CN104006982A - Servo feeding mechanism performance testing device and testing method - Google Patents
Servo feeding mechanism performance testing device and testing method Download PDFInfo
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- CN104006982A CN104006982A CN201410244810.1A CN201410244810A CN104006982A CN 104006982 A CN104006982 A CN 104006982A CN 201410244810 A CN201410244810 A CN 201410244810A CN 104006982 A CN104006982 A CN 104006982A
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Abstract
The invention discloses a servo feeding mechanism performance testing device which comprises a bench body. Guide rails are arranged on the two sides of the bench body, a work bench to be tested and a force exerting work bench are arranged on the guide rails, a hydraulic cylinder is fixedly connected to the force exerting work bench, the force exerting work bench is movably connected with the work bench to be tested, and grating rulers are arranged on the outer sides of the guide rails. A force exerting servo driving unit comprises an I servo motor, an I lead screw and an I nut arranged on the I lead screw in a penetrating mode, wherein the I lead screw is connected with the I servo motor through an I coupler, and the I nut is connected with the force exerting work bench. A servo driving unit to be tested comprises an II motor, an II lead screw and an II nut arranged on the II lead screw in a penetrating mode, wherein the II lead screw is connected with the II servo motor through two connected II couplers, and the II nut is connected with the work bench to be tested. The servo feeding mechanism performance testing device further comprises a control system. The control system comprises an electric cabinet. The I servo motor is connected with the II servo motor through a circuit and the electric cabinet, and a numerical control system is connected to the electric cabinet. The invention further discloses a testing method by using the testing device. The testing device and the testing method can test a plurality of kinds of performance of a servo feeding mechanism.
Description
Technical field
The present invention relates to numerically-controlled machine servo feed mechanism field tests, be specially a kind of servo feed mechanism performance testing device and method of testing.
Background technology
Numerically-controlled machine product is all the servo feed mechanism that screw-nut drives, slide block guide rail drives adopting substantially at present, and servo feed mechanism performance quality directly affects the overall performance of lathe, therefore understand and to grasp each factor that affects servo feed mechanism performance most important to design and analysis servo feed mechanism.The physical dimension of the servo feed mechanism of various different size machine adopted is not quite similar, but working mechanism is similar, drive worktable to move along guide rail as leading screw drives screw, therefore studying a kind of test unit that can meet numerically-controlled machine assembling appointment servo feed mechanism performance test demand is the problem that those skilled in the art need solution badly.
Summary of the invention
In order to solve problems of the prior art, the invention provides a kind of servo feed mechanism performance testing device, this test unit can carry out the test of servo feed mechanism multinomial performance.
The technical solution adopted in the present invention is:
A kind of servo feed mechanism performance testing device, comprises
Stage body, stage body both sides are provided with guide rail, guide rail is provided with tested worktable and application of force worktable, affixed application of force hydraulic cylinder on application of force worktable, application of force hydraulic cylinder is connected with contiguous block, floating junction and Connection Block successively, and Connection Block is flexibly connected with tested worktable, and Hydraulic Station is connected with hydraulic cylinder by pipeline, the outside of guide rail is provided with grating scale, and grating scale is fixed on stage body;
Application of force servo drive unit is installed on stage body, has servomotor I, and the leading screw I being connected with servomotor I by shaft coupling I is through the screw I in leading screw I, and screw I is connected with application of force worktable;
Tested servo drive unit is installed on stage body, has servomotor II, and the leading screw II being connected with servomotor II by two connected shaft coupling II is through the screw II in leading screw II, and screw II is connected with tested worktable;
Control system, has regulator cubicle, and servomotor I is connected with regulator cubicle by circuit with servomotor II, is connected with digital control system on regulator cubicle.
Above-mentioned servo feed mechanism performance testing device, described guide rail is provided with slide block, and tested worktable and application of force worktable are arranged on slide block; Grating scale is arranged on stage body by grating rod support; Application of force servo drive unit is installed on stage body by bearing I, leading screw I supports and is fixed on stage body by bearing spider I and bearing spider II through its two ends of bearing I, tested servo drive unit is installed on stage body by bearing II, and leading screw II is supported and is fixed on stage body by bearing spider III and bearing spider IV through its two ends of bearing II.
Above-mentioned servo feed mechanism performance testing device, also comprises test macro, and described test macro comprises torque sensor and test cabinet, and torque sensor is arranged on the junction of two phase even coupling II, and is connected with test cabinet by circuit.
Above-mentioned servo feed mechanism performance testing device, described test macro also comprises several magnetic-type temperature sensors, be arranged on respectively the both sides of screw II, bearing spider IV and tested worktable, several magnetic-type temperature sensors are connected with test cabinet by circuit respectively.
Above-mentioned servo feed mechanism performance testing device, described test macro also comprises several infrared temperature sensors, be distributed on a side of leading screw II and be fixed on stage body by fixed support, described several infrared temperature sensors are connected with test cabinet by circuit.
Above-mentioned servo feed mechanism performance testing device, described test macro also comprises pressure transducer, is arranged between floating junction and Connection Block, and is connected with test cabinet by circuit.
Above-mentioned servo feed mechanism performance testing device, described test macro also comprises laser displacement sensor, is arranged on the axle head of leading screw II, is fixed on stage body, and is connected with test cabinet by circuit.
Above-mentioned servo feed mechanism performance testing device, described test cabinet is connected with control Computer IP C by circuit.
Above-mentioned servo feed mechanism performance testing device, described stage body supports on the ground by foot bolt, and described guide rail is bolted on stage body, and the end of described guide rail is provided with collision block, and collision block is fixed on stage body by collision block seat.
The present invention also provides a kind of profit method that above-mentioned servo feed mechanism performance testing device is tested, be specially, while detecting the each parameter of tested worktable in unable situation, digital control system control regulator cubicle starts servomotor II, thereby servomotor II drives the motion of leading screw II to drive tested working table movement by screw II by shaft coupling II; Torque sensor detection servomotor II passes to the torque value of leading screw II; Magnetic-type temperature sensor detects the temperature value of bearing spider IV, tested worktable and screw II; Infrared sensor detects the Temperature Distribution of leading screw II; Laser displacement sensor detects the thermal elongation amount of leading screw II; While detecting the each parameter of tested worktable under stressing conditions, Connection Block is connected with tested worktable, digital control system control regulator cubicle starts servomotor I, thereby servomotor I drives the motion of leading screw I by screw I control application of force working table movement by shaft coupling I; Pressure transducer detection application of force worktable acts on the force value of tested worktable, and torque sensor detection servomotor II passes to the torque value of leading screw II; Magnetic-type temperature sensor detects the temperature value of bearing spider IV, tested worktable and screw II; Infrared sensor detects the Temperature Distribution of leading screw II; Laser displacement sensor detects the thermal elongation amount of leading screw II.
Servo feed mechanism performance testing device of the present invention has following beneficial effect:
1, servo feed mechanism performance testing device of the present invention is simple in structure, can be effectively to be driven screw to drive worktable to carry out performance test along the servo feed mechanism of guide rail operation by leading screw, thereby grasp the various factors that affects servo feed mechanism performance, for design and analysis servo feed mechanism provides theoretical foundation.
2, in the both sides of screw II, bearing spider II and tested worktable, magnetic-type temperature sensor is set respectively, the temperature rise of the servo feed mechanism that the temperature value that main test screw II, bearing spider II and tested worktable produce due to motion and variation of ambient temperature cause changes, the impact of the variation that the data of feeding back by temperature sensor are conducive to analyze moving hot source point and environment temperature on the hot error of servo feed mechanism.
3, at the uniform infrared temperature sensor that arranges of a side of leading screw II, temperature that can the each position of Validity Test leading screw II, detect Temperature Distribution and temperature changing regularity thereof that leading screw II produces due to motion, for the hot error of test servo feed mechanism provides real temperature data.
4, between floating junction and Connection Block, pressure transducer is set, can tests the quiet rigidity of tested worktable, find rigidity weak link in servo feed system by measuring pressure data analysis, reduce the impact of servo feed system rigidity on positioning precision.
5, at leading screw axle head to be tested, the leading screw endface position variation that laser displacement sensor collection is generated heat because tested servo drive unit turns round and variation of ambient temperature causes leading screw thermal deformation to produce is set, in servo control mechanism operational process, carry out the real-time measurement of servo feed mechanism Axial Thermal distortion inaccuracy, obtain data by analytical test and provide foundation for studying servo feed mechanism thermal deformation.
6, under stage body, foot bolt is set, plays the effect of stage body being carried out to leveling, be bolted guide rail, can by guide rail-fixing be fixed on stage body, in the end of guide rail, collision block is set, the movement of worktable is played to spacing effect.
Brief description of the drawings
Fig. 1 is servo feed mechanism performance testing device side structure schematic diagram of the present invention.
Fig. 2 is servo feed mechanism performance testing device plan structure schematic diagram of the present invention.
Fig. 3 is the plan structure schematic diagram that servo feed mechanism performance testing device of the present invention removes application of force worktable and tested worktable.
Fig. 4 is the general illustration of servo feed mechanism performance testing device of the present invention.
Wherein, 1-foot bolt, 2-drag chain support I, 3-stage body, 4--shaft coupling I, 5-magnetic-type temperature sensor, the tested worktable of 6-, 7-drag chain I, 8-grating rod support II, 9-drag chain II, 10-drag chain support II, 11-guide rail, 12-support, 13-bearing II, the tested servo drive unit of 14-, 15-collision block seat, 16-collision block, 17-grating scale I, 18-grating rod support I, 19-floating junction, 20-pressure transducer, 21-contiguous block, 22-application of force hydraulic cylinder, 23-application of force servo drive unit, 24-bearing I, 25-grating scale II, 26-application of force worktable, 27-web joint, 28-Connection Block, 29-web joint, 30-infrared temperature sensor, 31-torque sensor, 32-laser displacement sensor, 33-Hydraulic Station, 34-digital control system, 35-regulator cubicle, 36-tests cabinet, 37-controls Computer IP C, 38-laser interferometer, 39-dynamic test set, 40-is equipped with the notebook computer of IBN_TOOL software, 41-clock gauge, 42-servomotor II, 43-shaft coupling II, 44-bearing spider III, 45-leading screw II, 46-screw II, 47-bearing spider I, 48-leading screw I, 49-bearing spider IV, 50-screw I, 51-bearing spider II, 52-servomotor I.
Embodiment
1 one kinds of servo feed mechanism performance testing devices of embodiment
As Figure 1-4, a kind of servo feed mechanism performance testing device, comprise stage body 3, the both sides of stage body 3 are provided with guide rail 11, guide rail 11 is provided with tested worktable 6 and application of force worktable 26, affixed application of force hydraulic cylinder 22 on application of force worktable 26, application of force hydraulic cylinder 22 successively with contiguous block 21, floating junction 19 is connected with Connection Block 28, Connection Block 28 and tested detachable connection of worktable 6, Hydraulic Station 33 is connected with hydraulic cylinder 22 by pipeline, the outside of guide rail 11 is respectively equipped with grating scale I 17 and grating scale II 25, grating scale I 17 and grating scale II 25 are fixed on stage body 3, preferably, guide rail 11 is provided with slide block, and tested worktable 6 is arranged on slide block with application of force worktable 26, grating scale I 17 and grating scale II 25 are arranged on stage body 3 by grating rod support I 18 and grating rod support II 8 respectively.The side of stage body 3 is provided with the drag chain I 7 being supported by drag chain support I 2 and the drag chain II 9 being supported by drag chain support II 10, drag chain I 7 and drag chain II 9 are fixed on stage body 3 by web joint I 29 and web joint II 27 respectively, the circuit of test unit is arranged on 9 li of drag chain I 7 and drag chain II, facilitates the motion of tested worktable 6 and application of force worktable 26.Preferably, stage body 3 supports on the ground by foot bolt 1, and guide rail 11 is bolted on stage body 3, and the end of guide rail 11 is provided with collision block 16, and collision block 16 is fixed on stage body 3 by collision block seat 15.
Application of force servo drive unit 23 is installed on stage body 3, has servomotor I 52, and the leading screw I 48 being connected with servomotor I 52 by shaft coupling I 4 is through the screw I 50 in leading screw I 48, and screw I 50 is connected with application of force worktable 26; Preferably, application of force servo drive unit 23 is installed on stage body 3 by bearing I 24, and leading screw I 48 is through bearing I, and the two ends of leading screw I 48 are supported and are fixed on stage body 3 by bearing spider I 47 and bearing spider II 51.
Tested servo drive unit 14 is installed on stage body 3, has servomotor II 42, and the leading screw II 45 being connected with servomotor II 42 by two connected shaft coupling II 43 is through the screw II 46 in leading screw II 45, and screw II 46 is connected 6 with tested worktable; Tested servo drive unit 14 is installed on stage body 3 by bearing II 13, and leading screw II 45 is through bearing II 13, and the two ends of leading screw II 45 are supported and are fixed on stage body 3 by bearing spider III 44 and bearing spider IV 49.
Control system, has regulator cubicle 35, and servomotor I 52 is connected with regulator cubicle 35 by circuit with servomotor II 42, is connected with digital control system 34 on regulator cubicle 35.
Test macro, comprises torque sensor 31 and test cabinet 36, and torque sensor 31 is arranged on the junction of two phase even coupling II 43, and is connected with test cabinet 36 by circuit.Preferably, test macro also comprises four magnetic-type temperature sensors 5, a magnetic-type temperature sensor 5 is attached in screw II 46, a magnetic-type temperature sensor 5 is attached in bearing spider II 49, another two magnetic-type temperature sensors 5 are separately positioned on the both sides of tested worktable 6, and 4 magnetic-type temperature sensors are connected with test cabinet 36 by circuit.More preferably, test macro also comprises 5 infrared temperature sensors 30, is distributed on a side of leading screw II 45 and is fixed on stage body 3 by fixed support 12, and described 5 infrared temperature sensors 30 are connected with test cabinet 36 by circuit.Preferably, test macro also comprises pressure transducer 20, is arranged between floating junction 19 and contiguous block 21, and is connected with test cabinet 36 by circuit.Preferably, test macro also comprises laser displacement sensor 32, and the opposite side of leading screw II 45 is set, and is fixed on stage body 3, and is connected with test cabinet 36 by circuit.Test cabinet 36 is connected with control Computer IP C37 by circuit.
Preferably, servo feed mechanism performance testing device of the present invention, also can comprise laser interferometer 38, and dynamic test set 39 is equipped with the notebook computer 40 of IBN_TOOL software, clock gauge 41, vibration measuring set.
Around servo feed mechanism performance testing device, arrange laser interferometer 38, can position to tested servo feed mechanism the inspection of precision, repetitive positioning accuracy, and coordinate the compensate function of digital control system to carry out backlass, pitch compensation to servo feed mechanism.Arrange vibration measuring set, can carry out dynamic test by whole device, comprise the vibrations modal parameters such as mechanism's natural frequency, damping ratio, Mode Shape, by the vibration shape of modal analysis method research structure main mode in each rank in a certain susceptible frequency range.Can in the control system of servo feed mechanism performance testing device of the present invention, carry out the test of servo feed mechanism frequency response characteristic, comprise that electric current loop, speed ring and position ring carry out frequency response characteristic test.By Bode figure, frequency characteristic is described.
Can on servo feed mechanism performance testing device of the present invention, carry out servo feed mechanism stiffness measurement, improve the Comprehensive pull-pressing rigidity of leading screw feed mechanism (containing the contact stiffness of spring bearing and the contact stiffness of screw pair, the rigidity of bearing seat and nut seat, the tension and compression rigidity of leading screw self) and torsional rigidity on, improve servo feed system rigidity and reduce mechanical drive train inertia, find rigidity weak link in servo feed system by Measurement and analysis, and optimize servo feed system according to experimental result, thereby reduce the impact of servo feed system rigidity on positioning precision.
Can on servo feed mechanism performance testing device of the present invention, carry out the test of high-speed servo feed system acceleration and deceleration characteristic, analyze axis servomotor speed and add (subtracting) speed preset value and actual value curve judge acceleration and deceleration characteristic while carrying out straight reciprocating motion with friction speed, for high-speed servo feed system performance evaluation and optimization provide experimental data support.
Can on servo feed mechanism performance testing device of the present invention, carry out servomotor all-round property testing, the combination properties such as test servomotor static torque (one of motor short-time overload capacity embodies), dynamic torque, rotary torque, for servo feed system servomotor type selecting and servocontrol optimization provide experimental data to support.
Can on servo feed mechanism performance testing device of the present invention, carry out servomotor parameter and machine driven system Inertia Matching relation test, research servomotor parameter and machine driven system Inertia Matching relation, drive motor type selecting when using acceleration and deceleration characteristic under frequency response characteristic and the maximum speed of feed of IBN_TOOL software test under different loads inertia result optimizing servo feed system designing by experiment.
Therefore by servo feed mechanism performance testing device of the present invention, can carry out the real-time measurement of multi-point temp, the measurement of thermal deformation errors to servo feed mechanism, about the test of backlass, positioning precision, repetitive positioning accuracy, dynamic perfromance, frequency response characteristic, and measurement to servo feed mechanism rigidity, to the test of high-speed servo feed system acceleration and deceleration characteristic, and the test of the combination property such as parameter and machine driven system Inertia Matching relation to servomotor.
The method that the above-mentioned servo feed mechanism performance testing device of 2 one kinds of profits of embodiment is tested.
Be specially, while detecting the each parameter of tested worktable 6 in unable situation, digital control system 34 is controlled regulator cubicle 35 and is started servomotor II 42, drives tested worktable 6 to move thereby servomotor II 42 drives leading screw II 45 to move by shaft coupling II 43 by screw II 46; Torque sensor 31 detects servomotor II 42 and passes to the torque value of leading screw II 45; Magnetic-type temperature sensor 5 detects the temperature value of bearing spider IV 49, tested worktable 6 and screw II 46; Infrared sensor 30 detects the Temperature Distribution of leading screw II 45; Laser displacement sensor 32 detects the thermal elongation amount of the leading screw II 45 that servo control mechanism causes due to temperature variation at the volley; Torque sensor 31, magnetic-type temperature sensor 5, infrared sensor 30 and laser displacement sensor 32, pass to test cabinet 36 by signal, and test cabinet 36 is given signal feedback to control in Computer IP C37 again, shows and analyzes.
While detecting the each parameter of tested worktable under stressing conditions, digital control system 34 is controlled regulator cubicle 35 and is started servomotor I 52, moves thereby servomotor I 52 drives leading screw I 48 to move to control application of force worktable 26 by screw I 50 by shaft coupling I 4; Digital control system 34 is controlled regulator cubicle 35 and is started servomotor II 42, drives tested worktable 6 to move thereby servomotor II 42 drives leading screw II 45 to move by shaft coupling II 43 by screw II 46; Torque sensor 31 detects servomotor II 42 and passes to the torque value of leading screw II 45; Magnetic-type temperature sensor 5 detects the temperature value of bearing spider IV 49, tested worktable 6 and screw II 46; Infrared sensor 30 detects the Temperature Distribution of leading screw II 45; Laser displacement sensor 32 detects the thermal elongation amount of the leading screw II 45 that servo control mechanism causes due to temperature variation at the volley; Pressure transducer 20 detects application of force worktable 26 and acts on the force value of tested worktable 6 in the rigidity of servo feed mechanism detects.Torque sensor 31, magnetic-type temperature sensor 5, infrared sensor 30, laser displacement sensor 32 and pressure transducer 20, pass to test cabinet 36 by signal, and test cabinet 36 is given signal feedback to control in Computer IP C37 again, shows and analyzes.
Above embodiment is only exemplary embodiment of the present invention, is not used in restriction the present invention, and protection scope of the present invention is defined by the claims.Those skilled in the art in essence of the present invention and protection domain, various amendments that the present invention is made or be equal to replacement and also drop in protection scope of the present invention.
Claims (10)
1. a servo feed mechanism performance testing device, is characterized in that, comprises
Stage body, stage body both sides are provided with guide rail, guide rail is provided with tested worktable and application of force worktable, affixed application of force hydraulic cylinder on application of force worktable, application of force hydraulic cylinder is connected with contiguous block, floating junction and Connection Block successively, and Connection Block is flexibly connected with tested worktable, and Hydraulic Station is connected with hydraulic cylinder by pipeline, the outside of guide rail is provided with grating scale, and grating scale is fixed on stage body;
Application of force servo drive unit is installed on stage body, has servomotor I, and the leading screw I being connected with servomotor I by shaft coupling I is through the screw I in leading screw I, and screw I is connected with application of force worktable;
Tested servo drive unit is installed on stage body, has servomotor II, and the leading screw II being connected with servomotor II by two connected shaft coupling II is through the screw II in leading screw II, and screw II is connected with tested worktable;
Control system, has regulator cubicle, and servomotor I is connected with regulator cubicle by circuit with servomotor II, is connected with digital control system on regulator cubicle.
2. servo feed mechanism performance testing device according to claim 1, is characterized in that, described guide rail is provided with slide block, and tested worktable and application of force worktable are arranged on slide block; Grating scale is arranged on stage body by grating rod support; Application of force servo drive unit is installed on stage body by bearing I, leading screw I supports and is fixed on stage body by bearing spider I and bearing spider II through its two ends of bearing I, tested servo drive unit is installed on stage body by bearing II, and leading screw II is supported and is fixed on stage body by bearing spider III and bearing spider IV through its two ends of bearing II.
3. servo feed mechanism performance testing device according to claim 2, it is characterized in that, also comprise test macro, described test macro comprises torque sensor and test cabinet, torque sensor is arranged on the junction of two phase even coupling II, and is connected with test cabinet by circuit.
4. servo feed mechanism performance testing device according to claim 3, it is characterized in that, described test macro also comprises several magnetic-type temperature sensors, be arranged on respectively the both sides of screw II, bearing spider IV and tested worktable, several magnetic-type temperature sensors are connected with test cabinet by circuit respectively.
5. servo feed mechanism performance testing device according to claim 3, it is characterized in that, described test macro also comprises several infrared temperature sensors, be distributed on a side of leading screw II and be fixed on stage body by fixed support, described several infrared temperature sensors are connected with test cabinet by circuit.
6. servo feed mechanism performance testing device according to claim 3, is characterized in that, described test macro also comprises pressure transducer, is arranged between floating junction and Connection Block, and is connected with test cabinet by circuit.
7. servo feed mechanism performance testing device according to claim 3, is characterized in that, described test macro also comprises laser displacement sensor, is arranged on the axle head of leading screw II, is fixed on stage body, and is connected with test cabinet by circuit.
8. according to the servo feed mechanism performance testing device one of claim 3-7 Suo Shu, it is characterized in that, described test cabinet is connected with control Computer IP C by circuit.
9. servo feed mechanism performance testing device according to claim 1, it is characterized in that, described stage body supports on the ground by foot bolt, and described guide rail is bolted on stage body, the end of described guide rail is provided with collision block, and collision block is fixed on stage body by collision block seat.
10. a method of utilizing servo feed mechanism performance testing device to test, it is characterized in that, while detecting the each parameter of tested worktable in unable situation, digital control system control regulator cubicle starts servomotor II, thereby servomotor II drives the motion of leading screw II to drive tested working table movement by screw II by shaft coupling II; Torque sensor detection servomotor II passes to the torque value of leading screw II; Magnetic-type temperature sensor detects the temperature value of bearing spider IV, tested worktable and screw II; Infrared sensor detects the Temperature Distribution of leading screw II; Laser displacement sensor detects the thermal elongation amount of leading screw II; While detecting the each parameter of tested worktable under stressing conditions, Connection Block is connected with tested worktable, digital control system control regulator cubicle starts servomotor I, thereby servomotor I drives the motion of leading screw I by screw I control application of force working table movement by shaft coupling I; Pressure transducer detection application of force worktable acts on the force value of tested worktable, and torque sensor detection servomotor II passes to the torque value of leading screw II; Magnetic-type temperature sensor detects the temperature value of bearing spider IV, tested worktable and screw II; Infrared sensor detects the Temperature Distribution of leading screw II; Laser displacement sensor detects the thermal elongation amount of leading screw II.
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| CN107449363A (en) * | 2017-09-01 | 2017-12-08 | 广东技术师范学院 | A kind of high accuracy, multi-functional leading screw measuring machine |
| CN110568836A (en) * | 2019-08-14 | 2019-12-13 | 上海航天控制技术研究所 | dynamic performance debugging method and system suitable for servo system |
| CN111069924A (en) * | 2020-01-09 | 2020-04-28 | 汇高智控(北京)科技有限公司 | Fixed inclined workbench machining center |
| CN113467367A (en) * | 2021-07-12 | 2021-10-01 | 华中科技大学 | Rigidity damping identification method for machine tool feeding system |
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Application publication date: 20140827 |
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