CN100587432C - Method for testing apparatus inner wire disturbance force moment - Google Patents
Method for testing apparatus inner wire disturbance force moment Download PDFInfo
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- CN100587432C CN100587432C CN200810106346A CN200810106346A CN100587432C CN 100587432 C CN100587432 C CN 100587432C CN 200810106346 A CN200810106346 A CN 200810106346A CN 200810106346 A CN200810106346 A CN 200810106346A CN 100587432 C CN100587432 C CN 100587432C
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Abstract
The present invention discloses a routing disturbance moment testing system in device and testing method. In the testing system, the base platform is placed with a stepper motor, a torque sensor and atested device; the output shaft of the stepper motor is connected with one end of rotating shaft of the torque sensor through a coupler; the other end of the rotating shaft of the torque sensor is connected with the fixing shaft on the tested device through the coupler; the driver of the stepper motor and the torque sensor are connected with a computer. The testing method is that: placing the tested device without routing on the bracket of the device, adjusting the shaft height of the apparatus, connecting the tested device, rotating the motor, sampling the instant torque valve, calculating the average torque valve, similarly, sampling the instant torque valve of all the tested devices installed with routing, calculating the average torque valve; subtracting two tested average torque valves to obtain the disturbance moment. The testing system in the present invention has simple structure, high assembling precision and exact testing result. The testing method in the present invention is able to exactly obtain the routing disturbance moment valve in inside routing device under different angles.
Description
Technical field
The present invention relates to a kind of disturbance torque method of testing, specifically, relate to a kind of method that the disturbance torque of the lead (being cabling) in installing is tested.
Background technology
Under a lot of occasions of motion control field, device inside all needs cabling, and the inner cabling of device can cause inner lead to produce disturbance torque to installing itself, and the disturbance torque that produces can bring influence to the motion control of device.
At present, for the test calibration of lead disturbance torque, most way is to adopt the estimation mode to draw by means of the traditional detection instrument, does not also have the equipment of specialty or instrument to come the lead disturbance torque is tested and made accurate demarcation.And, though the precision of detecting instrument, function and performance were along with the development of microelectric technique and large scale integrated circuit technology is constantly improving in recent years, but, under the more complicated occasion of test parameter, its limitation is very obvious, for example, traditional detecting instrument exists that instrument is spread the work, cost height, difficult in maintenance, shortcoming such as resource distribution is insufficient.This shows, design quick, accurate, that precision is high apparatus inner wire disturbance force moment test macro and method of testing, have crucial meaning solving accurately demarcation problem of lead disturbance torque.
Summary of the invention
The object of the present invention is to provide a kind of apparatus inner wire disturbance force moment method of testing, test macro only needs a tester to test according to this method of testing, just can get the disturbance torque of auto levelizer inside conductor on different turned positions fast, time saving and energy saving, and the measuring accuracy height.
In order to achieve the above object, the present invention has adopted following technical scheme:
A kind of apparatus inner wire disturbance force moment method of testing, it is characterized in that: it comprises the steps:
Step 1: do not install set firmly stationary shaft on the tested device of cabling after, this tested device is placed on the appliance stand;
Step 2: adjust electric machine support and adjust pad and sensor stand adjustment pad, make that stepper motor, torque sensor and tested device three's axle is contour, link to each other with the turning axle of torque sensor by the stationary shaft of shaft coupling with tested device;
Step 3: computer-controlled stepper motor drives tested device rotation multi-turn with set angle, the torque sensor instantaneous torque value under the different angles in every circle of sampling, and virtual instrument software calculates the mean value of torque under the different angles;
Step 4: after in tested device, whole cablings being installed, this tested device is placed on the appliance stand;
Step 5: adjust electric machine support and adjust pad and sensor stand adjustment pad, make that stepper motor, torque sensor and tested device three's axle is contour, link to each other with the turning axle of torque sensor by the stationary shaft of shaft coupling with tested device;
Step 6: computer-controlled stepper motor drives tested device rotation multi-turn with set angle, the torque sensor instantaneous torque value under the different angles in every circle of sampling, and virtual instrument software calculates the mean value of torque under the different angles;
Step 7: the mean value of torque that mean value of torque that step 6 is recorded and step 3 record is subtracted each other, obtain inner lead under different angles to disturbance torque that tested device produced.
Advantage of the present invention is:
By method of testing of the present invention inner routing device is tested, can accurately obtain the wire disturbance force moment value of inner routing device under the different angles, thereby provide an important reference frame for the motion control precision that improves inner routing device and the improvement of cabling mode.
Description of drawings
Fig. 1 is the composition synoptic diagram of apparatus of the present invention inner wire disturbance force moment test macro;
Fig. 2 is the structural representation that electric machine support is adjusted pad;
Fig. 3 is the B-B cut-open view of Fig. 2;
Fig. 4 is the process flow diagram of apparatus of the present invention inner wire disturbance force moment method of testing.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
As shown in Figure 1, apparatus of the present invention inner wire disturbance force moment test macro comprises stepper motor 1, torque sensor 3, base platform 10 and computing machine 13.Place this stepper motor 1, torque sensor 3 and tested device 5 on this base platform 10, the output shaft of this stepper motor 1 links to each other with an end of these torque sensor 3 turning axles by shaft coupling 2, the other end of these torque sensor 3 turning axles links to each other by the stationary shaft of installing on shaft coupling 4 and the tested device 56, and the driver of this stepper motor 1 all links to each other with computing machine 13 with torque sensor 3.The terminals of the PCI capture card (PCI-6601 capture card) of pegging graft in the input end of stepper motor 1 driver and the PCI slot of computing machine 13 link to each other, and the terminals of the AD data collecting card of pegging graft in the PCI slot of the output terminal of torque sensor 3 and computing machine 13 link to each other.
Stepper motor 1 is supported by electric machine support 7, and torque sensor 3 is supported by sensor stand 8, and tested device 5 is supported by appliance stand 9.Electric machine support 7 and sensor stand 8 play a supportive role, and appliance stand 9 not only is used to support tested device 5, also are used to make tested device 5 to rotate on this appliance stand 9.Certainly, if the tested part itself on the tested device 5 is rotatable, so only need the stiff end of tested device 5 is installed on the appliance stand 9, the rotation end of tested device 5 (tested part) installs and fixes axle 6, stationary shaft 6 just can drive the rotation end rotation of tested device 5 under the drive of stepper motor 1 like this.7 times folded multi-disc electric machine supports that are provided with of electric machine support are adjusted pad 11, and 8 times folded multi-disc sensor stands that are provided with of sensor stand are adjusted pad 12.This electric machine support adjusts pad 11 and sensor stand adjustment pad 12 is wedge structure.Fig. 2 and Fig. 3 show the structure that electric machine support is adjusted pad 11, the cross section that this electric machine support is adjusted pad 11 is a wedge shape, about 3 ° of wedge shape apex angle, the core of pad is provided with a hole 111, the fixed part of fixed electrical machinery support 7 is arranged in this hole 111, the left-right and front-back that can not influence pad moves like this, and this electric machine support is adjusted the height that pad 11 is used to adjust stepper motor 1.The structure that sensor stand is adjusted pad 12 is identical with the structure of electric machine support adjustment pad 11, and this sensor stand is adjusted the height that pad 12 is used to adjust torque sensor 3.Adjust the coordination adjustment that pad 11 and sensor stand are adjusted 12 on pad by this electric machine support, final objective is to make that stepper motor 1, torque sensor 3 and tested device 5 threes' axle is contour.For example, as Fig. 1, electric machine support 7 and sensor stand are equipped with two taperliners combining for 8 times, change the height of the adjustable finishing equipment of relative position of two taperliners, realize that finally the axle of each equipment is contour.
On base platform 10, be provided with three T type groove (not shown)s, these three T type grooves are in a straight line, these three T type groove places are fixed electrical machinery support 7, sensor stand 8, appliance stand 9 respectively, so that stepper motor 1, torque sensor 3 and tested device 5 threes' axle is in same vertical plane.
As seen, said structure can guarantee that stepper motor 1, torque sensor 3 and tested device 5 threes' axle is on the same horizontal line, thereby satisfies the assembly precision of test needs, promptly satisfies the right alignment requirement that instrument is installed.
In the practical application, base platform 10 can be the cast iron base platform.Adopt the platform of cast iron base platform, separating vibration is had good effect as test usefulness.
In the present invention, the virtual instrument software that is used to test has been installed in the computing machine 13, this virtual instrument software is created based on the LabWindows/CVI development environment of NI company, this software mainly be responsible for Electric Machine Control, data acquisition and storage, data protocol alternately, tasks such as path planning, interface display.
When test macro of the present invention is worked, virtual instrument software rotates according to setting rotating speed, angle by PCI capture card control step motor 1, instantaneous torque value under the tested device 5 sampling different angles of 3 pairs of driven rotary of while torque sensor, torque sensor 3 is transferred to the instantaneous torque value in the computing machine 13 by the AD data collecting card then, by virtual instrument software the instantaneous torque value is converted to torque value, thereby shows and preserve.
Before test macro measurement mechanism inner wire disturbance force moment of the present invention, to assemble and debug test macro earlier.After actual assembled is finished, check whether each equipment satisfies the right alignment requirement, and process is: rotation shaft coupling 2 or 4 one circles, observe the torque sensor numerical value change that shows on the computing machine 13.If the numerical value change rate is less than 0.2% of full scale, then show the satisfied test right alignment requirement of assembling, otherwise, show that then assembling do not satisfy the right alignment requirement, so just, to check respectively shaft coupling 2 and 4, be about to tested device 5 and separate with shaft coupling 4 and check, and stepper motor 1 separated with shaft coupling 2 check, install up to two ends and all reach the right alignment requirement.Adopt finite element software ANSYS WORKBENCH10.0 that the statics Analysis of shaft coupling is shown that under the moment condition of torque sensor 3 full scales, the distortion inaccuracy of shaft coupling is small, can between stepper motor 1 and tested device 5, not introduce measuring error.And, the model analysis of tested device 5 being shown the excited frequency of tested device 5 (stepper motor 1 is exciting source) differs greatly with the natural frequency of base platform 10, can not take place to cause the situation that measuring accuracy descends by resonance effect.Therefore, after satisfying right alignment and requiring, can carry out the disturbance torque test to tested device 5.
As shown in Figure 4, apparatus of the present invention inner wire disturbance force moment method of testing comprises the steps:
Step 1: after setting firmly stationary shaft 6 (stationary shaft 6 will be installed on the central axis of tested device 5) on the tested device 5 that cabling is not installed, this tested device 5 is placed (the T type groove that base platform 10 is provided with self can make stepper motor 1, torque sensor 3 and tested device 5 threes' axle be in same vertical plane) on the appliance stand 9.
Step 2: adjust electric machine support and adjust pad 11 and sensor stand adjustment pad 12, make that stepper motor 1, torque sensor 3 and tested device 5 threes' axle is contour, stepper motor 1, torque sensor 3 and tested device 5 link to each other with the turning axle of torque sensor 3 by the stationary shaft 6 of shaft coupling 4 with tested device 5 after satisfying the right alignment requirement.
Step 3: stepper motor 1 shaft angle degree sensor zero clearing, torque sensor 3 zero clearings, computing machine 13 control step motors 1 drive tested device 5 rotation multi-turns with set angle, instantaneous torque value in the every circle of torque sensor 3 samplings under the different angles, after the instantaneous torque value is transferred to computing machine 13 by the AD data collecting card, calculate mean value of torque under the different angles by virtual instrument software.For example, when reality was tested, the rotating speed that may command stepper motor 1 changes with per minute 4 was 0 ° to 360 ° rotation, and set angle is 1 °, and promptly revolution is 1 °, and torque sensor is once sampled.
Step 4: after in tested device 5, whole cablings being installed, this tested device 5 is placed (the T type groove that base platform 10 is provided with self can make stepper motor 1, torque sensor 3 and tested device 5 threes' axle be in same vertical plane) on the appliance stand 9.
Step 5: adjust electric machine support and adjust pad 11 and sensor stand adjustment pad 12, make that stepper motor 1, torque sensor 3 and tested device 5 threes' axle is contour, stepper motor 1, torque sensor 3 and tested device 5 link to each other with the turning axle of torque sensor 3 by the stationary shaft 6 of shaft coupling 4 with tested device 5 after satisfying the right alignment requirement.
Step 6: stepper motor 1 shaft angle degree sensor zero clearing, torque sensor 3 zero clearings, computing machine 13 control step motors 1 drive tested device 5 rotation multi-turns with set angle, instantaneous torque value in the every circle of torque sensor 3 samplings under the different angles, after the instantaneous torque value is transferred to computing machine 13 by the AD data collecting card, calculate mean value of torque under the different angles by virtual instrument software.For example, when reality was tested, the rotating speed that may command stepper motor 1 changes with per minute 4 was 0 ° to 360 ° rotation, and set angle is 1 °, and promptly revolution is 1 °, and torque sensor is once sampled.
Step 7: the mean value of torque that mean value of torque that step 6 is recorded and step 3 record is subtracted each other, and just obtains the disturbance torque that inner lead is produced tested device 5 under different angles, thereby draw out the disturbance torque curve on computing machine 13.
Advantage of the present invention is:
1, in test macro of the present invention, because can be to stepper motor and torque sensor by adjusting pad The axle height regulate, can be so that stepper motor, torque sensor and quilt by the T-shaped groove on the base platform The axle of surveying the device three is in same vertical plane, so stepper motor, torque sensor and tested device can Satisfy well the requirement of apparatus installation axiality, thereby guaranteed assembly precision, so that test result more Accurately, the assembling of equipment can not introduced test error, and measuring accuracy also can be tested system by the present invention Machine components precision in the system, sensor accuracy guarantee.
2, test system structure of the present invention is simple, the assembly precision height, and only tester of need just can be quick Get the disturbance torque of auto levelizer inside conductor on different turned positions, time saving and energy saving, and the certainty of measurement height. This The invention test macro not only can be tested the static parameter of inner routing device, also can be to its dynamic property Test.
3, by method of testing of the present invention inner routing device is tested, can accurately be obtained different angles The wire disturbance force moment value of lower inner routing device, thereby for improving the motion control precision of inner routing device Provide an important reference frame with the improvement of cabling mode.
Claims (1)
1, a kind of apparatus inner wire disturbance force moment method of testing, it is characterized in that: it comprises the steps:
Step 1: do not install set firmly stationary shaft on the tested device of cabling after, this tested device is placed on the appliance stand;
Step 2: adjust electric machine support and adjust pad and sensor stand adjustment pad, make that stepper motor, torque sensor and tested device three's axle is contour, link to each other with the turning axle of torque sensor by the stationary shaft of shaft coupling with tested device;
Step 3: computer-controlled stepper motor drives tested device rotation multi-turn with set angle, the torque sensor instantaneous torque value under the different angles in every circle of sampling, and virtual instrument software calculates the mean value of torque under the different angles;
Step 4: after in tested device, whole cablings being installed, this tested device is placed on the appliance stand;
Step 5: adjust electric machine support and adjust pad and sensor stand adjustment pad, make that stepper motor, torque sensor and tested device three's axle is contour, link to each other with the turning axle of torque sensor by the stationary shaft of shaft coupling with tested device;
Step 6: computer-controlled stepper motor drives tested device rotation multi-turn with set angle, the torque sensor instantaneous torque value under the different angles in every circle of sampling, and virtual instrument software calculates the mean value of torque under the different angles;
Step 7: the mean value of torque that mean value of torque that step 6 is recorded and step 3 record is subtracted each other, obtain inner lead under different angles to disturbance torque that tested device produced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810106346A CN100587432C (en) | 2008-05-12 | 2008-05-12 | Method for testing apparatus inner wire disturbance force moment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810106346A CN100587432C (en) | 2008-05-12 | 2008-05-12 | Method for testing apparatus inner wire disturbance force moment |
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| Publication Number | Publication Date |
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| CN101281069A CN101281069A (en) | 2008-10-08 |
| CN100587432C true CN100587432C (en) | 2010-02-03 |
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| CN200810106346A Expired - Fee Related CN100587432C (en) | 2008-05-12 | 2008-05-12 | Method for testing apparatus inner wire disturbance force moment |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589773B (en) * | 2012-03-02 | 2013-08-21 | 北京理工大学 | Torque measuring device and installation method thereof |
| CN102879139A (en) * | 2012-09-25 | 2013-01-16 | 中国科学院西安光学精密机械研究所 | Device and method for testing wire-wound moment of rotary table |
| CN104316241A (en) * | 2014-11-18 | 2015-01-28 | 北京邮电大学 | Small torque sensor |
| CN106443445A (en) * | 2016-09-26 | 2017-02-22 | 精进百思特电动（上海）有限公司 | Motor performance testing machine |
-
2008
- 2008-05-12 CN CN200810106346A patent/CN100587432C/en not_active Expired - Fee Related
Non-Patent Citations (4)
| Title |
|---|
| 机器人一体化关节性能测试系统的设计与实现. 周留栓等.机电产品开发与创新，第20卷第5期. 2007 |
| 机器人一体化关节性能测试系统的设计与实现. 周留栓等.机电产品开发与创新，第20卷第5期. 2007 * |
| 转矩转速测量装置转速特性检测方法的研究. 印保靖等.上海计量测试，第33卷第6期. 2006 |
| 转矩转速测量装置转速特性检测方法的研究. 印保靖等.上海计量测试，第33卷第6期. 2006 * |
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Granted publication date: 20100203 Termination date: 20110512 |