CN218097655U

CN218097655U - Power box return error detection device and power box system

Info

Publication number: CN218097655U
Application number: CN202222140899.XU
Authority: CN
Inventors: 但威
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-12-20
Anticipated expiration: 2032-08-15

Abstract

The utility model relates to a power box return error detection device and power box system. The device comprises a power box bracket and a detection assembly, wherein the power box bracket is used for connecting at least one power box unit, and each power box unit comprises a power motor and a first encoder connected with the power motor; the detection assembly comprises second encoders in one-to-one correspondence with the power motors, and the second encoders are used for being connected with the output ends of the power box units. The rotation angle of the output end of the power motor is measured through the first encoder, the rotation angle of the output end of the power box unit is measured through the second encoder, through the rotation process of the power motor, the readings of the first encoder and the second encoder on the power box unit are obtained in real time, and then calculation is carried out, so that the return error under each output angle of the output end of the power box unit can be accurately obtained, namely, all return errors are accurately measured under the condition that the power motor is not dismounted, the test is convenient and fast, and the measurement precision is high.

Description

Power box return error detection device and power box system

Technical Field

The utility model relates to a medical surgical equipment technical field especially relates to power box return error detection device and power box system.

Background

In an abdominal cavity surgical robot, a power motor in a power box for controlling the movement of a surgical instrument needs to continuously reciprocate for controlling the posture of the tail end of the surgical instrument. In the reciprocating motion process of the power motor, the influence of the return error on the transmission precision is very large, if the return error is too large or the return error is unstable, the situations of motion delay and motion failure easily occur, and the operation effect is seriously influenced, so that the detection of the return error of the power box is very important.

In the prior art, a method for measuring a return error is to install a power motor on a special test bench, install an angle measuring instrument at an input end and an output end of a speed reducer, and calculate the return error by measuring a reverse angle of the input end and a transmission ratio of the motor speed reducer, but the return error measured by the method is low in measurement precision.

SUMMERY OF THE UTILITY MODEL

Based on this, to the technical problem that return stroke error measurement accuracy is low among the prior art, provide a power box return stroke error detection device.

A return stroke error detection device for a power cartridge, comprising:

the power box bracket is used for connecting at least one power box unit, and each power box unit comprises a power motor and a first encoder connected to the power motor;

and the detection assembly comprises second encoders in one-to-one correspondence with the power motors, and the second encoders are connected with the output ends of the power box units.

In one embodiment, the power box return error detection device further comprises an output transmission shaft and an adapter, wherein one end of the output transmission shaft is connected to the output end of the power box unit, the other end of the output transmission shaft penetrates through the adapter, and the adapter is detachably connected to the power box bracket;

the second encoder includes an encoder read head coupled to the adapter and an encoder code wheel coupled to the output drive shaft.

In one embodiment, the return error detection device of the power box further comprises a pinch plate, and two ends of the pinch plate are respectively provided with a clamping groove;

the power box comprises a power box support and is characterized in that a first clamping block is arranged on the adapter, a second clamping block is arranged on the power box support, the pinch plate penetrates through the partial structure of the power box support and the adapter, and the clamping grooves at the two ends of the pinch plate are respectively connected with the first clamping block and the second clamping block in a clamping mode.

In one embodiment, the power box return error detection device further includes a poke rod, the poke rod is rotatably connected to one side of the adapter close to the first clamping block, one end of the poke rod abuts against one end of the buckling plate clamped to the first clamping block, and the poke rod is configured to rotate relative to the adapter so as to push the first clamping block to be separated from the corresponding clamping groove.

In one embodiment, the adapter comprises a connecting plate, a mounting plate and a connecting arm, the connecting plate and the mounting plate are arranged at intervals along the axial direction of the output transmission shaft and are sleeved on the output transmission shaft, the first clamping block is arranged on the connecting plate, and the encoder reading head is connected to the mounting plate; the both ends of linking arm connect respectively in the connecting plate with the mounting panel, be equipped with the lug on the linking arm, the poker rod rotate connect in the lug.

In one embodiment, the second encoder further comprises a code wheel fixing flange connected to an end of the output transmission shaft facing away from the power box unit, and the code wheel of the encoder is connected to the code wheel fixing flange.

In one embodiment, the return error detection device of the power box further includes a positioning element, an abutting tangent plane is arranged at one end of the output transmission shaft, which is far away from the power box unit, the positioning element penetrates through the code wheel fixing flange and abuts against the abutting tangent plane, and the positioning element is connected with the code wheel fixing flange so as to limit the motion of the code wheel fixing flange relative to the output transmission shaft.

In one embodiment, the output transmission shaft and the output end of the power box unit comprise abutting end faces which abut against each other, one of the abutting end face of the output transmission shaft and the abutting end face of the power box unit is provided with a clamping protrusion, the other one of the abutting end face of the output transmission shaft and the abutting end face of the power box unit is provided with a groove, and the clamping protrusion is in clamping fit with the groove.

In one embodiment, the power box support comprises a support body and a butt plate which are connected, the power box unit further comprises a speed reducer and a coupler, one end of the coupler is connected to an output shaft of the speed reducer, the other end of the coupler penetrates through the butt plate, an input shaft of the speed reducer is connected with an output shaft of the power motor, the output shaft of the coupler forms an output end of the power box unit, and the groove is formed in the output shaft of the coupler.

The utility model also provides a power box system can solve above-mentioned at least one technical problem.

A power box system comprises at least one power box unit and the power box return error detection device, wherein each power box unit comprises a power motor and a first encoder, the power motor is connected with the first encoder, and a second encoder is connected with the output end of the power box unit.

Has the advantages that:

the embodiment of the utility model provides a return stroke error detection device of a power box, including power box support and detection component, the power box support is used for connecting at least one power box unit, each power box unit includes power motor and the first encoder connected to power motor; the detection assembly comprises second encoders in one-to-one correspondence with the power motors, and the second encoders are used for being connected with the output ends of the power box units. The utility model provides a last first encoder that is connected with of power motor in this application, output at power box unit sets up the second encoder, first encoder is used for measuring the turned angle of power motor output, the second encoder is used for measuring the turned angle of power box unit output, through at power motor pivoted in-process, acquire the reading of first encoder and second encoder on the power box unit in real time, the rethread calculates, just can accurately obtain the size of return stroke error under each output angle of power box unit output, all return stroke errors have been accurately measured under the condition of not demolising power motor promptly, and convenient and fast testing, the measurement accuracy is high.

The utility model provides a power box system, including at least one power box unit and foretell power box return error detection device, each power box unit includes motor power and first encoder, and motor power is connected with first encoder, and the second encoder links to each other with the output of power box unit. The power cartridge system is capable of achieving at least one of the technical effects described above.

Drawings

Fig. 1 is a schematic view of a return stroke error detection apparatus for a power box according to an embodiment of the present invention;

fig. 2 is a top view of the return error detection apparatus for a power box according to an embodiment of the present invention;

fig. 3 is a schematic view of a part of a return stroke error detection apparatus of a power box according to an embodiment of the present invention;

fig. 4 is a partial schematic view of a return stroke error detection apparatus of a power box according to an embodiment of the present invention;

fig. 5 is a partial cross-sectional view of a return error detection apparatus for a power cartridge provided in an embodiment of the present invention;

fig. 6 is a graph of transmission error of the output transmission shaft under any rotation angle in the power box return error detection device provided by the embodiment of the present invention.

Reference numerals:

100-a power cartridge unit; 110-a power motor; 120-a first encoder; 130-a reducer; 200-a detection component; 210-a second encoder; 211-an encoder readhead; 212-encoder code wheel; 213-code wheel fixing flange; 214-a readhead mount; 230-a positioning element; 240-a bearing; 300-an adapter; 310-a connecting plate; 311-mounting holes; 320-a mounting plate; 330-connecting arm; 331-a bump; 340-a connecting cylinder; 410-a coupling; 420-output drive shaft; 421-groove; 422-abutting section; 430-power cartridge holder; 440-a fixed plate; 450-a docking plate; 460-a docking tray; 471-snap; 480-a stent body; 510-a pinch plate; 520-card slot; 530-a first fixture block; 540-a second fixture block; 550-a poker rod; 551-first stage; 552-second section; 560-a spring; 570-rotating shaft.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

In the laparoscopic surgical robot system, the power motor 110 in the power pack controlling the movement of the surgical instrument needs to constantly perform a reciprocating motion for controlling the posture of the distal end of the surgical instrument. In the reciprocating process of the power motor 110, the influence of the return error on the transmission precision is very large, and if the return error is too large or the return error is unstable, the situations of motion delay and motion failure easily occur, and the operation effect is seriously influenced. In the conventional return error measurement, a motor is independently fixed on a rack, high-precision angle measuring instruments are respectively arranged at the input end and the output end of a speed reducer 130 of the motor, and the return error of a certain position is calculated by measuring values of the two angle measuring instruments in the rotating process of the motor. However, in the process of controlling the posture and the opening and closing of the surgical instrument by the power cartridge, that is, in an integrated state, besides the reducer 130, other transmission parts also generate corresponding return errors, and in order to accurately measure the return errors of the power cartridge, the applicant provides a return error detection device for the power cartridge to solve the above problems.

Referring to fig. 1, fig. 1 is a schematic view of a return error detection apparatus for a power box according to an embodiment of the present invention. The utility model provides a return stroke error detection device of a power box, which comprises a power box bracket 430 and a detection component 200; the power box bracket 430 is used for connecting at least one power box unit 100, and each power box unit 100 comprises a power motor 110 and a first encoder 120 connected to the power motor 110; the detecting assembly 200 includes a second encoder 210 corresponding to the power motors 110, and the second encoder 210 is connected to the output end of the power box unit 100.

Specifically, be connected with first encoder 120 on the power motor 110 in this application, output at power box unit 100 sets up second encoder 210, first encoder 120 is used for measuring the turned angle of power motor 110 output, second encoder 210 is used for measuring the turned angle of power box unit 100 output, through at power motor 110 pivoted in-process, acquire the reading of first encoder 120 and second encoder 210 on power box unit 100 in real time, rethread calculation, just can accurately obtain the size of return stroke error under the each output angle of power box unit 100 output, accomplish all return stroke error detection under the condition of not demolising power motor 110 promptly, and convenient and fast tests, and measurement accuracy is high.

It should be noted that the power box for controlling the movement of the surgical instrument in the present application includes five groups of power box units 100, each group of power box units 100 includes a power motor 110 and a first encoder 120 connected to the power motor 110, an output end of the power box unit 100 is used for connecting the surgical instrument to control the movement of the surgical instrument, and in this embodiment, an example of measuring a return error of one of the power box units 100 is described. The number of the power box units 100 in the power box for controlling the movement of the surgical instrument may also be other numbers, such as 3 groups, 4 groups, etc., without being limited thereto.

The specific steps for obtaining the return stroke error of the power box unit 100 at each output angle in the application are as follows:

s10, controlling the power motor 110 to move along one direction until the rotation angle of the output transmission shaft 420 exceeds 360 degrees, and then controlling the power motor 110 to move reversely to the initial position, and simultaneously recording the values of the first encoder 120 and the second encoder 210 in the whole movement process.

S20 finds the maximum value X of the first encoder 120 in the recorded encoder data _a And the value Y of the second encoder 210 at the same time _a And the minimum value X of the first encoder 120 _b And the value Y of the second encoder 210 at the same time _b Using the resolution K of the known first encoder 120 ₁ And resolution K of the second encoder 210 ₂ And calculating an average transmission ratio:

s30 knowing that the values of the first encoder 120 and the second encoder 210 at the initial time are X respectively ₀ And Y ₀ The values of the first encoder 120 and the second encoder 210 at the nth time are X, respectively _n And Y _n Then, the error between the output shaft angle corresponding to the value of the first encoder 120 and the output shaft angle corresponding to the value of the second encoder 210 at the nth time, that is, the transmission error is:

the angle of rotation of the output drive shaft 420 relative to the initial position at this time is:

make (beta, alpha) curve chart, as shown in the attached figure 6 of the specification, figure 6 is the curve chart of the transmission error of the output transmission shaft under any rotation angle in the power box return error detection device provided by the embodiment of the invention.

S40, subtracting the upper and lower transmission error curves corresponding to any angle beta of 0-360 degrees in the attached figure 6 of the specification to obtain the return error theta of the output end of the power box motor under the angle, namely obtaining the return error in any angle in the whole motion range.

In the description of fig. 6, the transmission error curve at the lower end is a transmission error generated in the forward rotation process of the power motor 110, which may be caused by other factors such as the installation of the second encoder 210, and the transmission error curve at the lower end is a transmission error generated in the reverse rotation process of the power motor 110, and the transmission error generated in the forward rotation process of the power motor 110 can be eliminated by subtracting the upper and lower transmission error curves, so as to obtain a more accurate return error value.

Continuing to refer to fig. 1, in one embodiment, the power box return error detection apparatus further includes an output transmission shaft 420 and an adapter 300, one end of the output transmission shaft 420 is connected to the output end of the power box unit 100, the other end is inserted into the adapter 300, and the adapter 300 is detachably connected to the power box bracket 430; the second encoder 210 includes an encoder readhead 211 and an encoder code wheel 212, the encoder readhead 211 being coupled to the adapter 300, the encoder code wheel 212 being coupled to the output drive shaft 420.

Specifically, the power box motor in this application is in integrated state, dismantles surgical instruments for the output of power box, then installs adapter 300 on power box support 430 to can fix encoder read head 211, and output drive shaft 420 connects in the output of power box unit 100, thereby simulates surgical instruments's input shaft through output drive shaft 420, makes second encoder 210 who connects in output drive shaft 420 accurately obtain the turned angle of power box motor output, thereby improves return stroke error precision. Wherein, the adapter 300 and the power box support 430 can be detachably connected, so that the adapter 300 can be conveniently mounted and dismounted, and the measuring convenience is improved.

Referring to fig. 1 and fig. 2, fig. 2 is a top view of a return error detection apparatus for a power box according to an embodiment of the present invention. In one embodiment, the return error detection device of the power box further comprises a pinch plate 510, wherein two ends of the pinch plate 510 are respectively provided with a clamping groove 520; the adapter 300 is provided with a first fixture 530, the power box bracket 430 is provided with a second fixture 540, the buckle 510 penetrates through the partial structure of the power box bracket 430 and the adapter 300, and the clamping grooves 520 at the two ends of the buckle 510 are respectively clamped with the first fixture 530 and the second fixture 540.

Specifically, draw-in groove 520 at buckle 510 both ends respectively with first fixture block 530 and second fixture block 540 joint for adapter 300 is through buckle 510 and power box support 430 stable connection, thereby improves encoder read head 211's stability, makes the encoder read head 211 can be accurate read encoder code wheel 212 pivoted angle, simultaneously, can make the convenient dismantlement of adapter 300, improves the measuring convenience. The buckle plate 510 penetrates through the partial structure of the power box bracket 430 and the adapter 300, and the buckle plate 510 can be limited, so that the buckle plate 510 is stably clamped with the first clamping block 530 and the second clamping block 540.

It should be noted that, also be equipped with the fixture block on the surgical instruments in this application, surgical instruments also realizes surgical instruments's installation through the cooperation of fixture block and the draw-in groove 520 joint on the buckle 510 that corresponds, through set up the first fixture block 530 the same with surgical instruments goes up fixture block structure on adapter 300 in this application to can utilize original structure realization installation on the power box, reduce the setting of other structures, improve the adaptability of device.

Further, power box return stroke error detection device still includes to the dish 460, locates output drive shaft 420 to dish 460 cover, and respectively with power box support 430 and adapter 300 butt, buckle 510 connects in to dish 460, and two draw-in grooves 520 are located respectively to dish 460 along the axial both sides of output drive shaft 420 to buckle 510's stability has further been improved, and then improved the stability that adapter 300 is connected through buckle 510 and power box support 430.

The first fixture block 530 is located on one side of the adapter 300 away from the power motor 110, the second fixture block 540 is located on one side of the power box bracket 430 away from the adapter 300, and when the first fixture block 530 and the second fixture block 540 are respectively matched with the corresponding clamping grooves 520, the first fixture block 530 and the second fixture block 540 do not interfere with each other, namely when the first fixture block 530 is matched with the corresponding clamping groove 520, the second fixture block 540 is stably clamped with the corresponding clamping groove 520, so that the docking tray 460 is guaranteed to be stably connected with the power box bracket 430 all the time, and therefore the adapter 300 is convenient to be installed and detached conveniently through the matching of the first fixture block 530 and the corresponding clamping groove 520, and the adaptability of the device is improved.

Referring to fig. 1 and 5, fig. 5 is a partial cross-sectional view of a return stroke error detection apparatus of a power box according to an embodiment of the present invention. In one embodiment, the output shaft 420 and the output end of the power box unit 100 include abutting end surfaces abutting against each other, one of the abutting end surface of the output shaft 420 and the abutting end surface of the power box unit 100 is provided with a protruding clip 471, the other is provided with a groove 421, and the protruding clip 471 is in snap fit with the groove 421.

Specifically, the abutting end face of the output transmission shaft 420 is provided with the groove 421, the abutting end face of the power box unit 100 is provided with the protruding locking 471, the protruding locking 471 is matched with the groove 421 in a locking manner, so that the stability of connection between the output transmission shaft 420 and the output end of the power box unit 100 is improved, the output transmission shaft 420 can rotate synchronously with the output end of the power box unit 100, and the rotation angle of the output end of the power box unit 100 is accurately measured through the second encoder 210 connected to the output transmission shaft 420. Wherein, a bearing 240 is arranged between the output transmission shaft 420 and the connecting plate 310, the output transmission shaft 420 is connected with an inner ring of the bearing 240, and the connecting plate 310 is connected with an outer ring of the bearing 240, so as to limit the position of the output transmission shaft 420 in the axial direction thereof, and stably clamp the groove 421 and the clamping protrusion 471. By the arrangement, in the process of mounting and dismounting the power box return error detection device relative to the power box unit 100, the output transmission shaft 420 and the second encoder 210 are always connected with the adapter 300, so that the power box return error detection device can be mounted and dismounted only by mounting and dismounting the adapter 300, and the convenience of device measurement is improved.

It should be noted that, be equipped with the cooperation groove on surgical instruments's the input shaft, the cooperation groove can cooperate with protruding 471 joint of card, realizes the transmission of surgical instruments input shaft, through set up on output transmission shaft 420 in this application and the same recess 421 of cooperation groove structure on the surgical instruments to original structure realization installation on can utilizing the power box reduces the setting of other structures, has improved the adaptability of device.

Referring to fig. 1 and 5, in one embodiment, the power box bracket 430 includes a bracket body 480 and a docking plate 450 that are connected, the power box unit 100 further includes a speed reducer 130 and a coupling 410, one end of the coupling 410 is connected to an output shaft of the speed reducer 130, the other end of the coupling 410 passes through the docking plate 450, an input shaft of the speed reducer 130 is connected to an output shaft of the power motor 110, the output shaft of the coupling 410 forms an output end of the power box unit 100, and the recess 421 is disposed on the output shaft of the coupling 410.

Specifically, power motor 110 is mounted on bracket body 480, docking plate 450 abuts against the side of docking plate 460 facing away from adapter 300, and second latch 540 is mounted on the side of docking plate 450 facing away from docking plate 460. One end of the coupler 410, which is far away from the power motor 110, is inserted into the docking plate 450, and the locking protrusion 471 is disposed on an end surface of one end of the coupler 410, which is far away from the power motor 110.

Further, the power pack support 430 further includes a fixing plate 440 connected to the support body 480, the speed reducer 130 is connected to the fixing plate 440, and the output shaft of the speed reducer 130 passes through the fixing plate 440 to be connected to the coupler 410, and the stability of the speed reducer 130 is improved due to the arrangement of the fixing plate 440, so that the stability of the output transmission shaft 420 is improved.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, fig. 3 is a partial schematic view of a return error detection apparatus of a power box according to an embodiment of the present invention; fig. 4 is a second schematic diagram of a part of the return error detection apparatus for a power cartridge provided by an embodiment of the present invention. In one embodiment, the power cartridge return error detection apparatus further includes a poke rod 550, the poke rod 550 is rotatably connected to one side of the adapter 300 close to the first fixture block 530, one end of the poke rod 550 abuts against one end of the buckle 510 clamped to the first fixture block 530, and the poke rod 550 is configured to rotate relative to the adapter 300 to push the first fixture block 530 to disengage from the corresponding clamp slot 520.

Specifically, the poke rod 550 is rotatably connected to one side of the adapter 300 far away from the power motor 110, the poke rod 550 includes a first segment 551 and a second segment 552, the joint of the first segment 551 and the second segment 552 is rotatably connected to a partial structure on the adapter 300, the first segment 551 is abutted against one end of the pinch plate 510 clamped to the first clamping block 530, when the second segment 552 rotates radially inward along the output transmission shaft 420, as can be seen from the lever law, the first segment 551 rotates radially outward along the output transmission shaft 420, so as to push the pinch plate 510 away from the first clamping block 530, so that the first clamping block 530 is separated from the corresponding clamping groove 520, thereby separating the adapter 300 from the pinch plate 510, and facilitating the detachment of the adapter 300. Preferably, the length of the second segment 552 is longer than that of the first segment 551, i.e., the tap lever 550 is a labor saving lever.

Further, a spring 560 is connected between one end of the second segment 552, which is far away from the first segment 551, and the adapter 300, the spring 560 is used for applying a force to the second segment 552, which is outward in the radial direction of the output transmission shaft 420, and after the force application to the second segment 552 is stopped, the second segment 552 returns under the acting force of the spring 560, so as to drive the first segment 551 to return, and further, when the adapter 300 is installed, the interference of the first segment 551 on the pinch plate 510 can be reduced.

Referring to fig. 1, 2, 3 and 4, in one embodiment, the adapter 300 includes a connecting plate 310, a mounting plate 320 and a connecting arm 330, the connecting plate 310 and the mounting plate 320 are axially spaced along the output transmission shaft 420 and both are sleeved on the output transmission shaft 420, the first latch 530 is disposed on the connecting plate 310, and the encoder reading head 211 is connected to the mounting plate 320; the two ends of the connecting arm 330 are respectively connected to the connecting plate 310 and the mounting plate 320, a protrusion 331 is disposed on the connecting arm 330, and the poke rod 550 is rotatably connected to the protrusion 331.

Specifically, the connecting plate 310 abuts against the docking tray 460 and is clamped with the first clamping block 530 through the clamping groove 520 of the pinch plate 510, so that the connecting plate 310 is stably connected with the docking tray 460. The first latch 530 is disposed on a side of the connection plate 310 away from the docking tray 460, a connection portion of the first segment 551 and the second segment 552 is rotatably connected to the protrusion 331 through a rotation shaft 570, and the spring 560 is connected to the mounting plate 320.

Further, a mounting hole 311 is formed in the connecting plate 310, the mounting hole 311 is located on one side of the connecting arm 330, which is radially outward along the output transmission shaft 420, the first fixture block 530 is disposed on one side of the hole wall of the mounting hole 311, which is close to the connecting arm 330, and is located at one end away from the docking tray 460, and the protrusion 331 is disposed on one side of the connecting arm 330, which is radially outward along the output transmission shaft 420, so that the poking rod 550 is disposed on one side of the connecting arm 330, which is radially outward along the output transmission shaft 420, thereby facilitating an operator to manually poke the second segment 552, and further facilitating the detachment of the adapter 300 and the docking tray 460.

Furthermore, two sides of the connecting plate 310 along the radial direction of the output transmission shaft 420 are respectively provided with a first fixture block 530, the docking tray 460 is provided with two corresponding fastening plates 510, and the connecting arm 330 is rotatably connected with two corresponding poke rods 550, so that the stability of the connection between the connecting plate 310 and the docking tray 460 is improved, and the accuracy of the angle measurement of the second encoder 210 is improved.

Referring to fig. 1 and 5, in one embodiment, the second encoder 210 further includes a reading head fixing frame 214, the encoder reading head 211 is installed on the reading head fixing frame 214, a connecting cylinder 340 corresponding to the output transmission shaft 420 is disposed on one side of the mounting plate 320 facing away from the connecting arm 330, the output transmission shaft 420 is disposed through the connecting cylinder 340 and rotatably connected to the connecting cylinder 340 through a bearing 240, and one side of the reading head fixing frame 214 facing away from the encoder reading head 211 is sleeved on the connecting cylinder 340 and connected to the connecting cylinder 340, so as to improve the installation stability of the reading head fixing frame 214. The installation of the connecting cylinder 340 increases the distance between the mounting plate 320 and the readhead fixing frame 214, thereby avoiding the tap lever 550.

Referring to fig. 1 and 5, in one embodiment, the second encoder 210 further includes a code wheel fixing flange 213, the code wheel fixing flange 213 is connected to an end of the output transmission shaft 420 facing away from the power box unit 100, and the encoder code wheel 212 is connected to the code wheel fixing flange 213.

Specifically, the encoder code wheel 212 is stably connected with the output transmission shaft 420 through the code wheel fixing flange 213, so that the encoder code wheel 212 can accurately measure the rotation angle of the output transmission shaft 420. When the encoder code disc 212 needs to be detached, only the encoder code disc 212 needs to be detached, and therefore the service life of the encoder code disc 212 is prolonged.

Referring to fig. 1 and 5, in one embodiment, the return error detection apparatus of the power box further includes a positioning element 230, an end of the output transmission shaft 420, which is away from the power box unit 100, is provided with an abutting tangent plane 422, the positioning element 230 passes through the code wheel fixing flange 213 and abuts against the abutting tangent plane 422, and the positioning element 230 is connected with the code wheel fixing flange 213 to limit the code wheel fixing flange 213 from moving relative to the output transmission shaft 420.

Specifically, one end of the positioning member 230 penetrating through the code wheel fixing flange 213 abuts against the abutting tangent plane 422, so that the friction force between the positioning member 230 and the abutting tangent plane 422 is increased, and the code wheel fixing flange 213 is stably connected to the output transmission shaft 420.

Furthermore, a positioning hole is formed in the code wheel fixing flange 213, the positioning element 230 passes through the positioning hole and abuts against the abutting tangent plane 422, and the positioning element 230 is in threaded connection with the wall of the positioning hole, so that the code wheel fixing flange 213 and the output transmission shaft 420 can be conveniently mounted and dismounted. Preferably, the positioning member 230 is a screw.

Referring to fig. 1, an embodiment of the present invention further provides a power box motor system, including at least one power box unit 100 and the return error detection device of the power box, each power box unit 100 includes a power motor 110 and a first encoder 120, the power motor 110 is connected to the first encoder 120, and a second encoder 210 is connected to an output end of the power box unit 100.

Specifically, measure the turned angle of power motor 110 output through first encoder 120 in this application, the turned angle of power box unit 100 output is measured to second encoder 210, thereby at power motor 110 pivoted in-process, acquire the reading of first encoder 120 and second encoder 210 on power box unit 100 in real time, the rethread calculates, just can accurately obtain the size of return stroke error under the each output angle of power box unit 100 output, all return stroke errors have accurately been measured under the condition of not demolising power motor 110 promptly, and convenient and fast testing, measurement accuracy is high.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a power box return stroke error detection device which characterized in that, power box return stroke error detection device includes:

2. The power box return error detection device according to claim 1, further comprising an output transmission shaft and an adapter, wherein one end of the output transmission shaft is connected to the output end of the power box unit, and the other end of the output transmission shaft is inserted into the adapter, and the adapter is detachably connected to the power box bracket;

the second encoder comprises an encoder reading head and an encoder coded disc, the encoder reading head is connected to the adapter, and the encoder coded disc is connected to the output transmission shaft.

3. The return error detection device for the power box according to claim 2, further comprising a buckle plate, wherein two ends of the buckle plate are respectively provided with a clamping groove;

the adapter is provided with a first clamping block, the power box support is provided with a second clamping block, the pinch plate penetrates through the partial structure of the power box support and the adapter, and the clamping grooves at the two ends of the pinch plate are respectively connected with the first clamping block and the second clamping block in a clamped mode.

4. The device for detecting return stroke errors of a power box according to claim 3, further comprising a poke rod rotatably connected to a side of the adapter close to the first fixture block, wherein one end of the poke rod abuts against one end of the buckling plate clamped to the first fixture block, and the poke rod is configured to rotate relative to the adapter to push the first fixture block to be separated from the corresponding clamping groove.

5. The return stroke error detection device of the power pack as claimed in claim 4, wherein the adapter includes a connecting plate, a mounting plate and a connecting arm, the connecting plate and the mounting plate are axially spaced along the output transmission shaft and are both sleeved on the output transmission shaft, the first clamping block is disposed on the connecting plate, and the encoder reading head is connected to the mounting plate; the both ends of linking arm connect respectively in the connecting plate with the mounting panel, be equipped with the lug on the linking arm, the poker rod rotate connect in the lug.

6. The power pack return error detection apparatus of claim 2, wherein the second encoder further includes a code wheel fixing flange connected to an end of the output drive shaft facing away from the power pack unit, the code wheel of the encoder being connected to the code wheel fixing flange.

7. The return error detection device of claim 6, further comprising a positioning element, wherein an abutting section is disposed at an end of the output transmission shaft away from the power box unit, the positioning element penetrates through the code wheel fixing flange and abuts against the abutting section, and the positioning element is connected to the code wheel fixing flange to limit the code wheel fixing flange from moving relative to the output transmission shaft.

8. The return stroke error detection device of the power box according to claim 2, wherein the output transmission shaft and the output end of the power box unit include abutting end surfaces which abut against each other, one of the abutting end surface of the output transmission shaft and the abutting end surface of the power box unit is provided with a clamping protrusion, the other one is provided with a groove, and the clamping protrusion is in clamping fit with the groove.

9. The return stroke error detection device for the power box according to claim 8, wherein the power box bracket includes a bracket body and a butt plate that are connected, the power box unit further includes a speed reducer and a coupling, one end of the coupling is connected to an output shaft of the speed reducer, the other end of the coupling penetrates through the butt plate, an input shaft of the speed reducer is connected to an output shaft of the power motor, the output shaft of the coupling constitutes an output end of the power box unit, and the groove is disposed on the output shaft of the coupling.

10. A power pack system comprising at least one power pack unit and a power pack return error detection apparatus as claimed in any one of claims 1 to 9, each power pack unit comprising a power motor and a first encoder, the power motor being connected to the first encoder and the second encoder being connected to an output of the power pack unit.