CN101414185A - Device and method for testing accurate servo linear drive system performance - Google Patents
Device and method for testing accurate servo linear drive system performance Download PDFInfo
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- CN101414185A CN101414185A CNA2008102193056A CN200810219305A CN101414185A CN 101414185 A CN101414185 A CN 101414185A CN A2008102193056 A CNA2008102193056 A CN A2008102193056A CN 200810219305 A CN200810219305 A CN 200810219305A CN 101414185 A CN101414185 A CN 101414185A
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Abstract
The invention relates to a device for testing performances of a precision linear servo drive system and a testing method thereof. The device comprises a cabinet leg and a bed which is supported by the cabinet leg, wherein, the bed is equipped with a main lead screw guide rail pair and an auxiliary lead screw guide rail pair; a main servomotor and an auxiliary servomotor are respectively connected with the lead screws of the main lead screw guide rail pair and the auxiliary lead screw guide rail pair by couplings; a workbench and an auxiliary workbench are respectively arranged on two sides of the bed; lead screw nuts in the main lead screw guide rail pair and the auxiliary lead screw guide rail pair are fastened below the workbench and the auxiliary workbench; the workbench can be provided with loads of various masses; an active cell of a first linear displacement grating scale is fastened with the workbench, and the active cell of a second linear displacement grating scale is fastened with the auxiliary workbench; the signal output terminal of the first linear displacement grating scale and the signal output terminal of the second linear displacement grating scale are connected with a controller of the testing device and form a fully closed precision servo drive system respectively together with a main drive unit and an auxiliary drive unit. The testing device can simulate various working conditions to perform the drive performance tests and parameter measurement of a precision servo rotating motor and a control unit thereof, and perform technical evaluation on each component of the system under various setting conditions.
Description
Technical field
The present invention is a kind of elaborate servo linear drive system performance test unit and test method thereof, be particularly related to a kind of linearity (straight line) the feed system duty that can simulate high-grade, digitally controlled machine tools, bearing under the situations such as various operating loads, working resistance, speed, acceleration, the driveability test and the parameter measurement of elaborate servo electric rotating machine and control module thereof can be carried out, even the test unit and the test method thereof of technical feature and serviceability index evaluation can be carried out related components, some key structure.
Background technology
As the numerically-controlled machine forward of equipment manufacture core at a high speed, efficient, high precision, intellectuality, compoundization, environmental protection direction develop.The servo drive system of numerically-controlled machine generally is made up of driving control unit, driver element, mechanical transmission unit, executive component and detection feedback element etc.In the middle of various numerical controlled machinery equipments, except some superfast occasion is used the AC linear motor, still a large amount of the employing by electric rotating machine drives the ball-screw rotation, does straight-line servo driving mode by execution members such as ball nut drive worktable then.
Carry out in the servo drive system design typification process, definite principle of each component units is different.Indexs such as executive component and detection feedback element such as precision, speed, acceleration are independent variable in design selection by the function decision of work.The type selecting of mechanical transmission unit depends on the serviceability requirement of the servo driving of numerically-controlled machine, but the performance adaptive domain degree of mechanical transmission units such as general ball guide screw nat is very wide, and it is enough substantially therefore only ball guide screw nat to be carried out the exercise performance examination.Because the action of numerically-controlled machine by driven by servomotor, therefore must design and type selecting according to the high request of numerically-controlled machine to servomotor and the proposition of servo driving control module thereof.Numerically-controlled machine is as follows to the performance requirement of servo linear drive system:
1. precision height.For positional precision and the contour machining precision that guarantees moving-member, require to have enough precision, and when load or working resistance variation, strong antijamming capability is arranged, can accurate, the constant airspeed in holding position.
2. response is fast.Response is the dynamic property of servo-drive system fast, has reflected the tracking accuracy of system, requires overshoot little.The interpolation time of numerically-controlled machine all below 20ms, in so short instruction transformation period, requires the rapid acceleration and deceleration of servomotor at present.
3. speed-regulating range width.At present to require the speed adjustable range of feed servo system generally be 0-40m/min to numerically-controlled machine, and what have reaches 240m/min.Except ball guide screw nat and speed reduction unit play the deceleration chronotropic action, servomotor will have wideer speed adjustable range.
4. big torque.During the lathe high speed feed, can drive necessary load and realize quickening to start, can suddenly fast stop before shutting down.During the lathe slow cutting, the cutting-in and the amount of feeding are all bigger, and the resistance that is subjected to is very big.Modern numerically-controlled machine much adopts servomotor and ball-screw shaft coupling direct connection, and this just requires the feeding motor can export enough big torque.
5. servo stiffness height.Servo stiffness is meant whole servo-drive system, under the effect that is subjected to external applied loads such as moment of torsion, moment of flexure, cutting force, inertial force, does not produce the ability of position deviation in the direction of regulation, includes static servo stiffness and dynamic servo rigidity.
6. inertia mates.Moving-member quickens and bigger inertia is all arranged when slowing down owing to require the fast-response of system can be good, thereby the inertia of motor will with the inertia coupling of moving-member, require the inertia of drive motor to be not less than the inertia sum of all moving components usually.
7. anti-overload ability is strong.Owing to require to have very fast response speed during the motor acceleration and deceleration, at this moment motor may be worked under the condition of overload, therefore requires motor that very strong anti-overload ability is arranged.Usually require in several minutes, to transship 4-6 times do not damage yet.
Along with the development of modern numerically-controlled machine, in order to realize the working ability of high-accuracy high-efficiency rate, require the servo drive system reaction fast on the one hand, setup time is shortened in start and stop quick and precisely; Also require motion process steady on the other hand, impact for a short time, when high-speed cruising, can realize level and smooth control, to prevent to produce the shock and vibration in the high-speed cruising.For another example in the crossbeam mobile model high-speed numeric control milling machine of gantry,, must adopt bilateral synchro system to drive when gantry span during greater than 2m.For main shaft and the heavy lathe of main spindle box, bilateral synchronous follow-up drive system adopts the control of master-slave mode intersection feedback principle, generally should make bilateral tracking error less than 0.01mm.Therefore carry out bilateral synchronized drive technology test important realistic meaning is arranged equally.
At present, China's servo drive system industry does not also have the special driving performance test apparatus, can't set up industry standard, is difficult to form the performance expression and the evaluation method of the autonomous servo-drive system of China (containing main shaft) product.
Summary of the invention
The objective of the invention is to consider the problems referred to above and provide a kind of and can the serviceability of drive system be detected, can verify the elaborate servo linear drive system performance test unit that each factor exerts an influence to the system synthesis technical feature by single factor method test.The present invention helps to promote the foundation of industry standard, and the performance that helps to form the servo-drive system product is expressed and evaluation method.
Another object of the present invention is to provide a kind of test method of the linear drive system performance of elaborate servo simply and easily.
Technical scheme of the present invention is: include cabinet base and be bearing in lathe bed on the cabinet base, main screw mandrel guideway and paranema rod guide pair are installed on its medial bed, main servo motor and secondary servomotor are installed in respectively on main servo motor mount and the secondary servomotor mount pad, and be connected by the screw mandrel of shaft coupling respectively with main screw mandrel guideway and paranema rod guide pair, worktable and subtask platform are installed in the both sides of lathe bed respectively, drive the main screw mandrel guideway of worktable and subtask platform motion and the feed screw nut in the paranema rod guide pair be fixed tightly in worktable and subtask platform below, can lay the load of various quality sizes on the worktable, mover and worktable as the first linear displacement grating chi of position feedback transducer tighten up, mover and subtask platform as the second linear displacement grating chi of position feedback transducer tighten up, the signal output part of the first linear displacement grating chi and the second linear displacement grating chi is connected with the controller of test unit, and the first linear displacement grating chi and the second linear displacement grating chi are formed full cut-off ring elaborate servo drive system respectively with above-mentioned main driver element and secondary driver element.
Between above-mentioned main servo motor and secondary servomotor and the shaft coupling and between shaft coupling and the screw mandrel and between screw mandrel and the feed screw nut all through the elimination interstitial treatment.
On the above-mentioned subtask platform analog main shaft is installed, can installs on the analog main shaft and be convenient to do the measuring basis that positional precision is measured.
Above-mentioned subtask platform can connect with stationary table, can unite driving, or throws off connection with worktable, distinguishes drive controlling.
The above-mentioned first linear displacement grating chi and the second linear displacement grating chi are accurate linear displacement grating chi.
The above-mentioned resistance gauge that is fixed for the simulation cutting resistance at an end of testing table lathe bed.
Above-mentioned resistance gauge is the hydraulic coupling device, or the atmospheric pressure device.
Above-mentioned resistance gauge is made up of cylinder barrel and piston, and the oil-in of cylinder barrel is connected with oil pump by retaining valve, and is connected with pressure adjusting pressuring valve and tensimeter between the oil-in of cylinder barrel and the retaining valve.
The test method of elaborate servo linear drive system performance test unit of the present invention, it can carry out following experiment:
1) on worktable, lays the structure of the load of various quality sizes, the workpiece that simulation will drive, speed and acceleration with various settings drives worktable then, bearing accuracy and running precision by accurate surveying work platform, the performance of evaluation servo-drive system is carried out the driveability test and the parameter testing of servo electric rotating machine and control module thereof;
2) down the link of respectively forming of system is carried out technical evaluation various imposing a condition, it is specially: under the constant situation of the driving control unit in the servo drive system, mechanical transmission unit, executive component and detection feedback element, change different tested servomotors, thereby evaluation servomotor technical target of the product provides performance to express and the evaluation method foundation.
3) when worktable and subtask platform fixed connection, can unite and drive test, when worktable and subtask platform disengagement connection, and under the situation that load is different on each worktable by main servo drive system and secondary servo drive unit system drive controlling respectively, detect by precision, carry out the synchronous driving performance test.
4) on the basis of above-mentioned pilot project, carry out following test by applying resistance gauge:
1. worktable promotes resistance gauge piston, the feed accuracy of testing platform with work feed speed;
2. worktable is forced in worktable by servo locked motionless by the resistance gauge piston, detects the servo-drive system rigidity;
3. the resistance gauge piston applies the maximum force of energy push work platform, detects the maximum thrust output of servo-drive system.
By apparatus of the present invention and test method, can carry out the driveability test and the parameter measurement of elaborate servo electric rotating machine and control module thereof, and down the link of respectively forming of system be carried out the technical feature evaluation various imposing a condition.The present invention is that a kind of design is ingenious, function admirable, convenient and practical elaborate servo linear drive system performance test unit and test method thereof.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the schematic diagram of resistance gauge of the present invention.
Embodiment
Embodiment:
Structural representation of the present invention such as Fig. 1, shown in 2, include cabinet base 12 and be bearing in lathe bed 1 on the cabinet base 12, main screw mandrel guideway 5 and paranema rod guide pair 9 are installed on its medial bed 1, main servo motor 8 and secondary servomotor 8A are installed in respectively on main servo motor mount 7 and the secondary servomotor mount pad 7A, and be connected by the screw mandrel of shaft coupling respectively with main screw mandrel guideway 5 and paranema rod guide pair 9, worktable 3 and subtask platform 10 are installed in the both sides of lathe bed 1 respectively, drive the main screw mandrel guideway 5 of worktable 3 and 10 motions of subtask platform and the feed screw nut in the paranema rod guide pair 9 be fixed tightly in worktable 3 and subtask platform 10 below, can lay the load 4 of various quality sizes on the worktable 3, mover and worktable 3 as the first linear displacement grating chi 6 of position feedback transducer tighten up, mover and subtask platform 10 as the second linear displacement grating chi 6A of position feedback transducer tighten up, the signal output part of the first linear displacement grating chi 6 and the second linear displacement grating chi 6A is connected with the controller of test unit, and the first linear displacement grating chi 6 and the second linear displacement grating chi 6A form full cut-off ring elaborate servo drive system respectively with above-mentioned main driver element and secondary driver element.Select the screw mandrel guideway that possesses enough mechanical rigids for use according to the size that may produce impulsive force during type selecting, precision grade and results precision adapt.Lathe bed 1 will have enough rigidity, flexing resistance and absorbing; Main screw mandrel guideway 5, paranema rod guide pair 9 will possess enough mechanical rigids, can lay the load 4 of various quality sizes on the worktable 3, simulate the workpiece that will drive with this, the servomotor mount pad can be convenient for changing as mechanical interface, thereby different tested motors are installed.
Between above-mentioned main servo motor (8) and secondary servomotor (8A) and the shaft coupling and between shaft coupling and the screw mandrel and between screw mandrel and the feed screw nut all through the elimination interstitial treatment.
The controller of above-mentioned test unit is a digitial controller.
In the present embodiment, on the above-mentioned subtask platform 10 analog main shaft 11 is installed also, can installs on the analog main shaft 11 and be convenient to do the measuring basis that positional precision is measured.Above-mentioned subtask platform 10 can with worktable 3 fixed connections, unite and drive test, or throw off with worktable 3 and to connect, by main servo drive system and secondary servo drive unit system drive controlling respectively, carry out the driven in synchronism test.On analog main shaft, install and measure benchmark easily, be convenient to do positional precision and measure; Because in being similar to gantry crossbeam mobile model high-speed numeric control milling machine,, must adopt bilateral synchro system to drive when gantry span during greater than 2m.For main shaft and the heavy lathe of main spindle box, bilateral synchro system adopts master-slave mode intersection feedback principle to control, and the general tracking error of controlling requires less than 0.01mm.
In the present embodiment, the above-mentioned first linear displacement grating chi 6 and the second linear displacement grating chi 6A are accurate linear displacement grating chi.
An above-mentioned end at testing table lathe bed 1 is fixed for the resistance gauge 2 of simulation cutting resistance.Above-mentioned resistance gauge 2 is the hydraulic coupling device, or the atmospheric pressure device.In the present embodiment, above-mentioned resistance gauge 2 is made up of cylinder barrel and piston, and the oil-in of cylinder barrel is connected with oil pump 16 by retaining valve 14, and is connected with pressure adjusting pressuring valve 15 and tensimeter 13 between the oil-in of cylinder barrel and the retaining valve 14.Preestablish the size of pressure by pressure adjusting pressuring valve 15, thereby regulate the size that is applied to resistance on the worktable.
The test method of elaborate servo linear drive system performance test unit of the present invention, it can carry out following experiment:
1) on worktable, lays the structure of the load of various quality sizes, the workpiece that simulation will drive, speed and acceleration with various settings drives worktable then, bearing accuracy and running precision by accurate surveying work platform, the performance of evaluation servo-drive system is carried out the driveability test and the parameter testing of servo electric rotating machine and control module thereof;
2) down the link of respectively forming of system is carried out technical evaluation various imposing a condition, it is specially: under the constant situation of the driving control unit in the servo drive system, mechanical transmission unit, executive component and detection feedback element, change different tested servomotors, thereby evaluation servomotor technical target of the product provides performance to express and the evaluation method foundation.
3) on the basis of above-mentioned pilot project, elaborate servo linear drive system performance test unit of the present invention can carry out following experiment by resistance gauge:
1. worktable 3 promotes resistance gauge piston, testing platform feed accuracy with work feed speed;
2. worktable is forced in worktable by servo locked motionless by the resistance gauge piston, detects the servo-drive system rigidity;
3. the resistance gauge piston applies the maximum force of energy push work platform, detects the maximum thrust output of servo-drive system.
By apparatus of the present invention and above-mentioned test method, can carry out the driveability test and the parameter measurement of elaborate servo electric rotating machine and control module thereof, and down the link of respectively forming of system be carried out technical evaluation various imposing a condition.For example, under the constant situation such as the driving control unit in the servo drive system, mechanical transmission unit, executive component and detection feedback element, and change different tested servomotors, thereby evaluation servomotor technical target of the product provides performance to express and the evaluation method foundation.
Claims (9)
1, a kind of elaborate servo linear drive system performance test unit, include cabinet base (12) and be bearing in lathe bed (1) on the cabinet base (12), it is characterized in that being equipped with on the lathe bed (1) main screw mandrel guideway (5) and paranema rod guide pair (9), main servo motor (8) and secondary servomotor (8A) are installed in respectively on main servo motor mount (7) and the secondary servomotor mount pad (7A), and be connected by the screw mandrel of shaft coupling respectively with main screw mandrel guideway (5) and paranema rod guide pair (9), worktable (3) and subtask platform (10) are installed in the both sides of lathe bed (1) respectively, drive the main screw mandrel guideway (5) of worktable (3) and subtask platform (10) motion and the feed screw nut in the paranema rod guide pair (9) be fixed tightly in worktable (3) and subtask platform (10) below, can lay the load (4) of various quality sizes on the worktable (3), mover and worktable (3) as the first linear displacement grating chi (6) of position feedback transducer tighten up, mover and subtask platform (10) as the second linear displacement grating chi (6A) of position feedback transducer tighten up, the signal output part of the first linear displacement grating chi (6) and the second linear displacement grating chi (6A) is connected with the controller of test unit, and the first linear displacement grating chi (6) and the second linear displacement grating chi (6A) are formed full cut-off ring elaborate servo drive system respectively with above-mentioned main driver element and secondary driver element.
2, elaborate servo linear drive system performance test unit according to claim 1, it is characterized in that between above-mentioned main servo motor (8) and secondary servomotor (8A) and the shaft coupling and shaft coupling and screw mandrel between and between screw mandrel and the feed screw nut all through the elimination interstitial treatment.
3, elaborate servo linear drive system performance test unit according to claim 1 is characterized in that being equipped with on the above-mentioned subtask platform (10) analog main shaft (11), and analog main shaft (11) is gone up to install and is convenient to do the measuring basis that positional precision is measured.
4, elaborate servo linear drive system performance test unit according to claim 3, it is characterized in that above-mentioned subtask platform (10) can with worktable (3) fixed connection, can unite driving, or throw off connection, distinguish drive controlling with worktable (3).
5, elaborate servo linear drive system performance test unit according to claim 1 is characterized in that the above-mentioned first linear displacement grating chi (6) and the second linear displacement grating chi (6A) are accurate linear displacement grating chi.
6,, it is characterized in that an above-mentioned end at testing table lathe bed (1) is fixed for the resistance gauge (2) of simulation cutting resistance according to each described elaborate servo linear drive system performance test unit of claim 1 to 5.
7, elaborate servo linear drive system performance test unit according to claim 6 is characterized in that above-mentioned resistance gauge (2) is the hydraulic coupling device, or the atmospheric pressure device.
8, elaborate servo linear drive system performance test unit according to claim 7, it is characterized in that above-mentioned resistance gauge (2) is made up of cylinder barrel and piston (17), the oil-in of cylinder barrel is connected with oil pump (16) by retaining valve (14), and is connected with pressure adjusting pressuring valve (15) and tensimeter (13) between the oil-in of cylinder barrel and the retaining valve (14).
9, the test method of elaborate servo linear drive system performance test unit according to claim 6 is characterized in that carrying out following experiment:
1) on worktable, lays the structure of the load of various quality sizes, the workpiece that simulation will drive, speed and acceleration with various settings drives worktable then, bearing accuracy and running precision by accurate surveying work platform, the performance of evaluation servo-drive system is carried out the driveability test and the parameter testing of servo electric rotating machine and control module thereof;
2) down the link of respectively forming of system is carried out technical evaluation various imposing a condition, it is specially: under the constant situation of the driving control unit in the servo drive system, mechanical transmission unit, executive component and detection feedback element, change different tested servomotors, thereby evaluation servomotor technical target of the product provides performance to express and the evaluation method foundation.
3) when worktable (3) and subtask platform (10) fixed connection, can unite and drive test, when worktable (3) and subtask platform (10) are thrown off connection, and under the situation that load is different on each worktable by main servo drive system and secondary servo drive unit system drive controlling respectively, detect by precision, carry out the synchronous driving performance test.
4) on the basis of above-mentioned pilot project, carry out following test by applying resistance gauge:
1. worktable (3) promotes resistance gauge piston, the feed accuracy of testing platform with work feed speed;
2. worktable is forced in worktable by servo locked motionless by the resistance gauge piston, detects the servo-drive system rigidity;
3. the resistance gauge piston applies the maximum force of energy push work platform, detects the maximum thrust output of servo-drive system.
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| CN2008102193056A CN101414185B (en) | 2008-11-21 | 2008-11-21 | Device and method for testing accurate servo linear drive system performance |
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| CN2008102193056A CN101414185B (en) | 2008-11-21 | 2008-11-21 | Device and method for testing accurate servo linear drive system performance |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101762392B (en) * | 2010-01-29 | 2011-06-15 | 淮阴工学院 | Testing system of engineering vehicle engine and transmission system |
| CN102721542A (en) * | 2012-05-28 | 2012-10-10 | 广东高新凯特精密机械股份有限公司 | Heavy load service life testing machine for rolling linear guide rail pair |
| CN103213116A (en) * | 2013-05-06 | 2013-07-24 | 苏州凯欧机械科技有限公司 | Single-shaft high speed linear motor mechanical hand |
| CN103543028A (en) * | 2013-11-04 | 2014-01-29 | 江苏汇尔豪电机科技有限公司 | Servo motor performance test device and test system thereof |
| CN103558548A (en) * | 2013-11-04 | 2014-02-05 | 江苏汇尔豪电机科技有限公司 | Multifunctional servo motor performance testing device and testing system thereof |
| CN103592150A (en) * | 2013-11-12 | 2014-02-19 | 宁夏共享集团有限责任公司 | Vertical protection driving device |
| CN103868453A (en) * | 2014-01-24 | 2014-06-18 | 嘉兴华嶺机电设备有限公司 | Automatic detection device for direct driving grating ruler |
| CN103934723A (en) * | 2014-04-23 | 2014-07-23 | 清华大学 | Controllable adjusting and measuring device of ball screw pretightening force and pretensioning amount |
| TWI500902B (en) * | 2010-03-10 | 2015-09-21 | Kuroda Precision Ind Ltd | A parallel sliding device device and its control method and measuring device for pressure linear guide mode |
| CN106680712A (en) * | 2016-12-02 | 2017-05-17 | 中国科学院电工研究所 | Linear generator test platform |
| CN109186984A (en) * | 2018-09-30 | 2019-01-11 | 滨州学院 | Nozzle and oil duct coaxial positioning apparatus |
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- 2008-11-21 CN CN2008102193056A patent/CN101414185B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101762392B (en) * | 2010-01-29 | 2011-06-15 | 淮阴工学院 | Testing system of engineering vehicle engine and transmission system |
| TWI500902B (en) * | 2010-03-10 | 2015-09-21 | Kuroda Precision Ind Ltd | A parallel sliding device device and its control method and measuring device for pressure linear guide mode |
| CN102721542B (en) * | 2012-05-28 | 2015-01-14 | 广东高新凯特精密机械股份有限公司 | Heavy load service life testing machine for rolling linear guide rail pair |
| CN102721542A (en) * | 2012-05-28 | 2012-10-10 | 广东高新凯特精密机械股份有限公司 | Heavy load service life testing machine for rolling linear guide rail pair |
| CN103213116A (en) * | 2013-05-06 | 2013-07-24 | 苏州凯欧机械科技有限公司 | Single-shaft high speed linear motor mechanical hand |
| CN103543028A (en) * | 2013-11-04 | 2014-01-29 | 江苏汇尔豪电机科技有限公司 | Servo motor performance test device and test system thereof |
| CN103558548A (en) * | 2013-11-04 | 2014-02-05 | 江苏汇尔豪电机科技有限公司 | Multifunctional servo motor performance testing device and testing system thereof |
| CN103592150A (en) * | 2013-11-12 | 2014-02-19 | 宁夏共享集团有限责任公司 | Vertical protection driving device |
| CN103868453A (en) * | 2014-01-24 | 2014-06-18 | 嘉兴华嶺机电设备有限公司 | Automatic detection device for direct driving grating ruler |
| CN103934723A (en) * | 2014-04-23 | 2014-07-23 | 清华大学 | Controllable adjusting and measuring device of ball screw pretightening force and pretensioning amount |
| CN106680712A (en) * | 2016-12-02 | 2017-05-17 | 中国科学院电工研究所 | Linear generator test platform |
| CN106680712B (en) * | 2016-12-02 | 2019-03-22 | 中国科学院电工研究所 | A kind of linear electric generator test platform |
| CN109186984A (en) * | 2018-09-30 | 2019-01-11 | 滨州学院 | Nozzle and oil duct coaxial positioning apparatus |
| CN109186984B (en) * | 2018-09-30 | 2023-06-23 | 滨州学院 | Coaxial positioning device for nozzle and oil duct |
| CN111515755A (en) * | 2020-04-08 | 2020-08-11 | 江苏大学 | Guide rail performance test system |
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