CN103837339B - A kind of dynamic servo power-driven system - Google Patents
A kind of dynamic servo power-driven system Download PDFInfo
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Abstract
The invention provides a kind of dynamic servo power-driven system.Described system comprises basic machine, motor, force snesor, A/D converter, controller, servo-driver.Loading disc after loading disc and before comprising one in basic machine, arrange some springs between the loading disc of front and back, rear loading disc is fixed on the nut of ball-screw in basic machine.Motor can drive ball-screw, and the latter drives rear loading disc, make front and back loading disc relative motion and Compress Spring to produce loading force.Load Time Controller and control servo driver drives motor according to setting power and force sensor signals, realize accurately loading by setting power.The present invention adopts Compress Spring in parallel, and power output is multiplied; Compress Spring is fixed on can along on the loading disc of hold-down support rolling, and stroke depends on the length of ball-screw; There is High power output, feature that stroke is large; Dynamic high precision loading under controller adopts the adaptive sliding-mode observer algorithm of band disturbance observer can realize external interference.
Description
Technical Field
The invention relates to a dynamic servo force driving system. The method can be applied to the application of load spectrums, the simulation of working conditions, the test of static rigidity and the like in the reliability test of functional parts such as a main shaft, a guide rail and the like of a numerical control machine tool. The method can also be applied to the aspect of loading test requiring large loading force and large stroke.
Background
In the reliability evaluation of the numerical control machine tool, a load needs to be applied to the main shaft according to a certain load spectrum. In order to simulate the actual operating state of the machine tool, the loading device not only needs to exert a certain force on the main shaft, but also can simulate the relative motion between the main shaft and the workbench. Typically, pneumatic or hydraulic cylinder loading may be employed. But the former requires a gas source; the latter needs a set of hydraulic station, and is noisy and easy to pollute. Chinese patent No. 201110075629.9 proposes a measurable force electric servo loading device, in which a ball screw is driven by a servo motor, and a loading head is pushed by the ball screw to realize loading, and a spring acts not to generate a loading force but to perform a pre-tightening action.
In the prior art, a force driver or a loading device for generating a loading force by using a compression spring is used, one end of the compression spring is fixed relative to a machine base, and the other end of the compression spring is compressed to form an elastic force to realize loading under the pushing of an external force. In the occasion of need realization loading force and big stroke removal simultaneously, limited by spring self size, intensity etc. the volume of compression that spring itself produced is limited, can not satisfy big stroke motion. In addition, the existing force driver or loading device based on the compression spring to generate the loading force mostly adopts one compression spring, and the output force is limited. The control method mostly adopts Proportional Integral Derivative (PID) control, and has poor external interference resistance and low dynamic output force precision.
Disclosure of Invention
In order to solve the problems of poor external interference resistance and low dynamic output force precision of PID control, the invention provides a dynamic servo force driving system which is based on a compression spring and a servo motor and has the characteristics of large stroke, wide output force range and dynamic loading.
The invention is realized by adopting the following technical scheme:
the invention relates to a dynamic servo force driving system, which is characterized in that the driving system comprises a mechanical body, a force sensor, an A/D converter, a controller and a servo driver; the mechanical body comprises a support, a servo motor driving assembly, a bearing assembly, a ball screw assembly, a compression spring assembly, a guide rail assembly and a loading head assembly; the servo motor driving assembly comprises a servo motor, a guide plate, a synchronous belt and a secondary synchronous belt wheel, the bearing assembly comprises a bearing end cover, a bearing sleeve, a bearing seat and a bearing assembly, the ball screw assembly comprises a screw rod and a screw rod nut, the compression spring assembly comprises a spring, a guide rod, a front loading disc and a rear loading disc, the guide rail assembly comprises a movable guide rail bar and a static guide rail bar, the loading head assembly comprises a transition sleeve, a force sensor and a loading head, the bearing assembly comprises three groups of thrust angular contact ball bearings, the connection relation is that a motor mounting plate is arranged at one end of the support, the bottom surface of the support is a plane, three rectangular grooves for fixing the static guide rail bar are uniformly distributed on the circumference of an inner hole of the cylindrical cylinder of the support, and the central; the lead screw is arranged on the central axis of the support; the motor mounting plate is provided with a guide plate and a guide groove, the guide plate is in clearance fit with the guide groove on the support, and the servo motor is fixedly connected to the guide plate on the motor mounting plate; a central hole is formed in the central axis of the annular rear loading disc, a plurality of through holes are uniformly formed in the rear loading disc along the circumference of the central axis, and three rectangular grooves are uniformly formed in the outer circumferential surface; a central hole is arranged on the central axis of the annular front loading disc, and a through hole corresponding to the position of the rear loading disc is arranged on the circumference of the front loading disc along the central axis; a primary synchronous pulley on a servo motor shaft drives a secondary synchronous pulley through a synchronous belt; the secondary synchronous belt wheel is connected with the screw rod through a key; the inner ring of the bearing group is in transition fit with the shaft end of the lead screw; the outer ring of the bearing group is in clearance fit with the inner hole of the bearing sleeve; the excircle of the bearing sleeve is in clearance fit with the bearing seat and is connected with the bearing seat through a screw; the bearing seat is matched with the inner circular surface of the support and is connected with the support through a screw; the bearing end cover is tightly pressed on an inner ring of the bearing group and is connected with the bearing sleeve through a screw; the outer cylindrical surface of a screw nut on the screw is in clearance fit with the central hole of the rear loading disc; three movable guide rail bars are correspondingly arranged on three uniformly arranged rectangular grooves on the outer circumference of the rear loading disc; the static guide rail strip is embedded in the rectangular groove of the rear loading disc, and balls are arranged between the movable guide rail strip and the static guide rail strip; the screw nut is connected with a rear loading disc in the compression spring assembly through a screw; the rear loading disc is connected with the front loading disc through a guide rod; a spring is arranged on the periphery of the guide rod; the front loading disc is connected with one end of a transition sleeve arranged on the periphery of the ball screw; the other end of the transition sleeve is connected with one end of the force sensor; the other end of the sensor is connected with the loading head; the support, the screw rod, the front loading disc, the rear loading disc and the guide rod are coaxially arranged;
the controller receives a force signal of the force sensor through A/D conversion, and the force signal is calculated in the controller through the deviation of the force signal and a set force to obtain a control signal; the control signal is amplified by the servo driver and then drives the servo motor in the mechanical body to rotate, the servo motor drives the driven belt pulley through the synchronous belt, the driven belt pulley drives the ball screw to rotate, the rear loading disc in the compression spring assembly is driven through the screw nut, and the front loading disc and the rear loading disc move relatively to compress the spring to generate loading force.
One end of the guide rod is fixedly connected with the through hole of the front loading disc through internal threads and penetrates through the compression spring, and the other end of the guide rod is in clearance fit with holes uniformly distributed along the circumference of the rear loading disc and is tightly pressed on the rear loading disc through a nut.
The bearing group can be replaced by a bearing group comprising a radial bearing and a thrust bearing.
A kinematic pair is formed between the compression spring assembly and the support through a guide rail assembly, and the kinematic pair is a rolling kinematic pair or a sliding kinematic pair.
The servo motor driving assembly and the lead screw are driven by a synchronous belt or a coupler.
The lead screw can be replaced by a trapezoidal screw.
The dynamic servo force driving system adopts a torque control mode, and the control algorithm adopts self-adaptive sliding mode control with a disturbance observer.
In the invention, the pressure sensor is connected with the front loading disc through the transition sleeve, and the load is directly applied to the target to be loaded through the pressure sensor. The compression spring penetrates through the guide rod and directly acts on the rear loading disc, and the loading force generated by the force driver is generated by the compression of the spring. The guide rod is connected with the rear loading disc through threads, the prepressing amount of the spring can be adjusted through the threads, and the weights of the spring, the front loading disc, the transition sleeve and the pressure sensor are supported by the guide rod. And a rolling pair is formed between the rear loading disc and the base through a guide rail bar and a rolling body and can axially move along the support hole. The angular contact ball bearing group is fixed on the bearing seat through the bearing sleeve and the bearing end cover. The servo motor is fixed on the base through the guide plate, and the guide plate can slide along the rectangular groove in the support through the adjusting screw, so that the distance adjustment of the synchronous belt wheels and the pre-tightening of the synchronous belt are realized. The pressure sensor and the controller adopting the self-adaptive sliding mode control algorithm with the disturbance observer can realize accurate loading according to the force with a given size.
The invention has the following advantages:
1. in the invention, a loading assembly consisting of a front loading disc, a spring and a rear loading disc can axially move relative to the support in the loading process, and the movable stroke depends on the length of the ball screw. The spring loading device has the advantage of large stroke, and avoids the limitation of the stroke of the traditional spring loading device by the size and the strength of the spring.
2. The invention can realize large output force which can reach more than 10000N by adopting the parallel compression springs.
3. The guide rod of the invention not only has the function of adjusting the prepressing amount of the spring, but also has the function of supporting the spring and the front loading disc.
4. According to the invention, a kinematic pair is formed between the rear loading disc and the support through the rolling body, sliding friction is changed into rolling friction, and the force control precision is improved.
5. The invention adopts the transmission of the servo motor and the synchronous belt, the servo motor is positioned at one side of the support, and the invention has the characteristics of compact structure and small volume.
6. The servo driver adopts a torque control mode and can realize dynamic high-precision loading under external disturbance by combining a self-adaptive sliding mode control algorithm with a disturbance observer.
Drawings
FIG. 1 is a schematic structural view of a machine body according to the present invention;
FIG. 2 is a cross-sectional view of a machine body portion of the present invention;
FIG. 3 is a schematic view of a base structure of a machine body part according to the present invention;
FIG. 4 is a schematic structural view of a front loading plate of the mechanical body part in the invention;
FIG. 5 is a schematic view of a guide bar of the machine body according to the present invention;
FIG. 6 is a block diagram of the system of the present invention;
FIG. 7 is a graph of adaptive sliding mode control response curve and tracking error curve without disturbance observer under sinusoidal reference force of the dynamic force servo driving system of the present invention;
FIG. 8 is a graph showing the adaptive sliding mode control response curve and tracking error curve of the dynamic force servo driving system with disturbance observer under the sinusoidal reference force;
in the figure, 1, a support 2, a servo motor 3, an adjusting screw 4, a locking nut 5, a synchronous belt 6, a secondary synchronous pulley 7, a bearing end cover 8, a bearing sleeve 9, a bearing seat 10, a bearing group 11, a ball screw 12, a screw nut 13, a nut 14, a roller assembly 15, a movable guide rail 16, a static guide rail 17, a compression spring 18, a guide rod 19, a front loading disc 20, a transition sleeve 21, a force sensor 22, a rear loading disc 23, a guide plate 24, a loading head 25 and a controller are arranged.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings.
Example 1
Fig. 1 is a schematic structural view of a machine body according to the present invention, fig. 2 is a sectional view of a machine body part according to the present invention, fig. 3 is a schematic structural view of a base of a machine body part according to the present invention, fig. 4 is a schematic structural view of a front loading tray of a machine body part according to the present invention, and fig. 5 is a schematic structural view of a guide bar of a machine body part according to the present invention. Fig. 6 is a system block diagram of the present invention, fig. 7 is a graph of an adaptive sliding mode control response curve and a tracking error curve without a disturbance observer of a dynamic force servo driving system of the present invention under a sinusoidal reference force, and fig. 8 is a graph of an adaptive sliding mode control response curve and a tracking error curve with a disturbance observer of a dynamic force servo driving system of the present invention under a sinusoidal reference force.
In fig. 1 to 6, the dynamic servo force driving system of the present invention includes a mechanical body, a force sensor, an a/D converter, a controller, and a servo driver; the mechanical body comprises a support, a servo motor driving assembly, a bearing assembly, a ball screw assembly, a compression spring assembly, a guide rail assembly and a loading head assembly; the servo motor driving assembly comprises a servo motor 2, a guide plate 23, a synchronous belt 5 and a secondary synchronous belt wheel 6, the bearing assembly comprises a bearing end cover 7, a bearing sleeve 8, a bearing seat 9 and a bearing group 10, the ball screw assembly comprises a screw rod 11 and a screw rod nut 12, the compression spring assembly comprises a spring 17, a guide rod 18, a front loading disc 19 and a rear loading disc 22, the guide rail assembly comprises a movable guide rail strip 15 and a static guide rail strip 16, the loading head assembly comprises a transition sleeve 20, a force sensor 21 and a loading head 24, and the bearing group 10 comprises three groups of angular contact thrust ball bearings; the lead screw 11 is arranged on the central axis of the support; a guide plate 23 and a guide groove are arranged on the motor mounting plate, the guide plate 23 is in clearance fit with the guide groove on the support 1, and the servo motor 2 is fixedly connected on the guide plate 23 on the motor mounting plate; a central hole is formed in the central axis of the annular rear loading disc 22, a plurality of through holes are uniformly formed in the rear loading disc 22 along the circumference of the central axis, and three rectangular grooves are uniformly formed in the outer circumferential surface; a central hole is arranged on the central axis of the annular front loading disc 19, and a through hole corresponding to the rear loading disc 22 is arranged on the circumference of the front loading disc 19 along the central axis; a primary synchronous pulley on the shaft of the servo motor 2 drives a secondary synchronous pulley 6 through a synchronous belt 5; the secondary synchronous pulley 6 is connected with a lead screw 11 through a key; the inner ring of the bearing group 10 is in transition fit with the shaft end of the lead screw 11; the outer ring of the bearing group 10 is in clearance fit with the inner hole of the bearing sleeve 8; the excircle of the bearing sleeve 8 is in clearance fit with the bearing seat 9 and is connected with the bearing seat 9 through a screw; the bearing seat 9 is matched with the inner circular surface of the support 1 and is connected with the support 1 through a screw; the bearing end cover 7 is tightly pressed on an inner ring of the bearing group 10 and is connected with the bearing sleeve 8 through a screw; the outer cylindrical surface of a screw nut 12 on the screw 11 is in clearance fit with the central hole of the rear loading disc 22; three movable guide rail strips 15 are correspondingly arranged on three uniformly arranged rectangular grooves on the outer circumference of the rear loading disc 22; the static guide rail bar 16 is embedded into a rectangular groove of the rear loading disc (22), and balls 14 are arranged between the movable guide rail bar (15) and the static guide rail bar (16); the lead screw nut 12 is connected with a rear loading disc 22 in the compression spring assembly through a screw; the rear loading disc 22 is connected with the front loading disc 19 through a guide rod 18; the periphery of the guide rod 18 is provided with a spring 17; the front loading disc 19 is connected with one end of a transition sleeve 20 arranged on the periphery of the ball screw 11; the other end of the transition sleeve 20 is connected with one end of a force sensor 21; the other end of the sensor 21 is connected with a loading head 24; the support 1, the screw rod 11, the front loading disc 19, the rear loading disc 20 and the guide rod 18 are coaxially arranged, as shown in figures 1-5.
The controller 25 receives a force signal of the force sensor 21 through A/D conversion, and the force signal is calculated inside the controller 25 through the deviation from the set force to obtain a control signal; the control signal is amplified by the servo driver and then drives the servo motor 2 in the machine body to rotate, the servo motor 2 drives the driven belt pulley 6 through the synchronous belt 5, the driven belt pulley 6 drives the ball screw 11 to rotate, the screw nut 12 further drives the rear loading disc 22 in the compression spring assembly, and the front loading disc 19 and the rear loading disc 22 move relatively to compress the spring 17 to generate loading force, as shown in fig. 6.
One end of a guide rod 18 is fixedly connected with a through hole of the front loading disc 19 through an internal thread and penetrates through the compression spring 17, and the other end of the guide rod 18 is in clearance fit with holes uniformly distributed along the circumference of the rear loading disc 22 and is pressed on the rear loading disc 22 through a nut 13.
The control algorithm of the dynamic servo force driving system adopts a self-adaptive sliding mode control algorithm with a disturbance observer.
In the embodiment shown, there are six guide rods, one of which is the guide rod 18.
The servo motor is fixed on the guide plate 23 through a bolt, the guide plate 23 is in clearance fit with a guide groove on the support 1, and the center distance between the main synchronous pulley and the secondary synchronous pulley 6 can be adjusted through the adjusting nut 3.
The bearing set 10 comprises 3 groups of angular contact thrust ball bearings, wherein 2 groups and the rest 1 group are arranged back to back. The rolling element assembly 14 is positioned between the movable guide rail strip 15 and the fixed guide rail strip 16, and the relative geometric positions of the fixed guide rail strip, the rolling element assembly and the movable guide rail strip can be adjusted by adjusting a positioning screw positioned on the support, and pretightening force is applied; and can be locked by means of a set screw located on the support 1. The guide rods 18 may slide in small holes relative to the rear loading plate 22 during compression of the spring by the front loading plate. The rated torque of the servo motor 2 is larger thanWhereinL is the lead of the ball screw for the maximum loading force,for transmission efficiency.
The dynamic servo force driving system can realize accurate loading of a given load spectrum. Signals of the force sensor enter the controller through amplification, conditioning and A/D conversion in the loading process, an algorithm running on the controller can calculate the calculation of a control signal of given reference force, and the servo amplifier is driven by the control signal, so that the given force loading is realized. The control algorithm is as follows:
consider the following uncertain discrete system
(1)
Uncertainty termAnd disturbance termSatisfies the following matching conditions，Then (1) can be rewritten as:
(2)
wherein.
Setting the command position signal asThe tracking error isThen the switching function is expressed as
(3)
Wherein,,,,is a sampling time interval, is obtained from (4):
(4)
is controlled to be
(5)
The loaded object is usually in motion when the force driver works, and the effect of compensating external interference by a disturbance observer can be introduced to improve the dynamic tracking accuracy. For (1), the following sliding mode controller with disturbance compensation is designed
(6)
WhereinTaking the formula (5),the disturbance observer is designed as
(7)
Wherein,,are positive real numbers.
In order to reduce buffeting of the disturbance observer, the step (7) is slightly modified, and a parameter adaptive algorithm is adopted to ensure thatThen, then
(8)
In summary, the adaptive sliding mode control law with the disturbance observer is as follows:
（9）
fig. 7 shows the tracking curve and error of the adaptive sliding mode control law (5) without using a disturbance observer under a given sinusoidal reference force, and fig. 8 shows the tracking curve and error of the adaptive sliding mode control law (9) with using a disturbance observer under a given sinusoidal reference force. It can be seen that the tracking error of the latter is significantly smaller than that of the former.
Example 2
The structure of the present embodiment is the same as that of embodiment 1, except that: the driving mode of the ball screw can adopt a servo motor to directly drive the ball screw through a coupler. The ball screw can be realized by adopting a trapezoidal screw and a nut pair. A guide key can be adopted between the rear loading disc and the support to replace the rolling element assembly. The bearing group is a bearing group containing a thrust ball bearing or a cylindrical roller thrust bearing. The controller adopts a singlechip, a DSP processor or an industrial control computer.
While the foregoing disclosure shows that certain features of the invention are described in what is presently considered to be the most practical and preferred embodiments, it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the spirit and scope of the invention as defined by the appended claims; therefore, the protection scope of the present invention is not limited to the technical contents disclosed in the embodiments, and all equivalent changes made according to the structure and the principle of the present invention belong to the protection scope of the present invention.
Claims (7)
1. A dynamic servo force driving system is characterized in that the dynamic servo force driving system comprises a mechanical body, a force sensor, an A/D converter, a controller and a servo driver; the mechanical body comprises a support, a servo motor driving assembly, a bearing assembly, a ball screw assembly, a compression spring assembly, a guide rail assembly and a loading head assembly; the servo motor driving assembly comprises a servo motor (2), a guide plate (23), a synchronous belt (5) and a secondary synchronous pulley (6), the bearing assembly comprises a bearing end cover (7), a bearing sleeve (8), a bearing seat (9) and a bearing group (10), the ball screw assembly comprises a screw rod (11) and a screw rod nut (12), the compression spring assembly comprises a compression spring (17), a guide rod (18), an annular front loading disc (19) and an annular rear loading disc (22), the guide rail assembly comprises a movable guide rail bar (15) and a static guide rail bar (16), the loading head assembly comprises a transition sleeve (20), a force sensor (21) and a loading head (24), the bearing group (10) comprises three groups of angular contact thrust ball bearings, and the connection relation is that a motor mounting plate is arranged at one end of the support (1), the bottom surface of the support is a plane, three rectangular grooves for fixing the static guide rail bar (16) are uniformly distributed on the circumference of The central axis of the columnar cylinder of the support is parallel to the bottom surface of the support; the ball screw (11) is arranged on the central axis of the support; a guide plate (23) and a guide groove are arranged on the motor mounting plate, the guide plate (23) is in clearance fit with the guide groove on the support (1), and the servo motor (2) is fixedly connected to the guide plate (23) on the motor mounting plate; a central hole is formed in the central axis of the annular rear loading disc (22), a plurality of through holes are uniformly formed in the rear loading disc (22) along the circumference of the central axis, and three rectangular grooves are uniformly formed in the outer circumferential surface; a central hole is arranged on the central axis of the annular front loading disc (19), and a through hole corresponding to the position of the rear loading disc (22) is arranged on the circumference of the front loading disc (19) along the central axis; a primary synchronous pulley on the shaft of the servo motor (2) drives a secondary synchronous pulley (6) through a synchronous belt (5); the secondary synchronous pulley (6) is connected with the ball screw (11) through a key; the inner ring of the bearing group (10) is in transition fit with the shaft end of the ball screw (11); the outer ring of the bearing group 10 is in clearance fit with the inner hole of the bearing sleeve (8); the excircle of the bearing sleeve (8) is in clearance fit with the bearing seat (9) and is connected with the bearing seat (9) through a screw; the bearing seat (9) is matched with the inner circular surface of the support (1) and is connected with the support (1) through a screw; the bearing end cover (7) is tightly pressed on an inner ring of the bearing group (10) and is connected with the bearing sleeve (8) through a screw; the outer cylindrical surface of a screw nut (12) on the ball screw (11) is in clearance fit with the central hole of the rear loading disc (22); three movable guide rail bars (15) are correspondingly arranged on three uniformly arranged rectangular grooves on the outer circumference of the rear loading disc (22); the static guide rail bar (16) is embedded into a rectangular groove of the rear loading disc (22), and balls (14) are arranged between the movable guide rail bar (15) and the static guide rail bar (16); the lead screw nut (12) is connected with a rear loading disc (22) in the compression spring assembly through a screw; the rear loading disc (22) is connected with the front loading disc (19) through a guide rod (18); a spring (17) is arranged on the periphery of the guide rod (18); the front loading disc (19) is connected with one end of a transition sleeve (20) arranged on the periphery of the ball screw (11); the other end of the transition sleeve (20) is connected with one end of a force sensor (21); the other end of the force sensor (21) is connected with a loading head (24); the support (1), the ball screw (11), the front loading disc (19), the rear loading disc (20) and the guide rod (18) are coaxially arranged; the controller (25) receives a force signal of the force sensor (21) through A/D conversion, and the force signal is calculated inside the controller (25) through the deviation from the set force to obtain a control signal; the control signal is amplified by the servo driver and then drives the servo motor (2) in the mechanical body to rotate, the servo motor (2) drives the secondary synchronous pulley (6) through the synchronous belt (5), the secondary synchronous pulley (6) drives the ball screw (11) to rotate, further the rear loading disc (22) in the compression spring assembly is driven through the screw nut (12), and relative movement occurs between the front loading disc (19) and the rear loading disc (22) to compress the spring (17) to generate loading force.
2. A dynamic servo force actuation system as claimed in claim 1, wherein one end of the guide rod (18) is fixedly connected to the through hole of the front loading plate (19) through an internal thread, penetrates the compression spring (17), and the other end of the guide rod (18) is in clearance fit with circumferentially spaced holes of the rear loading plate (22), and is pressed against the rear loading plate (22) by means of a nut (13).
3. A dynamic servo force actuation system as claimed in claim 1, wherein said bearing set is replaced with a bearing set comprising a radial bearing and a thrust bearing.
4. A dynamic servo force actuation system according to claim 1, wherein the compression spring assembly and the support (1) form a kinematic pair by means of a guide rail assembly, the kinematic pair being a rolling kinematic pair or a sliding kinematic pair.
5. A dynamic servo force drive system according to claim 1, wherein the servo motor drive assembly and the ball screw (11) are driven by a synchronous belt drive or a coupling.
6. A dynamic servo force actuation system according to claim 1, wherein the ball screw (11) is replaced by a trapezoidal screw.
7. A dynamic servo force driving system according to claim 1, wherein the control algorithm of the dynamic servo force driving system is an adaptive sliding mode control algorithm with a disturbance observer.
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| CN201410116642.8A CN103837339B (en) | 2014-03-26 | 2014-03-26 | A kind of dynamic servo power-driven system |
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| CN104713787B (en) * | 2015-03-27 | 2017-08-25 | 秦皇岛华林精密轴承技术有限责任公司 | Two-way double acting integrated loader |
| CN104792625A (en) * | 2015-05-06 | 2015-07-22 | 大连民族学院 | Digital control precision loading mechanism |
| CN105300674A (en) * | 2015-10-10 | 2016-02-03 | 中国工程物理研究院机械制造工艺研究所 | Full-closed-ring high-precision dynamic simulation loading device for rotating shaft |
| CN105547872B (en) * | 2015-12-03 | 2021-03-26 | 中国航空综合技术研究所 | Overlap joint line flexibility test device |
| CN105258969A (en) * | 2015-12-10 | 2016-01-20 | 中国工程物理研究院总体工程研究所 | Concentrated force loading test system in acceleration field |
| CN105415744B (en) * | 2015-12-25 | 2017-06-09 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of high-resolution power output device |
| CN108760292B (en) * | 2018-05-24 | 2023-09-01 | 山东理工大学 | High-frequency variable auxiliary pulsation cyclic load loading device |
| CN111121702A (en) * | 2019-12-10 | 2020-05-08 | 人本集团有限公司 | Bearing angular play detection device |
| CN112161803B (en) * | 2020-09-16 | 2022-09-13 | 上海市轴承技术研究所 | Rolling bearing life-span energy consumption testing machine under combined load |
| CN113092110A (en) * | 2021-04-14 | 2021-07-09 | 人本股份有限公司 | Bidirectional loading mechanism with buffer |
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| KR20050115469A (en) * | 2004-06-03 | 2005-12-08 | 현대자동차주식회사 | Testing apparatus for cylinder head |
| CN102778347A (en) * | 2012-07-09 | 2012-11-14 | 北京航空航天大学 | Mechanical loading device for main shaft or servo shaft of digital control system |
| CN102866006A (en) * | 2012-09-19 | 2013-01-09 | 西安交通大学 | Strong-generality comprehensive experiment table for testing dynamic and static properties of spindle system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004184267A (en) * | 2002-12-04 | 2004-07-02 | Isuzu Motors Ltd | Testing apparatus of power transmission mechanism |
| CN103343761B (en) * | 2013-07-19 | 2015-09-02 | 南京工业大学 | Hydraulic loading device |
| CN203385548U (en) * | 2013-08-14 | 2014-01-08 | 北京市佛力***公司 | Damping device performance testing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050115469A (en) * | 2004-06-03 | 2005-12-08 | 현대자동차주식회사 | Testing apparatus for cylinder head |
| CN102778347A (en) * | 2012-07-09 | 2012-11-14 | 北京航空航天大学 | Mechanical loading device for main shaft or servo shaft of digital control system |
| CN102866006A (en) * | 2012-09-19 | 2013-01-09 | 西安交通大学 | Strong-generality comprehensive experiment table for testing dynamic and static properties of spindle system |
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