CN110989711A - Load and service life testing equipment for unmanned motorcycle active balancing device - Google Patents
Load and service life testing equipment for unmanned motorcycle active balancing device Download PDFInfo
- Publication number
- CN110989711A CN110989711A CN201911336937.5A CN201911336937A CN110989711A CN 110989711 A CN110989711 A CN 110989711A CN 201911336937 A CN201911336937 A CN 201911336937A CN 110989711 A CN110989711 A CN 110989711A
- Authority
- CN
- China
- Prior art keywords
- torque
- active balancing
- torsion bar
- servo motor
- unmanned motorcycle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a load and service life testing device for an unmanned motorcycle active balancing device, which comprises a first lug seat, a second lug seat, a first torsion bar, a second torsion bar, a clamp, an absolute angular displacement digital encoder, a torque sensor, a planetary reducer and a servo motor, wherein the first lug seat and the second lug seat are arranged at a relative interval; the first torsion bar is rotatably supported on the first ear seat, and the second torsion bar is rotatably supported on the second ear seat; the clamp is arranged between the first lug seat and the second lug seat, one end of the clamp is fixed with one end of the first torsion bar, and the other end of the clamp is fixed with one end of the second torsion bar; the absolute angular displacement digital encoder is arranged on the outer end face of the second torsion bar; one end of the torque sensor is fixed with the other end of the first torque rod, and the other end of the torque sensor is fixed with one end of the planetary reducer; the servo motor is fixed with the other end of the planetary reducer. The invention realizes semi-physical simulation experiment of the load and the service life of the unmanned motorcycle active balancing device in a laboratory.
Description
Technical Field
The invention relates to the technical field of testing of unmanned motorcycle active balancing devices, in particular to a device for testing the load and the service life of an unmanned motorcycle active balancing device.
Background
The unmanned motorcycle has the technical advantages which are not possessed by common automobiles, such as high maneuverability, high off-road property and the like, and can be competent for special tasks of logistics transportation, automatic cruising and the like. The active balancing device of the unmanned motorcycle is a core posture adjusting component for realizing the static and posture-changing forward of the unmanned motorcycle. The requirements of the loaded dynamic characteristic and the service life of the unmanned motorcycle are high, and the active balance device of the unmanned motorcycle needs to be subjected to related performance tests so as to meet the use requirements.
In the early high dynamic characteristic load simulation experiment, the high dynamic characteristic load simulation experiment is a full physical experiment, and the experiment not only causes a large amount of waste of manpower, material resources and time, but also has strong destructiveness. Meanwhile, due to the influence of environmental factors, experimental data are incomplete, and a correct load feedback trend is difficult to obtain, so that the scientific research and development progress is influenced. Therefore, the load and service life testing equipment of the unmanned motorcycle active balancing device has high economic and product values.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a device for testing the load and the service life of the unmanned motorcycle active balancing device, which realizes semi-physical simulation experiment on the load and the service life of the unmanned motorcycle active balancing device in a laboratory.
The load and service life test device for the unmanned motorcycle active balancing device comprises:
an ear mount comprising a first ear mount and a second ear mount, the first ear mount and the second ear mount being disposed in a spaced apart relation relative to one another;
a torsion bar including a first torsion bar and a second torsion bar, the first and second torsion bars being coaxially disposed, the first torsion bar being rotatably supported on the first ear mount, the second torsion bar being rotatably supported on the second ear mount;
the fixture is used for installing an unmanned motorcycle active balancing device to be tested, the fixture is arranged between the first lug seat and the second lug seat, one end of the fixture is fixed with one end of the first torsion bar, and the other end of the fixture is fixed with one end of the second torsion bar;
the absolute angular displacement digital encoder is arranged on the outer end face of the second torsion bar and is used for measuring the rotation angle of the second torsion bar in real time;
one end of the torque sensor is fixed with the other end of the first torque rod and is used for measuring the magnitude of the torque fed back by the unmanned motorcycle active balancing device in real time;
one end of the planetary reducer is fixed with the other end of the torque sensor;
and the servo motor is fixed with the other end of the planetary reducer.
The load and service life test device for the unmanned motorcycle active balancing device provided by the embodiment of the invention has the following advantages: firstly, by simulating real unmanned motorcycle cross-country road conditions, semi-physical simulation experiments on the load and the service life of the unmanned motorcycle active balancing device in a laboratory are realized, and the waste of manpower, material resources and time is greatly reduced; secondly, the rotation angle of the second torsion bar can be measured in real time through an absolute angular displacement digital encoder, so that a theoretical torque value can be calculated; the torque fed back by the first torque rod can be measured in real time through the torque sensor; therefore, the actually measured torque is compared with the theoretically calculated torque value, error analysis is carried out to obtain a control quantity, the torque output by the servo motor can be controlled through the control quantity until the actually measured torque is equal to the theoretically calculated torque, so that the torque output by the servo motor meets the actual loading requirement, the load and service life test of the unmanned motorcycle active balancing device can be realized by obtaining a correct load feedback trend, and test experimental data are accurate; thirdly, the high-frequency reversing torque loading state can be accurately realized according to a load spectrum, and the high-frequency reversing torque loading state has the advantages of small volume, simple structure, easiness in maintenance and manufacture and high system response speed; fourthly, small signal loading can be realized at high speed, and the tracking capability and the loading precision of the equipment are strong; fifthly, the loading interfaces of various unmanned motorcycle active balancing devices are adapted, and the active balancing devices with different rotational inertia can be rapidly replaced and responded; sixth, experiments prove that the load and service life test can be performed on the unmanned active balancing device which can meet the requirement of the balance control of the heavy unmanned motorcycle of more than 100kg and aiming at the unmanned active balancing device which can generate 30NMS angular momentum; the unmanned motorcycle active balancing device 100 can move from the inclination angle of 60 degrees to the position of-60 degrees every 0.3s, the servo motor motion with acceleration, uniform speed and deceleration can be realized in the period, and reverse current is added to realize rapid reversing.
According to one embodiment of the invention, the servo motor is a high dynamic high torque output shaft motor.
According to one embodiment of the invention, the servomotor is fixed to the planetary reducer by a first key.
According to one embodiment of the invention, the planetary reduction gear is a planetary reduction gear employing a two-stage reduction mode with a high efficiency and a low speed ratio.
According to one embodiment of the invention, the device further comprises a coupler, and one end of the planetary speed reducer is fixed with the other end of the torque sensor through the coupler.
According to a further embodiment of the invention, the coupling is a diaphragm coupling.
According to a further embodiment of the present invention, the torque sensor further includes a housing, the housing is disposed between the planetary reducer and the first ear seat, one end of the housing is fixed to the planetary reducer, the other end of the housing is fixed to the first ear seat, and the coupling and a partial section of the torque sensor are located in the housing.
According to one embodiment of the invention, the torque sensor is fixedly connected with the first torque rod by a second key.
According to one embodiment of the invention, the clamp adopts a one-surface two-pin type locking mode to fix the unmanned motorcycle active balancing device to be tested through the locking nut.
According to one embodiment of the invention, the device further comprises an upper computer and a servo motor driver, wherein the upper computer is respectively electrically connected with the servo motor driver, the absolute angular displacement digital encoder and the torque sensor, and the servo motor driver is electrically connected with the servo motor to drive the servo motor; the upper computer receives an angle measurement result fed back by the absolute angular displacement digital encoder in real time to calculate a theoretical torque, receives an actually measured torque fed back by the torque sensor, performs error analysis on the actually measured torque and the theoretically calculated torque, calculates a control quantity, and continuously controls the torque output by the servo motor according to the control quantity until the torque result actually measured by the torque sensor is equal to the theoretically calculated torque value.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is an overall view of the unmanned motorcycle gyro active balancing apparatus load and life test device according to the embodiment of the present invention.
Fig. 2 is a partial cross-sectional view of an unmanned motorcycle gyroscopic active balancing device load and life testing apparatus according to an embodiment of the present invention.
Fig. 3 is an exploded view of the unmanned motorcycle gyro active balancing apparatus load and life test device according to the embodiment of the present invention.
Fig. 4 is a schematic diagram of a control system of the unmanned motorcycle gyroscopic active balancing device load and life testing apparatus according to the embodiment of the present invention.
Reference numerals:
unmanned motorcycle active balancing device load and life test equipment 1000
Unmanned motorcycle active balancing device 100
Absolute angular displacement digital encoder 6 torque sensor 7 planetary reducer 8 servo motor 9
Coupling 10 housing 11 flange 1101 first pitch axis bearing 12 second pitch axis bearing 13
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An unmanned motorcycle active balancing device load and life test apparatus 1000 according to an embodiment of the present invention is described below with reference to fig. 1 to 4.
As shown in fig. 1 to 3, the unmanned motorcycle active balancing apparatus load and life test apparatus 1000 according to an embodiment of the present invention includes an ear mount, a torsion bar, a clamp 5, an absolute angular displacement digital encoder 6, a torque sensor 7, a planetary reducer 8, and a servo motor 9. The ear seat comprises a first ear seat 1 and a second ear seat 2, and the first ear seat 1 and the second ear seat 2 are arranged at intervals; the torsion bars comprise a first torsion bar 3 and a second torsion bar 4, the first torsion bar 3 and the second torsion bar 4 are coaxially arranged, the first torsion bar 3 is rotatably supported on the first ear seat 1, and the second torsion bar 4 is rotatably supported on the second ear seat 2; the fixture 5 is used for installing the unmanned motorcycle active balancing device 100 to be tested, the fixture 5 is arranged between the first lug seat 1 and the second lug seat 2, one end of the fixture 5 is fixed with one end of the first torsion bar 3, and the other end of the fixture 5 is fixed with one end of the second torsion bar 4; the absolute angular displacement digital encoder 6 is arranged on the second torsion bar 4 and is used for measuring the rotation angle of the second torsion bar 4 in real time; one end of the torque sensor 7 is fixed with the other end of the first torque rod 3, and is used for measuring the magnitude of the torque fed back by the unmanned motorcycle active balancing device 100 in real time; one end of the planetary reducer 8 is fixed with the other end of the torque sensor 7; the servo motor 9 is fixed to the other end of the planetary reducer 8.
Specifically, the ear base comprises a first ear base 1 and a second ear base 2, the first ear base 1 and the second ear base 2 are arranged at intervals, and the first ear base 1 and the second ear base 2 can be fixed on the ground through anchor bolts, so that the load of the unmanned motorcycle active balancing device and the life testing equipment 1000 in the embodiment of the invention are prevented from shaking during high-frequency loading, and the testing precision is improved.
The torsion bar includes a first torsion bar 3 and a second torsion bar 4, the first torsion bar 3 and the second torsion bar 4 are horizontally coaxially disposed, the first torsion bar 3 is rotatably supported on the first ear mount 1, and the second torsion bar 4 is rotatably supported on the second ear mount 2. In this way, the clamp 5 for installing the unmanned motorcycle active balancing device 100 to be tested can be conveniently fixed and supported on the first ear mount 1 and the second ear mount 2 through the first torsion bar 3 and the second torsion bar 4, so that the clamp 5 can be suspended and rotated for facilitating the test.
The fixture 5 is used for installing the unmanned motorcycle active balancing device 100 to be tested, the fixture 5 is arranged between the first lug seat 1 and the second lug seat 2, one end of the fixture 5 is fixed with one end of the first torsion bar 3, and the other end of the fixture 5 is fixed with one end of the second torsion bar 4. Therefore, the clamp 5 is in a suspended state and can rotate, and the test is convenient.
An absolute angular displacement digital encoder 6 is disposed on the outer end surface of the second torsion bar 4, and is used for measuring the rotation angle of the second torsion bar 4 in real time, that is, the rotation angle of the first torsion bar 3 is obtained. By obtaining the rotation angle of the second torsion bar 4, the theoretical torque value of the second torsion bar 4 can be calculated.
One end of the torque sensor 7 is fixed to the other end of the first torque rod 3, and is used for measuring the magnitude of the torque fed back by the unmanned motorcycle active balancing apparatus 100 in real time. It can be understood that, when the torques output by the servo motor 9 and the planetary reducer 8 are transmitted to the unmanned motorcycle active balancing apparatus 100 through the first torque rod 3 and the clamp 5, the unmanned motorcycle active balancing apparatus 100 is subjected to an external torque impact effect during the operation thereof, the unmanned motorcycle active balancing apparatus 100 generates a torque reacting to the external torque impact due to the operation thereof, the reacting torque acts on the first torque rod 3, and is fed back to the torque sensor 7 through the first torque rod 3, so that the torque sensor 7 can measure the magnitude of the torque fed back by the unmanned motorcycle active balancing apparatus 100 in real time. By obtaining the actually measured torque, the actually measured torque can be compared with the above-mentioned theoretically calculated torque value, and an error analysis is made to obtain a control quantity by which the torque output from the servo motor 9 can be controlled until the actually measured torque is equal to the theoretically calculated torque, so that the torque output from the servo motor 9 meets the actual loading requirement.
One end of the planetary reducer 8 is fixed to the other end of the torque sensor 7. It can be understood that the planetary reducer 8 is arranged, so that the load test under the condition of large inertia can still be frequently reversed, and the real unmanned motorcycle off-road condition can be simulated.
The servo motor 9 is fixed to the other end of the planetary reducer 8. It can be understood that the servo motor 9 is used as a power executing mechanism of the whole testing equipment system, and mainly outputs torque to apply torque load to the running unmanned motorcycle active balancing device 100, so as to simulate the driving road conditions of the unmanned motorcycle, such as smooth road conditions, bumpy road conditions, road conditions that need to be frequently corrected and steered, and the like, thereby facilitating the testing of the unmanned motorcycle active balancing device 100.
According to the load and life test equipment 1000 for the unmanned motorcycle active balancing device of the embodiment of the invention, when the unmanned motorcycle active balancing device 100 is subjected to load or life test, the unmanned motorcycle active balancing device 100 does main motion in the loading process, and the servo motor 9 performs load loading while following the unmanned motorcycle active balancing device 100 to move. The servo motor 9 can output larger torque after outputting the torque through the planetary reducer 8, and the first torque rod 3 transmits the torque output by the planetary reducer 8 to the unmanned motorcycle active balancing device 100; the rotation angle of the second torsion bar 4 can be measured in real time through the absolute angular displacement digital encoder 6, so that a theoretical torque value can be calculated; the torque fed back by the first torque rod 3 can be measured in real time by the torque sensor 7; therefore, the torque output by the servo motor 9 can be controlled by the control quantity obtained by comparing the actually measured torque with the theoretically calculated torque value and performing error analysis until the actually measured torque is equal to the theoretically calculated torque, so that the torque output by the servo motor 9 meets the actual loading requirement, and thus, the torque feedback is performed by the unmanned motorcycle active balancing device 100 by using the output torque of the servo motor 9, and the load and service life test of the unmanned motorcycle active balancing device 100 can be realized by obtaining the correct load feedback trend. In the life test, the servo motor 9 and the planetary reduction gear 8 are required to be continuously subjected to reverse loading.
The unmanned motorcycle active balancing device load and service life testing equipment 1000 provided by the embodiment of the invention has the following advantages: firstly, by simulating real unmanned motorcycle cross-country road conditions, semi-physical simulation experiments on the load and the service life of the unmanned motorcycle active balancing device 100 in a laboratory are realized, and the waste of manpower, material resources and time is greatly reduced; secondly, the rotation angle of the second torsion bar 4 can be measured in real time through the absolute type angular displacement digital encoder 6, so that a theoretical torque value can be calculated; the torque fed back by the first torque rod 3 can be measured in real time by the torque sensor 7; therefore, by comparing the actually measured torque with the theoretically calculated torque value, error analysis is performed to obtain a control quantity, the torque output by the servo motor 9 can be controlled by the control quantity until the actually measured torque is equal to the theoretically calculated torque, so that the torque output by the servo motor 9 meets the actual loading requirement, the load and service life test of the unmanned motorcycle active balancing device 100 can be realized by obtaining a correct load feedback trend, and test experimental data are accurate; thirdly, the high-frequency reversing torque loading state can be accurately realized according to a load spectrum, and the high-frequency reversing torque loading state has the advantages of small volume, simple structure, easiness in maintenance and manufacture and high system response speed; fourthly, small signal loading can be realized at high speed, and the tracking capability and the loading precision of the equipment are strong; fifthly, the loading interfaces of various unmanned motorcycle active balancing devices 100 are adapted, and the active balancing devices with different rotational inertia can be rapidly replaced and responded; sixth, experiments prove that the load and service life test can be performed on the unmanned active balancing device which can meet the requirement of the balance control of the heavy unmanned motorcycle of more than 100kg and aiming at the unmanned active balancing device 100 which can generate 30NMS angular momentum; the unmanned motorcycle active balancing device 100 can move from a given inclination angle of 60 degrees to a given inclination angle of-60 degrees every 0.3s, the servo motor 9 which can accelerate, uniformly decelerate and rapidly commutate can be realized during the period, and reverse current is added.
According to one embodiment of the invention, the servomotor 9 is a high dynamic characteristic high torque output shaft motor. Thereby, the life test of the unmanned motorcycle active balancing apparatus 100 in the limit case can be performed.
According to one embodiment of the invention, the servomotor 9 is connected to the planetary gear 8 via a first key. Therefore, the installation is convenient, the connection is reliable, and the high rigidity and high strength performance of the equipment are met.
According to one embodiment of the invention, the servo motor 9 is a dc servo motor 9. It can be understood that the direct current motor can generate larger torque under the condition of low rotating speed, thereby accelerating the response time of the whole test equipment system. The driving mode of the direct current motor is a Pulse Width Modulation (PWM) mode, and the direct current motor has the advantages of wide speed regulation range, simple structure, high response speed, high power factor and the like, and is widely applied to high-precision servo control. The device can also be considered as a quasi-linear power amplifier with saturation characteristics.
According to an embodiment of the invention, the planetary reducer 8 is a planetary reducer 8 adopting a two-stage speed reduction mode with high efficiency and low speed ratio, so that the load test in the case of large inertia can be ensured to still realize frequent reversing, and a real unmanned motorcycle off-road condition can be simulated.
According to one embodiment of the invention, the device further comprises a coupling 10, and one end of the planetary speed reducer 8 is fixed with the other end of the torque sensor 7 through the coupling 10. It can be understood that the planetary reducer 8 and the torque sensor 7 are fixedly connected in the axial direction through the coupler 10, so that the installation is convenient, the connection is reliable, the high rigidity and high strength performance of the equipment are met, and the effects of buffering, vibration reduction and improving the dynamic performance of a shafting can be achieved.
According to a further embodiment of the invention, the coupling 10 is a diaphragm coupling 10. It will be appreciated that the use of the diaphragm coupling 10 facilitates handling, allows for eccentricity and high torque.
According to a further embodiment of the present invention, a housing 11 is further included, the housing 11 is disposed between the planetary gear 8 and the first ear mount 1, one end of the housing 11 is fixed to the planetary gear 8, the other end of the housing 11 is fixed to the first ear mount 1, and the coupling 10 and a partial section of the torque sensor 7 are located in the housing 11. It will be appreciated that by providing the housing 11, the planetary gear unit 8, the coupling 10, the torque sensor 7 and the like can be protected.
According to a further embodiment of the present invention, both ends of the housing 11 are provided with flanges 1101, and both ends of the housing 11 are fixedly connected with the planetary gear set 8 and the second ear mount 2 through the flanges 1101, respectively. Therefore, the installation is convenient, and the connection is reliable.
According to one embodiment of the invention, the torque sensor 7 is fixedly connected with the first torque rod 3 by a second key. Therefore, the installation is convenient, the connection is reliable, and the high rigidity and high strength performance of the equipment are met.
According to an embodiment of the present invention, further comprising a first pitch axis bearing 12 and a second pitch axis bearing 13; a first pitch axis bearing 12 is mounted on the first lug 1, and the first torque rod 3 is rotatably supported in the first pitch axis bearing 12; a second pitch shaft bearing 13 is mounted on the second lug 2, and the second torsion bar 4 is rotatably supported in the second pitch shaft bearing 13.
According to one embodiment of the invention, the clamp 5 adopts a one-surface two-pin type locking mode to fix the unmanned motorcycle active balancing device 100 to be tested through a locking nut. It can be understood that the two pins 501 are two pins 501, and specifically, two pins 501 respectively pass through the fixing holes on the unmanned motorcycle active balancing device 100, and lock nuts are provided at both ends of each pin 501, and the unmanned motorcycle active balancing device 100 is restrained and fixed by the lock nuts. Therefore, the unmanned motorcycle active balance device 100 can be conveniently and quickly assembled and disassembled, and can be suitable for assembling and disassembling various unmanned motorcycle active balance devices 100.
As shown in fig. 1 to 4, according to an embodiment of the present invention, the present invention further includes an upper computer 14 and a servo motor driver 15, the upper computer 14 is electrically connected to the servo motor driver 15, the absolute angular displacement digital encoder 6 and the torque sensor 7, respectively, and the servo motor driver 15 is electrically connected to the servo motor 9 to drive the servo motor 9; the upper computer 14 receives the angle measurement result fed back by the absolute angular displacement digital encoder 6 in real time to calculate the theoretical torque, the upper computer 14 receives the actually measured torque fed back by the torque sensor 7, performs error analysis on the actually measured torque and the theoretically calculated torque to calculate the control quantity, and continuously controls the torque output by the servo motor 9 according to the control quantity until the actually measured torque result of the torque sensor 7 is equal to the theoretically calculated torque value, so that the torque output by the servo motor 9 meets the actual loading requirement, the output torque of the servo motor 9 is utilized to perform torque feedback through the unmanned motorcycle active balancing device 100, and the load and service life test of the unmanned motorcycle active balancing device 100 can be realized by obtaining the correct load feedback trend.
Referring now to fig. 1-4, the unmanned motorcycle active balancing apparatus load and life testing device 1000 of the present invention is described in detail with respect to a preferred embodiment.
In this particular embodiment, the unmanned motorcycle active balancing apparatus load and life test apparatus 1000 includes: the device comprises an ear seat, a torsion bar, a clamp 5, an absolute angular displacement digital encoder 6, a torque sensor 7, a planetary reducer 8, a servo motor 9, a servo motor driver 15 and an upper computer 14. The ear seat comprises a first ear seat 1 and a second ear seat 2, and the first ear seat 1 and the second ear seat 2 are arranged at intervals; the torsion bars comprise a first torsion bar 3 and a second torsion bar 4, the first torsion bar 3 and the second torsion bar 4 are coaxially arranged, the first torsion bar 3 is rotatably supported on the first ear seat 1, and the second torsion bar 4 is rotatably supported on the second ear seat 2; the fixture 5 is used for installing the unmanned motorcycle active balancing device 100 to be tested, the fixture 5 is arranged between the first lug seat 1 and the second lug seat 2, one end of the fixture 5 is fixed with one end of the first torsion bar 3, and the other end of the fixture 5 is fixed with one end of the second torsion bar 4; the absolute angular displacement digital encoder 6 is arranged on the outer end face of the second torsion bar 4 and is used for measuring the rotation angle of the second torsion bar 4 in real time; one end of the torque sensor 7 is fixed with the other end of the first torque rod 3, and is used for measuring the magnitude of the torque fed back by the unmanned motorcycle active balancing device 100 in real time; one end of the planetary reducer 8 is fixed with the other end of the torque sensor 7, and the planetary reducer 8 adopts a high-efficiency low-speed-ratio two-stage speed reduction mode and is a planetary reducer 8; the servo motor 9 and the motor are high-dynamic-characteristic large-torque output shaft type motors and are fixed with the other end of the planetary reducer 8; the upper computer 14 is respectively and electrically connected with a servo motor driver 15, the absolute angular displacement digital encoder 6 and the torque sensor 7, and the servo motor driver 15 is electrically connected with the servo motor 9 to drive the servo motor 9; the upper computer 14 receives the angle measurement result fed back by the absolute angular displacement digital encoder 6 in real time to calculate theoretical torque, the upper computer 14 receives the actually measured torque fed back by the torque sensor 7, performs error analysis on the actually measured torque and the theoretically calculated torque, calculates a control quantity, and continuously controls the torque output by the servo motor 9 according to the control quantity until the torque result actually measured by the torque sensor 7 is equal to the theoretically calculated torque value.
In this embodiment, the servo motor 9 and the planetary reducer 8 are driven with 220V voltage, the total output torque can reach 500NM, and the peak torque can reach 1000 NM. The rotation travel is 120 degrees, the rotation time is 0.3s, and the encoder of the servo motor 9 adopts a rotary transformerA formula encoder. The moment of inertia of all rotating bodies of the pitching shaft is about 5.55kg/m2The total transmission efficiency of the servo motor 9 and the planetary reducer 8 is 94%. Since the inertia of the load inertia mapped to the motor shaft is approximately equal to the quotient of the load inertia and the square of the reduction ratio, the mapping inertia is smaller as the reduction ratio is larger. But should satisfy the torque requirement simultaneously, through many tests, select two-stage reduction ratio 30.
The servo motor 9 moves in the following stages: the first phase of the movement is an acceleration phase, the time spent from 0 to 100rpm is 0.1s, and the acceleration is 104.7rad/s2The stroke is 30 °. The second stage of the movement is a constant speed stage, which takes 60 degrees at a speed of 100rpm and takes 0.1 s. The third stage of the movement is a deceleration stage, the time spent from 100rpm to 0 is 0.1s, and the acceleration is-104.7 rad/s2The stroke is 30 °. The fourth phase of the movement is a reverse acceleration phase, the time spent from 0 to-100 rpm is 0.1s, and the acceleration is-104.7 rad/s2The stroke is-30 deg. The fifth stage of the movement is a constant speed stage, and the time spent on walking at-60 ℃ at the speed of-100 rpm is 0.1 s. The sixth stage of the motion is a reverse deceleration stage, the time spent from-100 rpm to 0 is 0.1s, and the acceleration is 104.7rad/s2The stroke is-30 deg. The time taken for the process from 0 ° to 120 ° from the first stage to the third stage was 0.3 s. The process from the fourth stage to the sixth stage is from 120 ° back to 0 °, and the time taken is 0.3 s.
Further, the larger the inertia of the shaft of the servo motor 9, the larger the required rated torque and peak torque are, the larger the peak torque will cause the planetary reducer 8 and the torque sensor 7 to be larger, and the load and the planetary reducer 8 are mapped to the inertia of the shaft of the servo motor 9, that is, the inertia of the shaft of the servo motor 9 needs to be controlled to be 5: within 1, so the moment of inertia is 18.4kg/cm2The inertia ratio is approximately 3.7: 1. because the equipment needs to work for a long time and is always in the process of acceleration and deceleration, the air-cooled motor is selected and the rated torque of the motor covers the peak torque required by the calculation result. The peak value output torque of the output end of the speed reducer selected for use is about 846NM, the rotating speed is 100RPM, and the inertia ratio is 3.7: 1. the torque sensor 7 adopts a double-shaft torque sensor 7 with the measuring range of 1000 NM. By means of real-time Ethernet (EtherCat bus) bus, selecting rated oneA servo motor driver 15 with a voltage of 400V and a rated current of 24 Arms.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An unmanned motorcycle active balancing device load and life test apparatus, comprising:
an ear mount comprising a first ear mount and a second ear mount, the first ear mount and the second ear mount being disposed in a spaced apart relation relative to one another;
a torsion bar including a first torsion bar and a second torsion bar, the first and second torsion bars being coaxially disposed, the first torsion bar being rotatably supported on the first ear mount, the second torsion bar being rotatably supported on the second ear mount;
the fixture is used for installing an unmanned motorcycle active balancing device to be tested, the fixture is arranged between the first lug seat and the second lug seat, one end of the fixture is fixed with one end of the first torsion bar, and the other end of the fixture is fixed with one end of the second torsion bar;
the absolute angular displacement digital encoder is arranged on the outer end face of the second torsion bar and is used for measuring the rotation angle of the second torsion bar in real time;
one end of the torque sensor is fixed with the other end of the first torque rod and is used for measuring the magnitude of the torque fed back by the unmanned motorcycle active balancing device in real time;
one end of the planetary reducer is fixed with the other end of the torque sensor;
and the servo motor is fixed with the other end of the planetary reducer.
2. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, wherein the servo motor is a high dynamic high torque output shaft motor.
3. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, wherein the servo motor is fixed with the planetary reducer by a first key.
4. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, wherein the planetary reducer is a planetary reducer employing a two-stage reduction mode with a high efficiency and a low speed ratio.
5. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, further comprising a coupling, wherein one end of the planetary reducer is fixed with the other end of the torque sensor through the coupling.
6. The unmanned motorcycle active balancing apparatus load and life test device of claim 5, wherein the coupling is a diaphragm coupling.
7. The unmanned motorcycle active balancing apparatus load and life test device according to claim 5, further comprising a housing, wherein the housing is disposed between the planetary reducer and the first lug, and one end of the housing is fixed to the planetary reducer, and the other end of the housing is fixed to the first lug, and the coupling and a partial section of the torque sensor are located in the housing.
8. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, wherein the torque sensor is fixedly connected with the first torque rod by a second key.
9. The unmanned motorcycle active balancing apparatus load and life test device of claim 1, wherein the clamp adopts a one-sided two-pin locking manner to fix the unmanned motorcycle active balancing apparatus to be tested through a lock nut.
10. The unmanned motorcycle active balancing device load and life test equipment according to claim 1, further comprising an upper computer and a servo motor driver, wherein the upper computer is electrically connected with the servo motor driver, the absolute angular displacement digital encoder and the torque sensor, respectively, and the servo motor driver is electrically connected with the servo motor to drive the servo motor; the upper computer receives an angle measurement result fed back by the absolute angular displacement digital encoder in real time to calculate a theoretical torque, receives an actually measured torque fed back by the torque sensor, performs error analysis on the actually measured torque and the theoretically calculated torque, calculates a control quantity, and continuously controls the torque output by the servo motor according to the control quantity until the torque result actually measured by the torque sensor is equal to the theoretically calculated torque value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336937.5A CN110989711B (en) | 2019-12-23 | 2019-12-23 | Load and service life testing equipment for unmanned motorcycle active balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911336937.5A CN110989711B (en) | 2019-12-23 | 2019-12-23 | Load and service life testing equipment for unmanned motorcycle active balancing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110989711A true CN110989711A (en) | 2020-04-10 |
| CN110989711B CN110989711B (en) | 2020-10-27 |
Family
ID=70074658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911336937.5A Active CN110989711B (en) | 2019-12-23 | 2019-12-23 | Load and service life testing equipment for unmanned motorcycle active balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110989711B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666714A (en) * | 2009-09-28 | 2010-03-10 | 山东交通学院 | Automobile dynamics test bed with transverse loading function |
| CN108811529B (en) * | 2013-08-27 | 2016-03-16 | 上海宇航***工程研究所 | A kind of torque loading device for real-time closed-loop feedback system |
| CN105823677A (en) * | 2016-06-11 | 2016-08-03 | 贵州大学 | Method and device for controlling abrasion and rotation in multi-load fatigue life testing process |
| CN208607333U (en) * | 2018-07-18 | 2019-03-15 | 上海天祥质量技术服务有限公司 | A kind of electric machine testing device and system |
| CN109506933A (en) * | 2018-11-21 | 2019-03-22 | 沈阳工业大学 | Transmission mechanism test platform for comprehensive performance |
-
2019
- 2019-12-23 CN CN201911336937.5A patent/CN110989711B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666714A (en) * | 2009-09-28 | 2010-03-10 | 山东交通学院 | Automobile dynamics test bed with transverse loading function |
| CN108811529B (en) * | 2013-08-27 | 2016-03-16 | 上海宇航***工程研究所 | A kind of torque loading device for real-time closed-loop feedback system |
| CN105823677A (en) * | 2016-06-11 | 2016-08-03 | 贵州大学 | Method and device for controlling abrasion and rotation in multi-load fatigue life testing process |
| CN208607333U (en) * | 2018-07-18 | 2019-03-15 | 上海天祥质量技术服务有限公司 | A kind of electric machine testing device and system |
| CN109506933A (en) * | 2018-11-21 | 2019-03-22 | 沈阳工业大学 | Transmission mechanism test platform for comprehensive performance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110989711B (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2018081103A (en) | Torque applying unit and driving device | |
| US20220016781A1 (en) | Method for Aligning a Robotic Arm | |
| CN110989711B (en) | Load and service life testing equipment for unmanned motorcycle active balancing device | |
| CN212556849U (en) | High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft | |
| Kazerooni et al. | A new architecture for direct drive robots | |
| Asada et al. | Analysis and design of semi-direct-drive robot arms | |
| US20090021202A1 (en) | Motor control circuit and method with mechanical angle reconstruction | |
| RU2103156C1 (en) | Method for assembly of threaded joint | |
| CN210757836U (en) | Experimental device for simulating variable load and variable inertia of joint of industrial robot | |
| CN107742997B (en) | Control system and control method of double-shaft indexing mechanism and strapdown inertial measurement unit self-calibration method | |
| Cowan et al. | Design and test of electromechanical actuators for thrust vector control | |
| Diao | Modular Control of a Rotary Inverted Pendulum System | |
| CN107664953B (en) | Three-degree-of-freedom helicopter semi-physical simulation system and control method thereof | |
| CN1365536A (en) | Method and apparatus for initialization and operation of field-communication motors and method incorporating field-communicated motors | |
| JP4013174B2 (en) | Motor torque ripple measuring device | |
| Xin et al. | A Vibration Suppression Controller Design for a Two-Link Manipulator with Flexible Joints | |
| RU2443543C1 (en) | Manipulator electric drive | |
| RU2725449C1 (en) | Self-tuning electric drive of manipulator | |
| RU2311283C1 (en) | Device for controlling drive of a robot | |
| US11867349B2 (en) | Self-balancing two-rotation driving mechanism | |
| CN213970945U (en) | Balancing equipment for mounting electromechanical equipment | |
| CN219651399U (en) | Unmanned aerial vehicle operating system loading test bench | |
| RU2235015C1 (en) | Robot drive control apparatus | |
| CN108512468A (en) | Driving device and driving control system | |
| CN218614145U (en) | Joint module and modular mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |