface.

The stator pole portion 220 has a vertically penetrating portion, a rectangular ring-shaped solenoid 206 for applying a magnetic field to the MR fluid 201, a space portion vertically penetrating therein, and the solenoid 206 is formed. It consists of two stator poles 203 in the form of roughly rectangular rings each having grooves formed at edge portions of the inner circumferential surface which are in contact with each other so that the stator poles 203 at the bottom of the two stator poles 203 are the base 204. It is firmly attached on the lower surface of).

The movable magnetic pole portion 230 is provided with a groove 210 in the axial direction on the upper circumferential surface thereof so as to be inserted into the linear bearing 208 of the base 204, thereby engaging the protrusion 209 of the linear bearing 208 to prevent rotation. A rod 207 reciprocating in the axial direction in a state in which the rod 207 is connected to or integrally formed with the other end of the rod extension part 125 axially coupled by an output end of the linear motor 114 and the coupling 122, And a rod attached to a lower portion of the outer circumferential surface of the rod 207 to maintain a predetermined distance from both inner circumferential surfaces of the stator pole portion 220 parallel to the axial direction of the rod 207, and the inside of the space portion of the stator pole portion 220. And a moving magnetic pole 202 in the form of a substantially rectangular plate that reciprocates in the axial direction of 207.

The MR fluid 201 is filled in the space of the stator pole part 220 so that the movable stimulus 202 reciprocates in the axial direction of the rod 207 based on the stator pole 203 to generate shear resistance. do.

The operation of the shear mode MR variable load device according to the present invention as described above is as follows. When the linear motor 114 is driven, the moving magnetic pole coupled with the rod 207 which is connected to or integrally formed with the rod extension 125 coupled to the output end of the linear motor 114 by the coupling 122. The 202 is linearly reciprocated, and at the same time, the MR fluid 201 filled between the fixed magnetic pole 203 and the moving magnetic pole 202 (hereinafter, referred to as the gap) is moved relative to the moving magnetic pole 202 and the fixed magnetic pole 203. Shear resistance is generated according to. At this time, when a magnetic field is formed in the MR fluid 201 filled in the gap by applying a current to the solenoid 206, the viscosity of the MR fluid 201 is changed to change the shear resistance force. The shear resistance, whose magnitude is controlled by the magnetic field strength, acts as a variable load of the linear motor 114.

6A and 6B are exploded perspective views and partial fracture perspective views showing another embodiment of the MR variable load device of the dynamometer for linear motor performance evaluation according to the present invention, showing a flow mode MR variable load device. The MR variable load device includes a housing 304 for supporting, an outer magnetic pole portion 320 attached to a lower inner circumferential surface of the housing 304, and an outer magnetic pole portion 320 fixed to one side of the housing 304. The inner magnetic pole portion 330 is inserted into the inner magnetic pole portion 330 to maintain a constant distance from the outer magnetic pole portion 320, and the output terminal of the linear motor 114 shown in FIG. It consists of a moving piston portion 340, and the MR fluid 301 that flow resistance is generated by flowing between the outer magnetic pole portion 320 and the inner magnetic pole portion 330 by the movement of the piston portion 340 have.

The housing 304 has a schematic rectangular parallelepiped shape in which an upper portion of the housing portion is opened, and a linear bearing 311 having a protrusion 312 formed in an axial direction on an upper inner circumferential surface thereof is provided at one central portion thereof. ), A plurality of brackets 310 are formed at the bottom edge to secure the bed to the bed 123 (shown in FIG. 2). The outer magnetic pole part 320 is spaced apart by a predetermined interval in the axial direction of the linear bearing 311 on the lower inner peripheral surface of the housing 304 are attached to the lower surface and each of the two fixing parts 308 grooved in the shape of an arc Is provided, the outer circumferential magnetic pole 302 of the hollow cylindrical shape is attached to the outer circumferential surface to be located coaxially with the linear bearing 312 in the arc-shaped groove of the fixing portion 308.

The inner magnetic pole portion 330 is formed in a hollow cylindrical shape having an outer diameter that can be spaced apart from the inner diameter of the outer magnetic pole 302, the solenoid 305 for applying a magnetic field, and the rod shape in which the solenoid 305 is fitted Is formed in a disc shape having a central axis 314 and an outer diameter that can be spaced apart from the inner diameter of the outer magnetic pole 302 at both ends of the central shaft 314 and inserted into the outer magnetic pole 302. One side portion is coupled to the inner magnetic pole 303 and the inner magnetic pole 303, and the other side thereof faces the same axis as the linear bearing 312 of the housing 304, that is, the linear bearing 312. A fixed shaft 309 is coupled to one side of the housing 304.

The piston 340 is a state in which a groove 313 is formed in the axial direction on the upper outer circumferential surface of the piston 340 to be inserted into the linear bearing 312 of the housing 304 to be engaged with the protrusion 312 of the linear bearing 311 to prevent rotation thereof. In the rod 307, which is connected to or integrally formed with the other end and one end of the rod extension portion 125, one side of which is axially coupled by the output 122 and the coupling 122 of the linear motor 114 shown in FIG. And a disk-shaped piston 306 coupled to the other end of the rod 307 coaxially and inserted into the outer magnetic pole 302 to reciprocate in the axial direction.

The MR fluid 301 is filled in the space portion of the housing 304 and flows by the piston 306 between the outer magnetic pole 302 and the inner magnetic pole 303 (hereinafter, referred to as a gap) to generate a flow resistance. do.

The operation of the flow mode MR variable load device according to the present invention as described above is as follows. When the linear motor 114 of FIG. 2 is driven, the piston 306 coupled with the rod 307 connected to the output end of the linear motor 114 linearly reciprocates, and at the same time, the MR fluid 301 moves into the gap. Will flow. At this time, if a magnetic field is formed in the MR fluid 301 filled in the gap by applying a current to the solenoid 305, the viscosity of the MR fluid 301 is changed to change the flow resistance force. The flow resistance force whose magnitude is adjusted by the magnetic field strength acts as a variable load of the linear motor 114 of FIG. 2.

7 is an exploded perspective view and a partially broken perspective view showing another embodiment of the MR variable load device of the linear motor performance evaluation dynamometer according to the present invention, showing a crimp mode type MR variable load device. The MR variable load device supports a base 406 for support, a fixed magnetic pole part 420 coupled to one side of the base 406, and a movable side opposite to one side of the base 406. The moving magnetic pole portion 430, the diaphragm 404 connecting the stator pole portion 420 and the moving magnetic pole portion 430, and the MR fluid 401 filled in the diaphragm 404. It is composed.

The base 406 is formed in a roughly “c” shape, and has a linear bearing 410 having a protrusion 411 formed in an axial direction on an upper inner circumferential surface thereof, and provided with a central portion thereof, and a bed 123 (shown in FIG. 2). A plurality of brackets 409 are formed at the bottom edge portion for fixing to the bottom.

The stator pole portion 420 has a cross section on one side such that the solenoid 405 and the solenoid 405 can be inserted in the same axis as the linear bearing 410 in a ring shape having a rectangular cross section for applying a magnetic field. The rectangular ring-shaped groove is formed in the cylindrical pole and the linear bearing 410 is located on the same axis and the fixed magnetic pole 403, the other side and one end of the fixed magnetic pole 403 is coupled and the other end is The fixed shaft 408 is attached to one side portion of the housing 406 opposite to the linear bearing 410 on the same axis.

The movable magnetic pole part 430 is provided with a groove 412 in the axial direction on the upper circumferential surface thereof so as to be inserted into the linear bearing 410 of the housing 406 to engage with the protrusion 411 of the linear bearing 410 to prevent rotation. A rod 407 connected or integrally formed with the other end of the rod extension part 125, one side of which is axially coupled by the output 122 and the coupling 122 of the linear motor 114 shown in FIG. 2, and The central portion is coupled to the other end of the rod 407 is composed of a disk-shaped moving magnetic pole 402 reciprocating.

The diaphragm 404 has a horizontal portion penetrating horizontally and is formed of a flexible material having both ends attached to an edge portion of the stator pole 403 and an edge portion of the moving pole 402. Direction can be expanded and contracted.

The MR fluid 401 is filled in the space portion of the diaphragm 404 to move the magnetic pole 402 based on the fixed magnetic pole 403 between the fixed magnetic pole 403 and the moving magnetic pole 402 (hereinafter, referred to as a gap). By this movement, a crimping resistance is generated.

The operation of the crimp mode MR variable load device according to the present invention as described above is as follows. When the linear motor 114 shown in FIG. 2 is driven, the moving stimulus 402 coupled with the rod 407 linearly reciprocates, and at the same time, the size of the gap changes. If the gap is large, the MR fluid 401 flows from the edge of the diaphragm 404 to the center, and if the gap is small, the MR fluid 401 flows from the center of the diaphragm 404 to the edge. At this time, if a magnetic field is formed in the MR fluid 401 filled in the gap whose size is changed by applying a current to the solenoid 405, the viscosity of the MR fluid 401 is changed to change the crimp resistance. The crimp resistance, whose magnitude is adjusted by the magnetic field strength, acts as a variable load of the linear motor 114 shown in FIG.

Hereinafter, embodiments of the ER variable load device 105 of the variable load device unit 103 of the linear motor performance evaluation dynamometer according to the present invention will be described in detail.

8A and 8B are exploded perspective views and partial fracture perspective views showing an embodiment of an ER variable load device of a dynamometer for linear motor performance evaluation according to the present invention, showing a shear mode MR variable load device. The ER variable load device includes a housing 504 for supporting, a fixed electrode part 520 attached to a lower inner circumferential surface of the housing 504, and a linear motion inside the fixed electrode part 520 by an output terminal of the linear motor. The ER fluid 501 which generates a shear resistance by the parallel relative movement between the moving electrode 530 and the fixed electrode 520 and the moving electrode 530.

The housing 504 has a schematic rectangular parallelepiped shape in which an upper portion of the space is opened, and linear bearings 508 having protrusions 509 formed in the axial direction on the upper inner circumferential surface thereof are respectively provided on both upper and upper ends thereof. A number of brackets 505 are formed at the bottom edge to secure 504 to the bed 123 having a flat top surface (shown in FIG. 2).

The fixed electrode part 520 is attached to one side at predetermined intervals at a predetermined interval in a direction perpendicular to the axis of the linear bearing 508 on the lower inner circumferential surface of the housing 504. The fixing unit 506 and two fixed electrodes 503 in the form of a square plate firmly attached to the other side of the fixing unit 506, respectively.

The movable electrode part 530 is formed with a groove 510 in the axial direction on an upper circumferential surface of the movable electrode part 530 so as to be inserted into the linear bearing 508 of the housing 504, thereby engaging the protrusion 509 of the linear bearing 508 to prevent rotation thereof. Axially reciprocating in the axial direction and connected or integrally formed with the other end of the rod extension part 125 (shown in FIG. 2) axially coupled by the output end of the linear motor 114 and the coupling 122. A rod 507 and a moving electrode 502 attached to a lower portion of the outer circumferential surface of the rod 507 to reciprocate between two fixed electrodes 503.

The ER fluid 501 is filled in the space portion of the housing 504 so that the movable electrode 502 reciprocates in the axial direction of the rod 507 with respect to the fixed electrode 503 to generate shear resistance. .

The action of the shear mode type ER variable load device according to the present invention as described above is as follows. When the linear motor 114 shown in FIG. 2 is driven, the moving electrode 502 connected to the rod 507 linearly reciprocates, and at the same time between the fixed electrode 503 and the moving electrode 502 (hereinafter, referred to as a gap). The filled ER fluid 501 generates shear resistance according to the relative movement of the moving electrode 502 and the fixed electrode 503. In this case, an electric field is formed in the ER fluid 501 of the gap by applying a "+" voltage and a "-" voltage to the moving electrode 502 and the fixed electrode 503, respectively, and the viscosity of the ER fluid 501 is increased. Shear resistance changes due to change. The shear resistance, which is scaled by the electric field strength, acts as a load of the linear motor 114.

9A and 9B are exploded perspective views and partial fracture perspective views showing another embodiment of the ER variable load device of the dynamometer for linear motor performance evaluation according to the present invention, showing a flow mode MR variable load device. The ER variable load device is fixed to a housing 604 for supporting, an outer electrode portion 620 attached to a lower inner circumferential surface of the housing 604, and an inner circumferential surface of one side of the outer electrode portion 620, and thus the outer electrode. An inner electrode portion 630 having a predetermined interval with the portion 620, a piston portion 640 linearly moving inside the outer electrode portion 620 by an output end of the linear motor 114 of FIG. 1, and the It consists of an ER fluid 601 which flows between the outer electrode part 620 and the inner electrode part 630 by the movement of the piston part 640, and a flow resistance is generated.

The housing 604 has a schematic rectangular parallelepiped shape in which an upper portion of the space is opened, and a linear bearing 609 having a protrusion 610 formed in an axial direction on an upper inner circumferential surface thereof is provided at one central portion thereof, and the housing 604. ), A plurality of brackets 611 are formed at the bottom edge portion to secure the bed to the bed 123 (shown in FIG. 2).

The outer electrode portion 620 is spaced apart a predetermined interval in the axial direction of the linear bearing 609 on the lower inner circumferential surface of the housing 604, the two sides are attached to each of the two fixing parts 608 with an arc-shaped groove on the top Is provided, and the hollow electrode cylindrical outer electrode 602 is attached to the outer circumferential surface on the same axis as the linear bearing 609 in the arc-shaped groove of the fixing portion 608.

The inner electrode part 630 is formed in a cylindrical shape having an outer diameter that can be spaced apart from the inner diameter of the outer electrode 602 and is inserted into the outer electrode 602 coaxially with the outer electrode 602. 603 and an axially long rod-shaped electrically insulating material, one side of which is radially attached to the outer circumferential surface of the inner electrode 603, and the other side of the outer electrode 602 is fixed in contact with the inner circumferential surface of the outer electrode 602. As a result, the inner electrode 603 includes a plurality of inner electrode fixing parts 605 formed to be spaced apart from the outer electrode 603 by a predetermined distance.

The piston 640 has a groove 612 formed in the axial direction on the upper circumferential surface of the piston 640 so as to be inserted into the linear bearing 609 of the housing 604 to be engaged with the protrusion 610 of the linear bearing 609 to prevent rotation. A rod 607 connected to or integrally formed with the other side of the rod extension part 125 in which one side is axially coupled by the output 122 and the coupling 122 of the linear motor 114 shown in FIG. 2, and the rod A central portion of one side is coupled to the other end of the 607 and is inserted into the outer electrode 602 and has a disk-shaped piston 606 formed to reciprocate in the axial direction.

The ER fluid 601 is filled in the space of the housing 604 and flows by the piston 606 between the outer electrode 602 and the inner electrode 603 (hereinafter referred to as an electrode) to generate a flow resistance. do.

The operation of the flow mode type ER variable load device according to the present invention as described above is as follows. Driving the linear motor 114 shown in FIG. 2 causes the piston 606 connected to the rod 607 to linearly reciprocate, and at the same time the ER fluid 601 flows into the gap. At this time, when the electric field is formed in the ER fluid 601 of the gap by applying the "+" voltage and the "-" voltage to the outer electrode 602 and the inner electrode 603, respectively, the viscosity of the ER fluid 601 is increased. The flow resistance changes due to the change. The flow resistivity, which is scaled by the electric field strength, acts as a load of the linear motor 114 of FIG.

10 is an exploded perspective view and a partially broken perspective view showing another embodiment of the ER variable load device of the dynamometer for linear motor performance evaluation according to the present invention, and shows a crimp mode MR variable load device. The ER variable load device is supported to be movable on a base 705 for supporting, a fixed electrode unit 720 coupled to one side of the base 705, and the other side opposite to one side of the base 705. The moving electrode part 730, the diaphragm 704 connecting the fixed electrode part 720 and the moving electrode part 730, and the ER fluid 701 filled in the diaphragm 704. It is composed.

The base 705 is formed in a roughly “c” shape, and has a linear bearing 709 having a protrusion 710 formed in an axial direction on an upper inner circumferential surface thereof, provided at one center thereof, and a bed 123 (shown in FIG. 2). A plurality of brackets 708 are formed at the bottom edge portion for fixing to the bottom.

The fixed electrode portion 720 has a fixed shaft 706 having one end coupled to a central portion facing the linear bearing 709 of the base 705, and the other end and the center of the other end of the fixed shaft 706. Composed of a disk-shaped fixed electrode 703 is coupled.

The movable electrode 730 has a groove 711 formed in the upper outer circumferential surface of the housing 705 so as to be inserted into the linear bearing 709 so as to be engaged with the protrusion 710 of the linear bearing 709 to prevent rotation. A rod 707 connected to or integrally formed with the other end of the rod extension part 125, one side of which is axially coupled by the output 122 and the coupling 122 of the linear motor 114 shown in FIG. 2, and A central portion is coupled to the other end portion of the rod 707 and includes a disk-shaped moving electrode 702 reciprocating.

The diaphragm 704 has a horizontally penetrating space portion and is formed of a flexible material having both ends attached to an edge portion of the fixed electrode 703 and an edge portion of the moving electrode 702. Direction can be expanded and contracted.

The ER fluid 701 is filled in the space of the diaphragm 704 to move the electrode 702 based on the fixed electrode 703 between the fixed electrode 703 and the moving electrode 702 (hereinafter, referred to as a gap). By this movement, a crimping resistance is generated.

The action of the crimp mode type ER load device according to the present invention as described above is as follows. When the linear motor 114 shown in FIG. 2 is driven, the moving electrode 702 coupled with the rod 707 linearly reciprocates, and at the same time, the size of the gap changes. As the gap increases, the ER fluid 701 flows from the edge of the diaphragm 704 to the center, and when the gap decreases, the ER fluid 701 flows out of the center of the diaphragm 704 to the edge. At this time, when the electric field is formed in the ER fluid 701 of the gap by applying the "+" voltage and the "-" voltage to the moving electrode 702 and the fixed electrode 703, respectively, the viscosity of the ER fluid 701 becomes The compressive resistance changes accordingly. The crimp resistance, which is scaled by the electric field strength, acts as a load of the linear motor 114 shown in FIG.

The dynamometer for linear motor performance evaluation according to the present invention as described above applies a variable load to the MR / ER fluid in consideration of the motion pattern of the linear motor to be measured, Inhibition factors such as static friction, inertia, and other energy dissipation factors can be minimized to facilitate the performance of linear motors and to have high reliability for measurement accuracy.

In addition, by controlling the applied magnetic field / electric field, it becomes possible to real-time control of the amount of load transferred to the linear motor, thereby simplifying the structure of the dynamometer.

In addition, by having a performance evaluation device with a built-in performance evaluation program, it is possible to check the performance evaluation of the linear motor in real time.

While the invention has been shown and described with respect to particular embodiments, it will be apparent to those skilled in the art that various modifications and changes can be made without departing from the spirit and scope of the invention as indicated by the appended claims. Anyone can grow up easily.

Claims (9)

The linear motor driver 116 for driving the linear motor 114, the linear motor controller 115 for driving control and the power measuring device 117 for measuring the amount of power input to the linear motor 114. An apparatus for evaluating the performance of a linear motor 114 driven and controlled by a linear motor control unit 102; MR variable load device 105 receives the movement of the linear motor 114 through the rod extension 125 coupled to the linear motor 114 and the coupling 122, and the desired load size The microprocessor 108 for calculating, the D / A converter 107 for converting the digital signal of the load calculated from the microprocessor 108 into an analog signal, and the analog signal processed from the D / A converter 107 A variable load device 103 comprising a current amplifier 106 applied to the MR variable load device 105, and The force sensor 109 and the linear motor 114 installed on the rod extension part 125 and the rod extension part 125 to measure the transmission force between the linear motor 114 and the MR variable load device 105. Sensor 112 for measuring the acceleration or displacement of the output terminal of the signal, a signal processor 110, 113 for processing the signal detected from the sensor (109, 112), and an analog signal from the signal processor 113 A dynamometer for linear motor performance evaluation, comprising a sensor unit (104) comprising an A / D converter (111) for converting a digital signal into a digital signal. The method of claim 1, The MR variable load device 105 has a linear bearing 208, which is formed in the axial direction on the inner circumferential surface of each of the linear bearing 208 is provided on both sides of the upper end and a plurality of brackets 205 for fixing are formed on the lower edge portion 204, A groove is formed in each of the lower and upper inner circumferential edges of the rectangular ring-shaped solenoid 206, the vertically penetrating portion is formed, and the vertically penetrating space portion is formed, and the solenoid 206 is in contact with each other so as to be inserted therein. A fixed magnetic pole portion 220 consisting of two fixed magnetic poles 203 firmly attached to the lower surface of the 204, A groove 210 is formed on the outer circumferential surface of the base 204 in the axial direction to be inserted into the linear bearing 208, and a rod 207 connected to the sensor unit 104 on one side thereof, and a lower portion of the rod 207. A moving magnetic pole portion 230, which is attached to the moving magnetic pole 202 to move the space portion of the fixed magnetic pole portion 220, and A dynamometer for linear motor performance evaluation, comprising a shear mode type including an MR fluid 201 filled in a space of the stator pole part 220. The method of claim 1, The MR variable load device 105 includes a linear bearing 312 having an upper portion of an open space formed therein and having a linear bearing 312 formed on an inner circumferential surface thereof in an axial direction, and having a plurality of brackets 310 for fixing. ) Is formed at the lower edge portion, On the lower inner peripheral surface of the housing 304 are spaced apart by a predetermined interval in the axial direction of the linear bearing 312, the lower surface is attached to each of the two fixing parts 308 with an arc-shaped groove on the top, and the fixing part 308 The outer magnetic pole part 320 which consists of a cylindrical outer magnetic pole 302 which an outer peripheral surface is attached to the groove of The solenoid 305 is formed in a hollow cylindrical shape having an outer diameter smaller than the inner diameter of the outer magnetic pole 302 to apply a magnetic field, the central axis 314 into which the solenoid 305 is fitted, and both ends of the central axis 314. Two inner magnetic poles 303 formed in a disc shape having an outer diameter smaller than the inner diameter of the outer magnetic poles 302 so as to be inserted into the outer magnetic poles 302, and the inner magnetic poles 303. An inner magnetic pole portion 330 formed of a fixed shaft 309 coupled to one side portion and the other side portion coupled to a central portion facing the linear bearing 312 of the housing 304; A groove 313 is formed on the outer circumferential surface of the housing 304 in the axial direction to be inserted into the linear bearing 312, and a rod 307 connected to the sensor unit 104 and one side thereof, and the other side of the rod 307. A piston portion 340 formed of a disk-shaped piston 306 which is coupled to an end portion and is formed to be inserted into the outer magnetic pole 302, and A dynamometer for linear motor performance evaluation, comprising a flow mode type including an MR fluid (301) filled in the space portion of the housing (304). The method of claim 1, The MR variable load device 105 is provided with a linear bearing 410 having a protrusion 411 formed on an inner circumferential surface thereof at a central portion thereof, and a base having a plurality of brackets 409 formed at a lower edge portion thereof for fixing. 406), A ring-shaped solenoid 405 for applying a magnetic field, a fixed magnetic pole 403 having a ring-shaped groove formed on one side thereof so that the solenoid 405 can be inserted, and the other side of the fixed magnetic pole 403 One end is coupled and the other end is a fixed magnetic pole portion 420 consisting of a fixed shaft 408 coupled to the central portion of the housing 406 opposite to the linear bearing 410, A groove 411 is formed on the outer circumferential surface of the housing 406 to be inserted into the linear bearing 410 in the axial direction, and a rod 407 connected to the sensor unit 104 and one side thereof, and the other side of the rod 407. A moving magnetic pole part 430 composed of a moving magnetic pole 402 coupled to an end portion, A diaphragm 404 formed of a flexible material having horizontally penetrating space portions formed at both ends of the edge portion of the stator pole 403 and the edge portion of the moving pole 402, and A dynamometer for linear motor performance evaluation, comprising a crimping mode type including an MR fluid 401 filled in the space part of the diaphragm 404. The linear motor driver 116 for driving the linear motor 114, the linear motor controller 115 for driving control and the power measuring device 117 for measuring the amount of power input to the linear motor 114. An apparatus for evaluating the performance of a linear motor 114 driven and controlled by a linear motor control unit 102; The ER variable load device 105 receives the movement of the linear motor 114 through the rod extension 125 coupled by the linear motor 114 and the coupling 122 and the size of the desired load. The microprocessor 108 for calculating, the D / A converter 107 for converting the digital signal of the load calculated from the microprocessor 108 into an analog signal, and the analog signal processed from the D / A converter 107 A variable load unit 103 comprising a voltage amplifier 106 applied to the ER variable load unit 105, and The force sensor 109 and the linear motor 114 installed on the rod extension part 125 and the rod extension part 125 to measure the transmission force between the linear motor 114 and the ER variable load device 105. Sensor 112 for measuring the acceleration or displacement of the output terminal of the signal, a signal processor 110, 113 for processing the signal detected from the sensor (109, 112), and an analog signal from the signal processor 113 A dynamometer for linear motor performance evaluation, comprising a sensor unit (104) comprising an A / D converter (111) for converting a digital signal into a digital signal. The method of claim 5, The ER variable load device 105 has a linear bearing 508, which is formed inside the space portion having an open upper portion, and projections 509 are formed on the inner circumferential surface at both upper ends thereof, and includes a plurality of brackets for fixing ( A housing 504 having a lower edge portion 505 formed therein; Two fixing parts 506, one side of which is attached on the lower inner circumferential surface of the housing 504 at predetermined intervals in a direction perpendicular to the axis of the linear bearing 508 and formed of an electrically insulating material, and the other side of the fixing part. A fixed electrode portion 520 consisting of a fixed portion 506 and an equal number of fixed electrodes 503 firmly attached to each other, A groove 510 is formed on the outer circumferential surface of the housing 504 in the axial direction to be inserted into the linear bearing 508, and a rod 507 connected to the sensor unit 104 on one side thereof, and a lower portion of the rod 507. A moving electrode part 530 which is attached and is composed of a moving electrode 502 moving between the fixed electrode 503 of the fixed electrode part 520, and A dynamometer for linear motor performance evaluation, comprising: an ER fluid (501) filled in the space of the housing (504). The method of claim 5, The ER variable load device 105 has a linear bearing 609 having a top portion of which is formed in an open space and a protrusion 610 formed in an circumferential direction on an inner circumferential surface thereof is provided at one center thereof, and a plurality of brackets 611 for fixing. A housing 604 formed at the lower edge portion, Two fixing parts 608 each having one side attached to each side with a predetermined interval spaced apart in the axial direction of the linear bearing 609 on the lower inner circumferential surface of the housing 304 and the fixing part 608 having an arc-shaped groove formed thereon, and the fixing part 608 An outer electrode portion 620 composed of a hollow cylinder-shaped outer electrode 602 having an outer circumferential surface attached to a groove of An inner electrode 603 formed in a cylindrical shape having an outer diameter smaller than an inner diameter of the outer electrode 602 so as to be inserted into the outer electrode 602, and one side radially on an outer circumferential surface of the inner electrode 603. The inner electrode portion 630 is formed of a plurality of inner electrode fixing portion 605 is attached to each other and the other side on the inner peripheral surface of the outer electrode 602 is fixed to the inner electrode 603 and , A groove 612 is formed in the outer circumferential surface of the housing 604 to be inserted into the linear bearing 609 in the axial direction, and a rod 607 to which the sensor unit 104 and one side is connected, and the other side of the rod 607. A piston portion 640 composed of a disk-shaped piston 606 coupled to an end portion and formed to be inserted into the outer electrode 602, and A dynamometer for linear motor performance evaluation, comprising a shear mode type including an ER fluid filled in the space of the housing (604). The method of claim 5, The ER variable load device 105 is provided with a linear bearing 709 having a protrusion 710 formed on the inner circumferential surface thereof at a central portion thereof, and a base having a plurality of brackets 708 formed at a lower edge portion thereof for fixing. 705), A fixed shaft 706 having one end coupled to a central portion facing the linear bearing 709 of the base 705 and a fixed electrode 703 coupled with the other end of the fixed shaft 706. The fixed electrode unit 720, A groove 711 is formed on the outer circumferential surface of the base 705 so as to be inserted into the linear bearing 709, and a rod 707 connected to the sensor unit 104 and one side thereof, and the other side of the rod 707. A moving electrode part 730 composed of a moving electrode 702 coupled to an end part; A diaphragm 704 formed with a flexible material by forming a horizontally penetrating space portion and having both ends attached to an edge portion of the fixed electrode 703 and an edge portion of the moving electrode 702; A dynamometer for linear motor performance evaluation, comprising an ER fluid (701) filled in the space portion of the diaphragm (704). The method according to claim 1 or 5, Signals output from the A / D converter 111 through the power measuring device 117 of the linear motor controller 102, the signal processor 113 of the sensor unit 104, and the signal processor 110 are input values. The dynamometer for linear motor performance evaluation, characterized in that it can further include a performance evaluation device 121, the performance evaluation program built-in performance evaluation program for evaluating the performance of the linear motor (114).