CN101226122A - Rotary micromotion friction wear test method and device thereof - Google Patents
Rotary micromotion friction wear test method and device thereof Download PDFInfo
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- CN101226122A CN101226122A CNA2008100452889A CN200810045288A CN101226122A CN 101226122 A CN101226122 A CN 101226122A CN A2008100452889 A CNA2008100452889 A CN A2008100452889A CN 200810045288 A CN200810045288 A CN 200810045288A CN 101226122 A CN101226122 A CN 101226122A
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Abstract
The invention relates to a rotary inching friction abrasion test method and a relative device, wherein the method comprises clamping a plane upper sample on an upper clamp, fixing a lower clamp on the horizontal rotation shaft of a high-precision ultra-low speed rotation motor, clamping a spherical lower sample via a lower clamp, aligning the horizontal central line of the lower sample with the rotation shaft of the rotation motor, using a data acquisition and control system to control the up-and-down and left-and-right motions of the upper clamp to contact the upper and lower samples and apply a preset normal load, at the same time, using the data acquisition and control system to control the rotation motor to reciprocally rotate the lower clamp and lower sample at preset rotation argument, rotation speed and times, to realize the rotary inching friction between the upper and lower samples, using a six-dimension force/torque sensor to test and feed the friction force to the data acquisition and control system to be analyzed to obtain a friction force-angle displacement curvature. The inventive method can simply realize small angle rotary inching friction abrasion of material, with high automatic degree, high control and test accuracy and better test data reappearance.
Description
Technical field
The invention belongs to mechanical tribology technical research field, especially belong to a kind of micro-moving frictional wear test method and test unit thereof.
Background technology
Fine motion (Fretting) is meant under alternate load effects such as mechanical vibration, fatigue load, electric and magnetic oscillation or thermal cycle, the relative motion that the amplitude that takes place between surface in contact is minimum, nominally these surface in contacts are static usually, i.e. fine motion occurs in the mechanical part of " fastening " cooperation.The fine motion tribology is a subject branch of research fine motion operation mechanism, damage, test, monitoring, prevention, and it is a growing emerging cross discipline, and the subject that relates to is extensive, as mechanics, materialogy, even biomedicine, electrotechnics etc.Fine motion is the very little friction mode of a kind of relative motion amplitude, its material damage that causes is usually expressed as two kinds of forms, that is: the wearing and tearing that cause of (1) fine motion: fine motion can cause the surface abrasion between surface of contact, produce material unaccounted-for (MUF) and scantling and change, cause member interlock, loosening, power loss, noise increases or form pollution source.(2) fatigue that causes of fine motion: fine motion can be quickened the germinating and the expansion of crackle, and reduced the fatigue lifetime of member greatly, the fretting fatigue limit even can be lower than 1/3 of common fatigue limit.Often this damage type danger is bigger, causes some catastrophic accidents.
Under ball-plane contact condition, fine motion can be divided into tangentially, radially, four kinds of basic jog mode such as twisting, rotation.Tangential fine motion is grinding secondary under the effect of normal load with fine motion radially, on surface of contact, do little displacement rectilinear motion, difference is: the normal load direction of tangential fine motion is vertical with its direction of motion, and radially fine motion normal load direction is consistent with direction of motion.Twisting or micro-moving and rotary micromotion are grinding pair under the effect of normal load, do low-angle rotatablely moving on surface of contact, and difference is: the turning axle of twisting or micro-moving is vertical with surface of contact; The turning axle of rotary micromotion is parallel with contact plane.
Rotary micromotion is in the relative motion that takes place between the wringing fit Contact Pair under the alternate load effect to rotate a little.The rotary micromotion phenomenon is present in various mechanized equipments and the apparatus in a large number, the for example rubbing wear of the turbo blade tongue-and-groove mating surface of the wheel shaft wringing fit face of rolling stock in locomotive military service process, in aircraft turbine engine generation when work, the rubbing wear that the wringing fit face of various yoke axle mechanism takes place, the rubbing wear of generation etc. hip joint in the human body implantation instrument and knee joint pestle mortar shape contact region in.Rotary micromotion rubs and has brought bigger loss and trouble to commercial production, life.Because its manual control is reproduced or the simulation difficulty, the correlative study work of rotary micromotion is carried out less all the time.The new method and the device thereof of research and development rotary micromotion test to reducing the rotary micromotion wear problem that occurs in the engineering, improve machinery and bionic relevant design, improve the performance of equipment and apparatus and life-span, energy savings etc. and have crucial meaning.
Summary of the invention
The purpose of this invention is to provide a kind of rotary micromotion friction wear test method, this test method can make material generation low-angle rotary micromotion friction wear easily, and its automaticity height, control and the precision height of testing, the favorable reproducibility of test figure.
The technical solution adopted for the present invention to solve the technical problems is: a kind of rotary micromotion friction wear test method, and its practice is:
A, test specimen on the plane is clamped in goes up on the anchor clamps, in the mounting disc of the high precision Ultra-Low Speed rotary electric machine turning axle that the level that again lower clamp is fixed on is installed, with the following test specimen of lower clamp clamping sphere, the spherical horizontal center line and the rotary electric machine turning axle centering of test specimen down;
B, by data acquisition control system control go up anchor clamps about, move left and right, make upper and lower test specimen contact and apply the normal load P of setting, following test specimen by data acquisition control system control rotary electric machine, lower clamp and clamping thereof back and forth rotates with rotation argument θ, rotational speed omega and the reciprocal time N that sets simultaneously, realizes the rotary micromotion friction between upper and lower test specimen;
C, when upper and lower test specimen rotates fine motion friction, measuring tangential force by the sextuple power/torque sensor that links to each other with last anchor clamps is friction force, and deliver to data acquisition control system, the data acquisition control system analysis draws friction force-angular displacement curve of setting under load and the speed conditions, to characterize the dynamics of rotary micromotion friction.
Compared with prior art, the invention has the beneficial effects as follows:
One, because the spherical horizontal center line of test specimen down and the turning axle centering of high precision Ultra-Low Speed rotary electric machine, can guarantee during the rotation of high precision Ultra-Low Speed rotary electric machine that spherical test specimen down serves as that axle rotates with its horizontal center line, eccentric phenomena can not take place, thereby simple rotary micromotion is achieved.Two,, can realize accurately that lower clamp and following test specimen thereof back and forth rotate by given micro-corner amplitude and ultralow rotating speed by the rotation of data acquisition control system control high precision Ultra-Low Speed rotary electric machine; Also can accurately realize the adjustment of chucking position and applying of setting normal load, thereby accurately realize the rotary micromotion friction wear test under the given parameter condition.Tangential force friction force when three, measuring rotary micromotion by the sextuple power/torque sensor that links to each other with last anchor clamps, and send data acquisition control system to handle, friction force under obtaining imposing a condition-angular displacement curve can accurately characterize the dynamics of rotary micromotion; And the material after the test can be carried out other relevant abrasion analysis.
In a word, this test method can easily make material that accurate little angular turn micro-moving frictional wear takes place, test is directly controlled given corresponding test parameter by data acquisition control system, and measure friction force, automatically analyze and handle, the automaticity height, control and the precision height of testing, the favorable reproducibility of test figure.
Another object of the present invention provides a kind of test unit of implementing above-mentioned rotary micromotion friction wear test method, this apparatus structure is simple, can realize this test method easily, can carry out the test of the material of different operating modes and specification, can accurately control test parameters.
The present invention realizes that the technical scheme that this goal of the invention adopts is: a kind of test unit of implementing above-mentioned test method, comprise upper and lower anchor clamps, and to install, the support of lower clamp, its design feature is:
The concrete structure that lower clamp is installed on the support is: lower clamp is the anchor clamps of test specimen under the clamping sphere, and lower clamp is fixed in the mounting disc of high precision Ultra-Low Speed rotary electric machine turning axle; Rotary electric machine is installed on the motor cabinet on the frame bottom plate, and the rotation axis level of rotary electric machine;
The concrete structure that last anchor clamps are installed on the support is: going up anchor clamps is the anchor clamps of test specimen on the clamping plane, the upper end of last anchor clamps links to each other with sextuple power/torque sensor, sextuple power/torque sensor with can carry out level and link to each other with vertical mobile two-dimentional transfer table, two-dimentional transfer table is fixed on the middle and upper part of support;
High precision Ultra-Low Speed rotary electric machine, two-dimentional transfer table, sextuple power/torque sensor all are electrically connected with data acquisition control system.
The using method of this device and the course of work are:
To go up on the fixing upward anchor clamps of test specimen, following test specimen is fixed on the lower clamp.And make down the turning axle centering of the horizontal center line and the rotary electric machine of test specimen; Control the motion of two-dimentional mobile platform by data acquisition control system, test specimen makes it contact and apply given normal load with following test specimen in position vertical, horizontal both direction in the adjustment.Control the rotation of high precision Ultra-Low Speed rotary electric machine again by data acquisition control system, making down test specimen is that turning axle back and forth rotates by setup parameter with its horizontal center line, realize the ball-plane rotary micromotion of upper and lower test specimen, tangential force (friction force) when monitoring rotary micromotion in real time with sextuple power/torque sensor again, send data acquisition control system to handle, obtain friction force-angular displacement curve.Simultaneously, sextuple power/torque sensor is monitored the normal load when rotating in real time, send data acquisition control system to, real-time regulated control is carried out in the vertical position of two-dimentional mobile platform, guarantee that the normal load of test specimen is in constant set-point all the time down by the control system of data acquisition.
Given different parameter can be carried out the rotary micromotion friction wear test under the different operating modes.For the upper and lower test specimen of difformity and size, adopt corresponding upper and lower anchor clamps can finish test.
As seen, adopt above device, can realize test method of the present invention easily, can carry out the test of the material of different operating modes and specification, can accurately control test parameters, and this apparatus structure is simple.
Has circular hole in the middle of the side of the close rotary electric machine mounting disc in above-mentioned lower clamp clamping chamber, make that test specimen can directly contact with the center pit of rotary electric machine mounting disc and locate under the sphere of clamping.
Because the center line of motor mounting disc center pit and the center line of electric machine rotational axis are overlapping, in the time of can guaranteeing that lower clamp clamps test specimen, the horizontal center line and the rotary electric machine turning axle of spherical test specimen down are overlapping, guarantee that eccentric phenomena can not take place when test specimen rotates down sphere, test shows: the right alignment of the horizontal center line of spherical test specimen of the present invention and the rotation axis of motor≤2 μ m, thus guarantee that simple rotary micromotion is achieved.
The clamping chamber of above-mentioned lower clamp be with sphere under adaptive horizontal half slot or the deep-slotted chip breaker of test specimen.Can guarantee further that like this lower clamp more clamps test specimen down in close and firm ground, guarantees that test specimen back and forth rotates by given parameter down.
The minimum rotational angle theta of above-mentioned high precision Ultra-Low Speed rotary electric machine is 0.05 °, and the scope of rotational speed omega is 0.006-180 °/s.
The normal load measurement range of above-mentioned sextuple power/torque sensor is 5-580N; Laterally reach the tangential force measurement range 1.9-190N of vertical both direction, the torgue measurement scope is that 50-10000Nmm, measuring accuracy are 5Nmm.
Make apparatus of the present invention can realize the low-angle rotary micromotion friction wear test of high precision like this, be different from the rotation under the conventional sliding mode, test result accurately, reliably.
Consisting of of above-mentioned two-dimentional transfer table: vertical motor is fixed on the top board of upper part of the frame, vertical motor shaft connects with vertical screw mandrel, the screw-internal thread fit of vertical screw mandrel and sliding support, the guide groove of sliding support inboard cooperates with vertical guide rail on the support, fixedlys connected with crossbeam in the outside of sliding support; The horizontal guide rail of crossbeam bottom cooperates with the guide groove on maneuvering board top, the horizontal drive motor is fixed on the crossbeam, the axle of horizontal drive motor connects with horizontal lead screw, the screw-internal thread fit of horizontal lead screw and maneuvering board, and the bottom of maneuvering board is connected with sextuple power/torque sensor.
Adopt motor-driven screw body and guide rail, guide groove mechanism to come realization level and vertical motion.These mechanism's simple structures, reliable; And motor is controlled by data acquisition control system, makes that its position adjustment is accurate, easy.In addition, measure the instantaneous value of normal load in real time by sextuple power/torque sensor, transmit data acquisition control system, vertical servomotor is carried out real-time regulated control, guarantee that the normal load that is applied is in constant set-point all the time by the control system of data acquisition.
The concrete mode that above-mentioned maneuvering board is connected with sextuple power/torque sensor is: the bottom of maneuvering board is threaded with coupling block, and the bottom of coupling block is connected with sextuple power/torque sensor.
Make can be more steady firm being installed on the maneuvering board and being convenient for changing of sensor like this.
The upper end of above-mentioned last anchor clamps is connected with sextuple power/torque sensor by snubber assembly again.
Like this, adjust the elasticity of snubber assembly, can realize not showing the rotary micromotion test under the rigidity condition.
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Description of drawings
Fig. 1 is the main TV structure synoptic diagram of the test unit of the embodiment of the invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 a is the lower clamp of the test unit of the embodiment of the invention, down test specimen and mounting disc analyses and observe the structure for amplifying synoptic diagram.
Fig. 3 b is the A-A cut-open view behind the test specimen under Fig. 3 a removes.
Fig. 4 a, Fig. 4 b, Fig. 4 c are friction force-angular displacement (F-θ) curves of same concrete material for test being tested to obtain with the test unit of the embodiment of the invention and method of the present invention under three kinds of operating modes.The last test specimen of test is the LZ50 axle steel test block of 20mm * 10mm * 10mm, the GCr15 bearing steel ball that following test specimen is Φ 40mm, and normal load P=10N, rotational frequency is 0.1Hz, reciprocation cycle times N=100.The different tests parameter of Fig. 4 a, Fig. 4 b, Fig. 4 c correspondence: rotate argument θ=1 °, 0.5 °, 0.25 °, velocity of rotation ω=0.1 °/s, 0.05 °/s, 0.025 °/s.
Fig. 5 is with identical test unit, the material for test of Fig. 4 a, rotating argument θ=0.5 °, velocity of rotation ω=0.05 °/s, reciprocation cycle times N=100, normal load P then tests the friction force-angular displacement curve that obtains under 5N, 10N, the 20N condition respectively, the normal load P of curve a wherein is 5N, and the normal load P of curve b is 10N, and the normal load P of curve c is 20N.
Fig. 6 a, Fig. 6 b, Fig. 6 c are respectively the last test specimen polishing scratch cross-sectional profiles figure that carries out after Fig. 4 a, Fig. 4 b, Fig. 4 c test.
Fig. 7 a, Fig. 7 b, Fig. 7 c are respectively last test specimen polishing scratch scanning electron microscope (SEM) the pattern photos that carries out after Fig. 4 a, Fig. 4 b, Fig. 4 c test.
Fig. 8 is the X-ray energy spectrum figure (EDX) that goes up test specimen initial surface and Fig. 7 (c) mid point A, B position, and wherein horizontal ordinate is: energy/kiloelectron-volt (Energy/kev); Ordinate is: counting (Counts).
Embodiment
Embodiment
A kind of embodiment of rotary micromotion friction wear test method of the present invention is:
A, test specimen on the plane is clamped in goes up on the anchor clamps, in the mounting disc of the high precision Ultra-Low Speed rotary electric machine turning axle that the level that again lower clamp is fixed on is installed, with the following test specimen of lower clamp clamping sphere, the spherical horizontal center line and the rotary electric machine turning axle centering of test specimen down;
B, by data acquisition control system control go up anchor clamps about, move left and right, make upper and lower test specimen contact and apply the normal load P of setting, following test specimen by data acquisition control system control rotary electric machine, lower clamp and clamping thereof back and forth rotates with rotation argument θ, rotational speed omega and the reciprocal time N that sets simultaneously, realizes the rotary micromotion friction between upper and lower test specimen;
C, when upper and lower test specimen rotates fine motion friction, measuring tangential force by the sextuple power/torque sensor that links to each other with last anchor clamps is friction force, and deliver to data acquisition control system, the data acquisition control system analysis draws friction force-angular displacement curve of setting under load and the speed conditions, to characterize the dynamics of rotary micromotion friction.
Realize specifically being constructed as follows of the test unit of this example employing for making above-mentioned test method be able to more convenient and quicker ground.
Fig. 1,2 illustrates, and realizes the test unit of rotary micromotion friction test method of the present invention, comprises upper and lower anchor clamps 15,19, installs, the support 1 of lower clamp 15,19.
The concrete structure that lower clamp 19 is installed on the support 1 is: lower clamp 19 is the anchor clamps of test specimen 17 under the clamping sphere, and lower clamp 19 is fixed on the mounting disc 20a of high precision Ultra-Low Speed rotary electric machine 20 turning axles; Rotary electric machine 20 is installed on the motor cabinet 24a on support 1 base plate 24, and the rotation axis level of rotary electric machine 20;
The concrete structure that last anchor clamps 15 are installed on the support 1 is: go up the anchor clamps of anchor clamps 15 for test specimen 21 on the clamping plane, the upper end of last anchor clamps 15 links to each other with sextuple power/torque sensor 13, sextuple power/torque sensor 13 with can carry out level and link to each other with vertical mobile two-dimentional transfer table, two-dimentional transfer table is fixed on the middle and upper part of support 1;
High precision Ultra-Low Speed rotary electric machine 20, two-dimentional transfer table, sextuple power/torque sensor 13 all are electrically connected with data acquisition control system.
Fig. 3 a, Fig. 3 b illustrate, and have circular hole 31 in the middle of the side of the close rotary electric machine mounting disc 20a in lower clamp 19 clamping chambeies, make that test specimen 17 can directly contact with the center pit 32 of rotary electric machine 20 mounting disc 20a and locate under the sphere of clamping.
The minimum rotational angle theta of the high precision Ultra-Low Speed rotary electric machine 20 that this example adopts is 0.05 °, and the scope of rotational speed omega is 0.006-180 °/s.The normal load measurement range of sextuple power/torque sensor 13 is 5-580N; Laterally reach the tangential force measurement range 1.9-190N of vertical both direction, the torgue measurement scope is that 50-10000Nmm, measuring accuracy are 5Nmm.
Fig. 1,2 illustrates, the consisting of of two-dimentional transfer table in this example: the consisting of of two-dimentional transfer table: vertical motor 3 is fixed on the top board on support 1 top, the axle of vertical motor 3 connects with vertical screw mandrel 5, vertical screw mandrel 5 downwards and the screw-internal thread fit of sliding support 25, the guide groove of sliding support 25 inboards cooperates with vertical guide rail 6 on the support 1, fixedlys connected with following crossbeam 7 in the outside of sliding support 25; The horizontal guide rail 10 of crossbeam 7 bottoms cooperates with the guide groove on maneuvering board 11 tops, horizontal drive motor 8 is fixed on the crossbeam 7, the axle of horizontal drive motor 8 connects with horizontal lead screw 9, the screw-internal thread fit of horizontal lead screw 9 and maneuvering board 11, and the bottom of maneuvering board 11 is connected with sextuple power/torque sensor 13.
The upper end of last anchor clamps 15 is connected with sextuple power/torque sensor 13 by snubber assembly 26 again.
Six concrete results that test that adopt above device of the present invention and test method thereof to carry out are as follows:
Test material is: go up test specimen 21 and be the LZ50 axle steel test block of 20mm * 10mm * 10mm, following test specimen 17 is the GCr15 bearing steel ball of Φ 40mm.Test condition: normal load P=5N, 10N, 20N, rotate argument θ=1 °, 0.5 °, 0.25 °, velocity of rotation ω=0.1 °/s, 0.05 °/s, 0.025 °/s, corresponding rotational frequency is 0.1Hz, reciprocation cycle times N=100.Rotation argument (under the identical normal load condition) and the influence of normal load (under the identical rotation argument condition) have been investigated respectively to the rotary micromotion dynamic characteristic.
Fig. 4 a, Fig. 4 b, Fig. 4 c are normal load P=10N, rotate and test the LZ50 axle steel rotary micromotion friction force-angular displacement curve that obtains when argument θ is respectively 1 °, 0.5 °, 0.25 °.Along with rotating reducing of argument, the curve shape of Fig. 4 a, Fig. 4 b, Fig. 4 c changes linearity into gradually by wide flat parallelogram shape, can process decision chart 4a and Fig. 4 b corresponding to the complete slippage of fine motion, Fig. 4 c is corresponding to the part slippage of fine motion.This assay features with tangential fine motion friction is consistent.
Fig. 5 is for rotating argument θ=0.5 °, three axle steel rotary micromotion friction force-angular displacement curves that test obtained when normal load P was respectively 5N, 10N, 20N.Along with the increase of normal load, the shape of curve a, b, c is narrowed down gradually by wide flat parallelogram shape, and the friction force of contact interface rises simultaneously, illustrates that test can reflect that the different dynamic scholarship and moral conduct of same material under the different tests parameter is.
Fig. 6 a, Fig. 6 b, Fig. 6 c are respectively the last test specimen polishing scratch cross-sectional profiles figure that carries out after Fig. 4 a, Fig. 4 b, Fig. 4 c test.Fig. 6 a and Fig. 6 b show that axle steel is when complete slippage and part slippage, abrasive dust is drawn close along with the past polishing scratch center of the carrying out of friction and is piled up, there were significant differences with the main situation of discharging toward the polishing scratch two ends of the abrasive dust in the tangential fine motion for this, and this is the result of material different distortion behavior; Fig. 6 c shows that then axle steel polishing scratch when the part slippage is extremely shallow, and damage is slight, and this damage characteristic with tangential fine motion friction is consistent.
Fig. 7 a, Fig. 7 b, Fig. 7 c are respectively last test specimen polishing scratch scanning electron microscope (SEM) the pattern photos that carries out after Fig. 4 a, Fig. 4 b, Fig. 4 c test.Polishing scratch heart portion shown in Fig. 7 a and Fig. 7 b can observe ditch dug with a plow and abrasive dust such as is extruded, tears at the characteristic feature that skimming wear had, and shows that complete slippage has taken place the axle steel contact interface.Fig. 7 c shows the adhesion of polishing scratch center, slippage does not take place, almost not damaged; Little cunning takes place in the outside, can observe slight damage, shows that the part slippage has taken place the axle steel contact interface, and this is consistent with Fig. 4 a, Fig. 4 b, judgement that Fig. 4 c is corresponding.
Fig. 8 is the X-ray energy spectrum figure (EDX) of test specimen initial surface and Fig. 7 c mid point A, B position, be the EDX result of the fine motion polishing scratch at polishing scratch center (A place) topmost, show that the polishing scratch center is that the O content at A place is extremely low, approaching with the O content of bottom axle steel initial surface, and to be the O content at B place obviously improve the polishing scratch outside in the middle of the figure, illustrate that slippage does not take place at the polishing scratch center, and little cunning takes place in the outside, verified the judgement of Fig. 7 a, Fig. 7 b, Fig. 7 c.Further specifying friction process is a kind of special fretting wear process.
Claims (9)
1. rotary micromotion friction wear test method, its practice is:
A, test specimen on the plane is clamped in goes up on the anchor clamps, in the mounting disc of the high precision Ultra-Low Speed rotary electric machine turning axle that the level that again lower clamp is fixed on is installed, with the following test specimen of lower clamp clamping sphere, the spherical horizontal center line and the rotary electric machine turning axle centering of test specimen down;
B, by data acquisition control system control go up anchor clamps about, move left and right, make upper and lower test specimen contact and apply the normal load P of setting, following test specimen by data acquisition control system control rotary electric machine, lower clamp and clamping thereof back and forth rotates with rotation argument θ, rotational speed omega and the reciprocal time N that sets simultaneously, realizes the rotary micromotion friction between upper and lower test specimen;
C, when upper and lower test specimen rotates fine motion friction, measuring tangential force by the sextuple power/torque sensor that links to each other with last anchor clamps is friction force, and deliver to data acquisition control system, the data acquisition control system analysis draws the friction force angular displacement curve of setting under load and the speed conditions, to characterize the dynamics of rotary micromotion friction.
2. a test unit of implementing the described test method of claim 1 comprises upper and lower anchor clamps (15,19), installs, the support (1) of lower clamp (15,19), it is characterized in that:
The concrete structure that described lower clamp (19) is installed on the support (1) is: lower clamp (19) is the anchor clamps of test specimen (17) under the clamping sphere, and lower clamp (19) is fixed in the mounting disc (20a) of high precision Ultra-Low Speed rotary electric machine (20) turning axle; Rotary electric machine (20) is installed on the motor cabinet (24a) on support (1) base plate (24), and the rotation axis level of rotary electric machine (20);
The concrete structure that last anchor clamps (15) are installed on the support (1) is: go up the anchor clamps of anchor clamps (15) for test specimen (21) on the clamping plane, the upper end of last anchor clamps links to each other with sextuple power/torque sensor (13), sextuple power/torque sensor (13) with can carry out level and link to each other with vertical mobile two-dimentional transfer table, two-dimentional transfer table is fixed on the middle and upper part of support (1);
High precision Ultra-Low Speed rotary electric machine (20), two-dimentional transfer table, sextuple power/torque sensor (13) all are electrically connected with data acquisition control system.
3. a kind of test unit according to claim 2, it is characterized in that: has circular hole (31) in the middle of the side of the close rotary electric machine mounting disc (20a) in described lower clamp (19) clamping chamber, make that test specimen (17) can directly contact with the center pit (32) of rotary electric machine (20) mounting disc (20a) and locate under the sphere of clamping.
4. a kind of test unit according to claim 3 is characterized in that: the clamping chamber of described lower clamp (19) for sphere under adaptive horizontal half slot or the deep-slotted chip breaker of test specimen (17).
5. a kind of test unit according to claim 2 is characterized in that: the minimum rotational angle theta of described high precision Ultra-Low Speed rotary electric machine (20) is 0.05 °, and the scope of rotational speed omega is 0.006-180 °/s.
6. a kind of test unit according to claim 2 is characterized in that: the normal load measurement range of described sextuple power/torque sensor (13) is 5-580N; Laterally reach the tangential force measurement range 1.9-190N of vertical both direction, the torgue measurement scope is that 50-10000Nmm, measuring accuracy are 5Nmm.
7. a kind of test unit according to claim 2, it is characterized in that, consisting of of described two-dimentional transfer table: vertical motor (3) is fixed on the top board on support (1) top, the axle of vertical motor (3) connects with vertical screw mandrel (5), vertical screw mandrel (5) downwards and the screw-internal thread fit of sliding support (25), the guide groove of sliding support (25) inboard cooperates with the vertical guide rail (6) on the support (1), fixedlys connected with following crossbeam (7) in the outside of sliding support (25); The horizontal guide rail (10) of crossbeam (7) bottom cooperates with the guide groove on maneuvering board (11) top, horizontal drive motor (8) is fixed on the crossbeam (7), the axle of horizontal drive motor (8) connects with horizontal lead screw (9), the screw-internal thread fit of horizontal lead screw (9) and maneuvering board (11), the bottom of maneuvering board (11) is connected with sextuple power/torque sensor (13).
8. a kind of test unit according to claim 7, it is characterized in that, described maneuvering board (11) with the concrete mode that sextuple power/torque sensor (13) is connected is: the bottom of maneuvering board (11) is threaded with coupling block (12), and the bottom of coupling block (12) is connected with sextuple power/torque sensor (13).
9. a kind of test unit according to claim 2 is characterized in that, described upper end of going up anchor clamps (15) is connected with sextuple power/torque sensor (13) by snubber assembly (26) again.
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