CN100549646C - A kind of proving installation of mechanical property of actuator - Google Patents

Abstract

The present invention relates to a kind of proving installation of mechanical property of actuator, belong to mechanical engineering technical field.The crossbeam of proving installation is fixed on the top of base by support column.Two fixed blocks, two adjustable pulleys are separately fixed on the crossbeam.Drawing rope along crossbeam on pulley.Two counterweights are separately fixed at an end of two drawing ropes, and the other end of two drawing ropes is hinged becomes the tractive node, and an end of tested actuator links to each other with the tractive node by web member.Proving installation of the present invention, the reacting force that changes with the actuator elongation can be provided, and it is simple in structure, the scope of actuator elongation and reacting force is wide than spring device, be applicable to the actuator performance test of carrying out under variation power of the actuator of big load, big stroke, relatively low stiffness, cost is lower.

Description

A kind of proving installation of mechanical property of actuator

Technical field

The present invention relates to a kind of proving installation of mechanical property of actuator, belong to mechanical engineering technical field.

Background technology

Actuator is a kind ofly can produce straight-line electromechanical equipment, and actuator is by elongating or shortening, and makes controlled object produce the displacement of appointment or controlled object is applied the power of appointment.Because there is elasticity in the material of actuator itself, the actual elongation in the actuator course of work and actuator suffered reacting force in application of force process is relevant.In the course of work of many actuators, the suffered reacting force of actuator can change along with the elongation of actuator.Relatively be typically linear change.Because the variation of the reacting force that actuator is suffered, the setting elongation of actuator can produce deviation with actual elongation, therefore the elongation of actuator under the situation that suffered reacting force changes, distortion, wearing and tearing etc. are detected and demarcate, be the actuator design, produce with study necessary.Accuracy detection for example.Referring to " optical precision engineering ", V13 (3), 2005.6, name is called " a kind of design of micrometric displacement actuator and detection ", the p333-338 page or leaf, but it is on the rigidity problem, because the influence of factors such as the driving error of mechanism, elastic deformation, friction, true resolution may not reach the Design Theory index hardly.The detection of common actuator is only carried out under constant reacting force, for example adopts pulley counterweight mechanism, can utilize gravity to realize permanent load.The load of utilizing spring device also can change, for example the patent No. is: ZL200710020625, denomination of invention is: " the control detection method and the device thereof of step-by motor driven displacement actuator ", but output load is less, and cost is also higher.

Summary of the invention

The present invention relates to a kind of proving installation of mechanical property of actuator, utilize two pulley counterweight mechanisms, two drawing ropes are linked together, the pulling force of pulley counterweight mechanism output constant magnitude, the angle that two drawing ropes form at tractive node place changes with the displacement of tractive node, what produced also changes with joint efforts thereupon, and this force action can carry out the test of mechanical property of actuator in actuator under the reacting force that changes.

The proving installation of the mechanical property of actuator that the present invention proposes comprises base, crossbeam, support column, first counterweight, second counterweight, first fixed block, second fixed block, the first adjustable pulley, the second adjustable pulley, first drawing rope, second drawing rope and web member.Crossbeam is fixed on the top of base by support column.First fixed block and second fixed block are separately fixed at the two ends of crossbeam.The first adjustable pulley and the second adjustable pulley are installed on the crossbeam from left to right successively.First drawing rope is from left to right successively along crossbeam around first fixed block with on the first adjustable pulley, second drawing rope is from right to left successively along crossbeam around second fixed block with on the second adjustable pulley, first counterweight is fixed on an end of first drawing rope, second counterweight is fixed on an end of second drawing rope, the other end of the other end of first drawing rope and second drawing rope is hinged becomes the tractive node, the tractive node vertically moves up and down, one end of tested actuator is fixed on the central authorities of base by fixture, and the other end of tested actuator links to each other with the tractive node by web member.

The proving installation of the mechanical property of actuator that the present invention proposes, its advantage is: can be tested actuator the reacting force that changes with elongation is provided.Distance between weight by adjusting counterweight and two the adjustable pulleys obtains different reacting forces and the actuator relation property between extending.Apparatus of the present invention are simple in structure, and the scope of actuator elongation and reacting force is wide than spring device, and the actuator that therefore is applicable to big load, big stroke, relatively low stiffness is in the performance test that changes under the power situation, and testing cost is lower.

Description of drawings

Fig. 1 is the structural representation of apparatus of the present invention.

Fig. 2 is the force analysis figure of tractive node in apparatus of the present invention.

Among Fig. 1, the 1st, base, 2 is second counterweights, the 3rd, actuator, 4 is second drawing ropes, the 5th, web member, 6 is second fixed blocks, and 7 is second adjustable pulleys, the 8th, and crossbeam, the 9th, the tractive node, 10 is first adjustable pulleys, 11 is first fixed blocks, 12 is first drawing ropes, the 13rd, support column, 14 is first counterweights, the 15th, fixture.

Among Fig. 2, M and M ' are respectively the intersection points of near drawing rope horizontal segment of the second adjustable pulley and the first adjustable pulley and tilting section, are the turning points of drawing rope, and d is the distance between them.OXY is the coordinate system that the power analysis is set up, and OY is along the drawing rope horizontal segment, and OX is along the actuator direction, and O is the intersection point of drawing rope horizontal segment and actuator direction.N is a tractive node 9 among Fig. 1, and x is the distance between drawing rope horizontal segment and the tractive node N.G is the gravity of counterweight, because structure is symmetrically arranged, the gravity of both sides counterweight equates.F is the pulling force of actuator to the tractive node.

Embodiment

The proving installation of the mechanical property of actuator that the present invention proposes, its structure comprises base 1, crossbeam 8, support column 13, first counterweight 14, second counterweight 2, first fixed block 11, second fixed block, 6, first adjustable pulley 10, the second adjustable pulley 7, first drawing rope 12, second drawing rope 4 and web member 5 as shown in Figure 1.Crossbeam 8 is fixed on the top of base 1 by support column 13.First fixed block 11 and second fixed block 6 are separately fixed at the two ends of crossbeam 8.The first adjustable pulley 10 and the second adjustable pulley 7 are installed on the crossbeam 8 from left to right successively.First drawing rope 12 is from left to right successively along crossbeam around first fixed block 11 with on the first adjustable pulley 10, and second drawing rope 4 is from right to left successively along crossbeam around second fixed block 6 with on the second adjustable pulley 7.First counterweight 14 is fixed on an end of first drawing rope 12, second counterweight 2 is fixed on an end of second drawing rope 4, the other end of the other end of first drawing rope 12 and second drawing rope 4 is hinged becomes tractive node 9, tractive node 9 vertically moves up and down, one end of tested actuator 3 is fixed on 1 central authorities of base by fixture 15, and the other end of tested actuator 3 links to each other with tractive node 9 by web member 5.

Below in conjunction with accompanying drawing, introduce the principle of work and the process of this proving installation in detail:

Base 1, support column 13,4 and crossbeam 8 have constituted a frame.Fixed actuator 3 to be measured on the fixture 15 on the base 1.4 pulleys have been installed on the crossbeam 8, have been used for the drawing rope turnover, the constant force that counterweight gravity is produced goes to required direction.Wherein first fixed block 11 and second fixed block 6 change into the gravity vertically downward of first counterweight 14 and second counterweight 2 by first drawing rope 12 and second drawing rope 4 power of level.The first adjustable pulley 10 and the second adjustable pulley 7 change into the power of the inclination of pointing to tractive node 9 with the power of this level, and adjustable pulley 10 and 7 position need be adjusted according to the requirement mechanical characteristic.Because the structure left-right symmetric of this device, first counterweight 14 equate that with the gravity of second counterweight 2 the first adjustable pulley 10 and the second adjustable pulley 7 make first drawing rope 12 and the second tractive broomcorn millet 4 form isosceles triangle in the bottom of crossbeam 8.Tractive node 9 is connected on the tested actuator 3 by web member 5.When tested actuator 3 elongated or shortened, the position of tractive node 9 vertically took place to change up and down.This changes N point (the being the isosceles triangle drift angle) angle of isosceles triangle.Because the pulling force in first drawing rope 12 and the second tractive broomcorn millet 4 is constant, equal the gravity of counterweight, therefore when angle changes, it makes a concerted effort also to change thereupon, this make a concerted effort with web member 5 on dynamic balance, it is produced by the pulling force of tested actuator 3, and its reacting force that reacts on the actuator 3 also changes thereupon.

Fig. 2 is the force analysis figure of tractive node 9, has shown the variation principle of reacting force applying mechanism.Be set among the coordinate system XOY, d is the distance between first adjustable pulley 10 to the second adjustable pulleys 7, x is the distance between tractive node 9 and the crossbeam 8, that is the displacement of node 9, G is the gravity of first counterweight, second counterweight, F is the pulling force of tested actuator, the power equal and opposite in direction of it and actuator that apparatus of the present invention offer, and direction is opposite.Can see that the relational expression between actuator tensile force f and the tractive node upper and lower displacement x is:

$F=2G\sin \left(\arctan \frac{2x}{d}\right)$

If desirable linear relationship is:

F＝kx

Wherein, k is the elasticity coefficient index of expectation.Compare and to obtain error function

$\left|2G\sin (\arctan \frac{2x}{d}-\mathrm{kx})\right|<\mathrm{\&lambda;kx}$

λ is the error scale-up factor that allows.As can be seen from the above equation, obtain more high-precision power, just must reduce this error scale-up factor, the result who brings is the increase of G and d.Therefore must determine this coefficient according to the precision of actuator actual needs.By separating inequation, draw the scope between counterweight gravity G and two the adjustable pulleys, and then can be by appropriate design and adjustment apart from d, obtain the characteristic of the power of permissible error under requiring.

The process of test actuator is, the characteristic of tested actuator is as required set the weight G of first, second counterweight, and the distance between first and second adjustable pulley, and the length of web member 5 install tested actuator.When tested actuator shortened, counterweight rose, and the tractive node descends, and when tested actuator extended, counterweight descended, and the tractive node rises.In the difference elongation of actuator, the position difference of tractive node, first drawing rope is different with the angle that the second tractive broomcorn millet forms at tractive node place, will be subjected to corresponding different reacting force on the actuator, at the counterweight G that is calculated with apart from d under the formed geometric relationship, relative error between reacting force that obtains in theory, and desirable reacting force is less than the permissible error scale-up factor λ of expection.

In apparatus of the present invention, first drawing rope and second drawing rope not only can adopt common ropes such as wire rope, nylon rope, can also adopt chain, as roller chain, round-link chain etc.Correspondingly, pulley can adopt sprocket form.Chain has very little radius of turn, helps improving the precision of experiment table.Between web member and the tested actuator pulling force sensor can also be installed, can measure the reacting force that acts on the actuator in real time.

Claims (1)

1, a kind of proving installation of mechanical property of actuator, it is characterized in that this device comprises base, crossbeam, support column, first counterweight, second counterweight, first fixed block, second fixed block, the first adjustable pulley, the second adjustable pulley, first drawing rope, second drawing rope and web member, described crossbeam is fixed on the top of base by support column, described first fixed block and second fixed block are separately fixed at the two ends of crossbeam, the described first adjustable pulley and the second adjustable pulley are installed on the crossbeam from left to right successively, described first drawing rope is from left to right successively along crossbeam around first fixed block with on the first adjustable pulley, second drawing rope is from right to left successively along crossbeam around second fixed block with on the second adjustable pulley, first counterweight is fixed on an end of first drawing rope, second counterweight is fixed on an end of second drawing rope, the other end of the other end of first drawing rope and second drawing rope is hinged becomes the tractive node, the tractive node vertically moves up and down, one end of tested actuator is fixed on the central authorities of base by fixture, and the other end of tested actuator links to each other with the tractive node by web member.

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