阅读说明：本技术 一种伺服系统旋转间隙模拟装置 (servo system rotating clearance simulation device ) 是由 王晓东 汤道宇 张垒 于 2019-09-11 设计创作，主要内容包括：本发明提供一种伺服系统旋转间隙模拟装置,它包括同轴固定杆、轮盘联轴器、联轴器紧固螺钉、定角轮盘、回转滑块、锁紧螺母、调整螺钉、定角塞尺、同轴垫片、弹簧垫片和紧固螺钉；该轮盘联轴器、回转滑块和定角轮盘按顺序排列,回转滑块在中间；该同轴固定杆穿过轮盘联轴器和定角轮盘中间的圆孔,与同轴垫片、弹簧垫片和紧固螺钉,通过螺纹连接固定在一起；该联轴器紧固螺钉安装在轮盘联轴器上,锁紧螺母和调整螺钉安装在定角轮盘上；定角塞尺插进定角轮盘的位置空间内；本发明结构简单,安装方便,成本低,具有推广应用价值。(The invention provides a servo system rotating clearance simulation device which comprises a coaxial fixed rod, a wheel disc coupler, a coupler fastening screw, a fixed angle wheel disc, a rotary sliding block, a locking nut, an adjusting screw, a fixed angle clearance gauge, a coaxial gasket, a spring gasket and a fastening screw, wherein the fixed rod is fixed on the shaft disc coupler; the wheel disc coupler, the rotary sliding block and the fixed-angle wheel disc are arranged in sequence, and the rotary sliding block is arranged in the middle; the coaxial fixed rod penetrates through round holes in the middle of the wheel disc coupler and the fixed-angle wheel disc, and is fixedly connected with the coaxial gasket, the spring gasket and the fastening screw through threads; the coupling fastening screw is arranged on the wheel disc coupling, and the locking nut and the adjusting screw are arranged on the fixed-angle wheel disc; the fixed angle feeler gauge is inserted into the position space of the fixed angle wheel disc; the invention has simple structure, convenient installation, low cost and popularization and application value.)

1. A servo system rotation gap simulation device is characterized in that:

The device comprises a coaxial fixed rod (1), a wheel disc coupler (2), a coupler fastening screw (3), a fixed-angle wheel disc (4), a rotary sliding block (5), a locking nut (6), an adjusting screw (7), a fixed-angle clearance gauge (8), a coaxial gasket (9), a spring gasket (10) and a fastening screw (11); their positional relationship to each other is: the wheel disc coupler (2), the rotary sliding block (5) and the fixed-angle wheel disc (4) are arranged in sequence, and the rotary sliding block (5) is arranged in the middle; the coaxial fixing rod (1) penetrates through round holes in the middle of the wheel disc coupler (2) and the fixed-angle wheel disc (4), and is fixedly connected with the coaxial gasket (9), the spring gasket (10) and the fastening screw (11) through threads; the coupler fastening screw (3) is arranged on the wheel disc coupler (2), and the locking nut (6) and the adjusting screw (7) are arranged on the fixed-angle wheel disc (4); the fixed angle clearance gauge (8) is inserted into the position space of the fixed angle wheel disc (4);

The coaxial fixing rod (1) has the structure that: the total length of the coaxial fixed rod and the diameter of the thin rod part are selected according to requirements; one end of the thin rod part is provided with an end cap, and the end face of the other end of the thin rod part is provided with a threaded hole;

The structure of the wheel disc coupling (2) is as follows: one side of the wheel disc is provided with a pillow block; the pillow block is cut into two semi-circles, and holes are formed in the pillow block and used for fastening screws; two structure blocks which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged at the other side of the wheel disc, and the included angle of the structure blocks is alpha degrees; a through hole is formed in the center of the wheel disc;

The fixed-angle wheel disc (4) has the structure that: a shaft is arranged in the middle of one side of the fixed-angle wheel disc, two position spaces which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged at the same time, and the included angle of the space is 90 degrees; the other side of the fixed angle wheel disc is provided with a pillow block, and the center of the fixed angle wheel disc is provided with a through hole;

The structure of the rotary slide block (5) is as follows: the outer ring of the central circular shaft of the rotary sliding block (5) is provided with two structural blocks which are distributed at 180 degrees on the circumference and have equal included angles, and the included angle of the structural blocks is beta degrees; the center of the rotary slide block (5) is provided with a through hole;

the locking nut (6) is a hexagon nut;

The structure of the fixed angle clearance gauge (8) is as follows: the thickness, the diameter of an inner arc and the diameter of an outer arc of the sheet-shaped petal-shaped structure are selected according to requirements, a circular connecting edge is arranged on the outer side of the sheet-shaped petal-shaped structure, and a hole is formed in the center of the circular connecting edge;

The coaxial gasket (9) is of a circular sheet structure, and a through hole is formed in the center of the coaxial gasket;

the spring washer is used as the spring washer (10).

2. A servo system rotation gap simulator according to claim 1, wherein:

The total length of the coaxial fixed rod (1) is 50mm, and the diameter of the thin rod part isThe diameter of one end of the thin rod part is provided with an end capThe other end isthe surface is provided with a threaded hole with the diameter of

3. A servo system rotation gap simulator according to claim 1, wherein:

The diameter of the wheel disc coupling (2) isOne side of the pillow block has a diameter ofthe pillow block is cut into two semicircles with holes of diameterThe center of the wheel disc is provided with a through hole with the aperture of

4. a servo system rotation gap simulator according to claim 1, wherein:

The coupler fastening screw (3) is selected from GB/T70.1-2000M5 x 20;

the adjusting screw (7) is selected to be GB/T70.1-2000M4 x 20);

The fastening screw (11) is selected from GB/T70.1-2000M4 x 12).

5. a servo system rotation gap simulator according to claim 1, wherein:

The wheel disc of the fixed angle wheel disc (4) has a diameterThe shaft diameter of a shaft arranged in the middle of one side of the shaft isThe diameter of the pillow block at the other side of the fixed angle wheel disc isThe aperture of the through hole arranged at the center of the fixed angle wheel disc is

6. a servo system rotation gap simulator according to claim 1, wherein:

The diameter of the central circular shaft of the rotary slide block (5) isThe diameter of a through hole arranged at the center of the rotary slide block (5) is

7. a servo system rotation gap simulator according to claim 1, wherein:

the locking nut (6) is a hexagonal nut with the model number of GB/T6170-2000M 4.

8. A servo system rotation gap simulator according to claim 1, wherein:

The sheet-shaped petal-shaped structure of the fixed angle clearance gauge (8) has the thickness of 3mm and the diameter of an inner arc of 3mmand an outer arc diameter ofThe round diameter of the round connecting edge arranged at the outer side of the outer ring isThe aperture of the hole arranged at the center of the connecting edge is

9. A servo system rotation gap simulator according to claim 1, wherein:

The coaxial gasket (9) is of a circular sheet structure, and the diameter of a through hole arranged at the center of the coaxial gasket is

10. A servo system rotation gap simulator according to claim 1, wherein:

the spring washer (10) is a spring washer with the model number of GB/T93-1987-4.

Technical Field

the invention provides a servo system rotating gap simulation device, which can be used for researching the influence of a nonlinear effect generated by a rotating gap in the transmission control of a servo system and belongs to the technical field of servo control and motion mechanics experiments.

Background

In the rotational motion control of the servo system, there is often a mounting gap during the mounting of the device. When the system performs a forward and reverse motion, a non-linear effect is created in the dead zone due to the presence of assembly gaps. The nonlinear effect can increase the static error of the system, reduce the dynamic performance quality of the system, influence the process time and the oscillation frequency of the system under the action of unit step signals, generate self-oscillation which cannot be attenuated and generate a limit loop. Therefore, the study of the nonlinearity of the rotation gap is one of the important research subjects in the field of servo control technology. If can accurate predetermine the rotation clearance, accurate evaluation servo system rotation clearance's online discernment degree to studying servo system nonlinear effect, restrain the negative effects that the gyration clearance brought and will provide more, more effective experimental basis.

At present, simulation devices special for researching the rotating clearance of a servo system are scarce, and most of control methods for inhibiting the rotating clearance are simulation researches or are finished in a complete machine test environment. The obtained experimental data are either not accurate and comprehensive enough or have high requirements on experimental conditions. The invention discloses a simulation device special for researching the nonlinear effect of a rotating clearance of a servo system, which has the advantages of simple structure, convenience in installation and lower cost, and can accurately evaluate the online identification degree of the rotating clearance of the servo system by presetting the rotating clearance.

Disclosure of Invention

(1) Purpose(s) to

The invention aims to provide a servo system rotating gap simulation device which accurately evaluates the online identification degree of the servo system rotating gap through presetting the rotating gap and is used for researching the nonlinear effect of the servo system rotating gap.

(2) technical scheme

The invention discloses a servo system rotating clearance simulation device, which is a simulation device specially used for researching the nonlinear effect of the servo system rotating clearance and comprises a coaxial fixed rod (1), a wheel disc coupler (2), a coupler fastening screw (3), a fixed-angle wheel disc (4), a rotary sliding block (5), a locking nut (6), an adjusting screw (7), a fixed-angle clearance gauge (8), a coaxial gasket (9), a spring gasket (10) and a fastening screw (11); their positional relationship to each other is: the wheel disc coupler (2), the rotary sliding block (5) and the fixed-angle wheel disc (4) are arranged in sequence, and the rotary sliding block (5) is arranged in the middle; the coaxial fixing rod (1) penetrates through round holes in the middle of the wheel disc coupler (2) and the fixed-angle wheel disc (4), and is fixedly connected with the coaxial gasket (9), the spring gasket (10) and the fastening screw (11) through threads; the coupler fastening screw (3) is arranged on the wheel disc coupler (2), and the locking nut (6) and the adjusting screw (7) are arranged on the fixed-angle wheel disc (4); the fixed angle clearance gauge (8) is inserted into the position space of the fixed angle wheel disc (4);

The coaxial fixing rod (1) has the structure that: the total length of the coaxial fixed rod and the diameter of the thin rod part are selected according to requirements (if the total length of the rod is 50mm, the diameter of the thin rod part is) (ii) a An end cap is arranged at one end of the thin rod part (if the diameter of the end cap is selected to be) The other end surface is provided with a threaded hole (the aperture is)；

The structure of the wheel disc coupling (2) is as follows: one side of the wheel disc is provided with a pillow block (if the diameter of the wheel disc is selected to bepillow block diameter of) (ii) a The pillow block is cut into two semicircles, and holes (with a diameter of holes of) For screw fastening; two structure blocks which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged at the other side of the wheel disc, and the included angle of the structure blocks is alpha degrees; the center of the wheel disc is provided with a through hole (the aperture is)；

The coupling fastening screw (3) is an inner hexagonal socket head cap screw (for example, the type is GB/T70.1-2000M5 x 20);

The fixed-angle wheel disc (4) has the structure that: the middle of one side of the fixed angle wheel disc is provided with a shaft (the diameter of the selected fixed angle wheel disc is equal toaxial diameter of) Meanwhile, two position spaces which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged, and the included angle of the space is 90 degrees; the other side of the fixed angle wheel disc is provided with a pillow block (the diameter of the pillow block is selected as)) The center of the fixed angle wheel disc is provided with a through hole (with the set aperture being)；

the structure of the rotary slide block (5) is as follows: the central circular shaft (with the diameter of the circular shaft) of the rotary slide block (5)) The outer ring of the device is provided with two structure blocks which are distributed at 180 degrees on the circumference and have equal included angles, and the included angle of the structure blocks is beta degrees; the center of the rotary slide block (5) is provided with a through hole (the diameter of the through hole is set to be)；

the locking nut (6) is a hexagonal nut (with the model number of GB/T6170-2000M 4);

The adjusting screw (7) is an inner hexagonal socket head cap screw (the model number is GB/T70.1-2000M4 multiplied by 20);

The structure of the fixed angle clearance gauge (8) is as follows: the thickness, inner arc diameter and outer arc diameter of the sheet-shaped petal-shaped structure are selected according to requirements (if the selected thickness is 3mm, the inner arc diameter isAnd an outer arc diameter of) The outer side of the connecting piece is provided with a circular connecting edge (the circular diameter of the circular connecting edge is) The center of the circular connecting edge is provided with a hole (with the aperture being set as)；

The coaxial gasket (9) is of a circular sheet structure, and a through hole (the diameter of the through hole is equal to that of the through hole) is arranged at the center of the coaxial gasket)；

The spring washer (10) is a spring washer (the model is GB/T93-1987-4);

The fastening screw (11) is a socket head cap screw (GB/T70.1-2000M 4 x 12).

(3) Advantages and effects

1. the invention adopts the structural design form of the coupler, and the interface size of the coupler can be designed according to the sizes of different external loading elements.

2. The invention can preset the rotating clearance, and the rotating clearance is set by designing the fixed angle clearance gauges (8) with different specifications, thereby providing rich experimental conditions.

3. Simple structure, convenient installation, low cost and popularization and application value.

Drawings

Fig. 1 is a schematic structural view of the present invention.

the specific reference numbers in the figures are as follows:

1. coaxial fixed rod 2, wheel disc coupler 3, coupler fastening screw 4, fixed angle wheel disc 5 and rotary slide block

6. locking nut 7, adjusting screw 8, fixed angle clearance gauge 9, coaxial gasket 10, spring gasket

11. fastening screw

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

the invention discloses a servo system rotating gap simulation device, which is a simulation device specially used for researching the nonlinear effect of a servo system rotating gap. As shown in fig. 1, the device comprises a coaxial fixing rod 1, a wheel disc coupler 2, a coupler fastening screw 3, a fixed angle wheel disc 4, a rotary slide block 5, a locking nut 6, an adjusting screw 7, a fixed angle clearance gauge 8, a coaxial gasket 9, a spring gasket 10 and a fastening screw 11; their positional relationship to each other is: the wheel disc coupler 2, the rotary slide block 5 and the fixed-angle wheel disc 4 are arranged in sequence, and the rotary slide block 5 is arranged in the middle; the coaxial fixed rod 1 penetrates through round holes in the middle of the wheel disc coupler 2 and the fixed-angle wheel disc 4, and is fixedly connected with a coaxial gasket 9, a spring gasket 10 and a fastening screw 11 through threads; the coupling fastening screw 3 is arranged on the wheel disc coupling 2, and the locking nut 6 and the adjusting screw 7 are arranged on the fixed-angle wheel disc 4; the fixed angle clearance gauge 8 is inserted into the position space of the fixed angle wheel disc 4;

The coaxial fixing rod 1 has the following structure: the total length of the coaxial fixed rod and the diameter of the thin rod part are selected according to requirements (if the total length of the rod is 50mm, the diameter of the thin rod part is) (ii) a An end cap is arranged at one end of the thin rod part (if the diameter of the end cap is selected to be) The other end surface is provided with a threaded hole (the aperture is)；

the structure of the wheel disc coupling 2 is as follows: one side of the wheel disc is provided with a pillow block (if the diameter of the wheel disc is selected to bePillow block diameter of ) (ii) a The pillow block is cut into two semicircles, and holes (with a diameter of holes of) For screw fastening; two structure blocks which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged at the other side of the wheel disc, and the included angle of the structure blocks is alpha degrees; the center of the wheel disc is provided with a through hole (the aperture is)；

The coupling fastening screw 3 is an inner hexagonal socket head cap screw (for example, the model number is GB/T70.1-2000M5 multiplied by 20);

The fixed-angle wheel disc 4 has the following structure: the middle of one side of the fixed angle wheel disc is provided with a shaft (the diameter of the selected fixed angle wheel disc is equal toAxial diameter of) Meanwhile, two position spaces which are uniformly distributed at 180 degrees on the circumference and have equal included angles are arranged, and the included angle of the space is 90 degrees; the other side of the fixed angle wheel disc is provided with a pillow block (the diameter of the pillow block is selected as)) The center of the fixed angle wheel disc is provided with a through hole (with the set aperture being)；

The structure of the rotary slide block 5 is as follows: the central circular shaft (with the diameter of the circular shaft) of the rotary slide block (5)) The outer ring of the device is provided with two structure blocks which are distributed at 180 degrees on the circumference and have equal included angles, and the included angle of the structure blocks is beta degrees; the center of the rotary slide block (5) is provided with a through hole (the diameter of the through hole is set to be)；

The locking nut 6 is a hexagon nut (the model is GB/T6170-2000M 4 hexagon nut);

The adjusting screw 7 is an inner hexagonal socket head cap screw (the model is GB/T70.1-2000M4 x 20);

The structure of the fixed angle clearance gauge 8 is as follows: the thickness, inner arc diameter and outer arc diameter of the sheet-shaped petal-shaped structure are selected according to requirements (if the selected thickness is 3mm, the inner arc diameter isand an outer arc diameter of) The outer side of the connecting piece is provided with a circular connecting edge (the circular diameter of the circular connecting edge is) The center of the circular connecting edge is provided with a hole (with the aperture being set as)；

The coaxial gasket 9 is a circular sheet structure, and a through hole (the diameter of the through hole is equal to that of the through hole) is arranged at the center of the coaxial gasket)；

The spring washer 10 is a spring washer (the model is GB/T93-1987-4);

The fastening screw 11 is a socket head cap screw (GB/T70.1-2000M 4 x 12).

As shown in figure 1, the wheel disc coupler 2, the fixed-angle wheel disc 4 and the rotary sliding block 5 are connected in series in a matched mode through the shaft holes, the coaxial fixing rod 1, the coaxial gasket 9, the spring gasket 10 and the fastening screw 11 are utilized, axial movement of the wheel disc is limited through threaded connection, and the structural stability of the simulation device is guaranteed. And the coupling fastening screw 3 is used for connecting and fixing the simulation device and an external servo system driving element.

The wheel disc coupling 2 is provided with two structural blocks with 180-degree uniform circumference and equal included angles, and the included angle of the structural blocks is alpha degrees. The rotary slide block 5 is provided with two structure blocks which are distributed at 180 degrees on the circumference and have equal included angles, and the included angle of the structure blocks is beta degrees. The fixed angle wheel disc 4 is provided with two position spaces with 180-degree uniform circumference and equal included angle, and the included angle of the space is 90 degrees. The total number of the fixed angle clearance gauges 8 is two, and the included angle of two sides of each clearance gauge is gamma degrees.

The conditions are known as α ° + β ° < 90 °, α ° + γ ° < 90 °, γ ° > β °,

gamma-beta-X-preset clearance angle

The wheel disc coupler 2 and the rotary sliding block 5 are concentrically arranged in a 90-degree position space of the fixed-angle wheel disc 4, and the fixed-angle clearance gauge 8 is arranged below the rotary sliding block 5. At this time, the adjusting screw 7 is adjusted so that the screw head is pressed against the side end face of the rotary slider 5 and the other side end face of the rotary slider 5 is pressed against the fixed angle clearance gauge 8, and then the lock nut 6 is tightened. At this time, the included angle between the fixed angle wheel disc 4 and the fixed angle clearance gauge 8 is the preset clearance angle X °. And (4) moving out the fixed angle feeler gauge 8, wherein the revolving gap of the simulation device is the preset gap of the simulation device for researching the nonlinear effect of the revolving gap of the servo system.