CN104048844B - Mix-loaded servo drive system reliability test bench - Google Patents

Abstract

The invention discloses a reliability test bench for a hybrid loading servo drive system. In order to overcome the problems of the prior art that the loading method is simple and cannot reflect the actual working conditions of the servo drive system, the test bench includes a servo motor support part, an inertia loading part, Torque loading part, vibration temperature and humidity loading part and automatic control part. The supporting part of the servo motor is installed on the left side of the horizontal iron (1), the inertia loading part is installed on the horizontal iron (1) on the right side of the servo motor supporting part, and the torque loading part is installed on the horizontal iron (1) on the right side of the inertia loading part Above; the measured servo motor (11) is connected with the left end of the stepped shaft (8) in the inertia loading part, and the right end of the stepped shaft (8) in the inertia loading part is connected with the output shaft of the dynamometer (2) in the torque loading part The shaft coupling is connected, and the RS‑232C port of the vibration temperature and humidity loading part is connected with the RS‑232C port wire of the industrial computer (13) of the automatic control part.

Description

Mixed loading servo drive system reliability test bench

technical field

The invention relates to a test device applied to the reliability of a servo drive system, more precisely, the invention relates to a reliability test bench for a mixed-loaded servo drive system which realizes inertia and torque loading on the servo drive system and conducts reliability tests .

Background technique

The development of numerical control technology has created opportunities for the take-off of the manufacturing industry. The performance and number of use of numerical control machine tools are important standards for measuring a country's industrial development. my country is now a big country in the production and use of CNC machine tools. The developed CNC machine tools have made great progress in terms of precision, speed, and multi-axis linkage control. However, the main component of CNC machine tools—the servo drive system, its performance and reliability There is still a certain gap between the performance level and the international advanced products, and it needs to be improved. The servo drive system has become one of the bottlenecks in the development of the domestic CNC machine tool industry, and it is urgent to solve this problem. Therefore, the research and development of the reliability test device and test technology of the servo drive system has extremely important practical significance, and the improvement of the reliability level of the servo drive system plays an important role in the improvement of the reliability level of the whole machine.

The research on the reliability test of servo drive system in our country started relatively late, and there are only some reliability test devices with simple loading methods at present. For example, some test benches can carry out dry running test on the servo motor of the servo drive system, or use simple mechanical loading. There is a big gap between the simulated working conditions and the real working conditions, and it is impossible to quickly and accurately find faults in the test. location and cause of failure.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the problem that the current servo drive system reliability test bench has a simple loading method and cannot reflect the actual working conditions of the servo drive system, and provides a set that can simulate the actual working conditions and perform torque on the servo drive system. Reliability test bench for mixed loading servo drive system with mixed loading of inertia and inertia.

In order to solve the above technical problems, the present invention is realized by adopting the following technical scheme: the reliability test bench of the hybrid loading servo drive system includes a servo motor support part, an inertia loading part, a torque loading part, a vibration temperature and humidity loading part and an automatic Control section.

The supporting part of the servo motor is installed on the left side of the horizontal iron, the inertia loading part is installed on the horizontal iron on the right side of the servo motor supporting part, and the torque loading part is installed on the horizontal iron on the right side of the inertia loading part; it is installed in the supporting part of the servo motor The output shaft of the servo motor under test on the servo motor support base is connected with the left end of the stepped shaft in the inertia loading part by No. 2 diaphragm coupling, and the right end of the stepped shaft in the inertia loading part is connected by No. 1 diaphragm coupling. The output shaft connection of the dynamometer in the shaft device and the torque loading part, the rotation axis of the output shaft of the dynamometer, the rotation axis of the No. 1 diaphragm coupling, the rotation axis of the stepped shaft, and the rotation axis of the No. 2 diaphragm coupling The axis of rotation is in line with the axis of rotation of the servo motor under test; the vibration temperature and humidity loading part, that is, the RS-232C port of the vibration temperature and humidity test chamber is connected with the RS-232C port of the industrial computer in the automatic control part. Connect the power interface of the servo amplifier to the wire of the servo motor under test.

The supporting part of the servo motor includes a servo motor support seat and a motor adjusting backing plate. The servo motor support seat is formed by welding or mechanically connecting the bottom plate and the vertical support wall. The angle between it and the vertical support wall is 90 degrees; the bottom plate is a plate structure with an inverted "T" cross-section, and four U-shaped openings are symmetrically arranged at the four corners, and the center of the vertical support wall is set. There are circular through holes, the diameter of which is larger than the diameter of the output shaft of the servo motor to be tested, and there are four elongated through holes with the same structure along the radial direction of the circular through hole evenly distributed around the circular through hole for installing different types of measured servo motors. The motor adjustment backing plate is installed under the servo motor support base, and the bottom surface of the servo motor support base is in contact with the top surface of the motor adjustment backing plate.

The inertia loading device includes an inertia plate, 4 T-nuts with the same structure, 4 inertia sliders with the same structure and 4 bolts with the same structure. The inertia disk is a disc, the center of which is provided with a circular through hole, and 4 T-shaped slots with the same structure are arranged in the radial direction around the circular through hole of the inertia disc, and the T-shaped slots are provided with scales, 4 The inner ends of two T-shaped slots with the same structure are not connected with the round through hole, and the included angle between two adjacent T-shaped slots is 90 degrees. The centers of the four inertia sliders with the same structure are all provided with circular through-holes fitted with bolts. The 4 T-shaped nuts with the same structure are put into the 4 T-shaped slots with the same structure as a sliding connection, and the 4 inertia sliders with the same structure are placed above the T-shaped nuts, and the inertia sliders are connected to the assembly by bolts. The T-nuts in the T-slots are connected, that is, the four inertia sliders with the same structure are fixed on the inertia disk.

The vibration temperature and humidity loading part is the vibration temperature and humidity test chamber, and the servo amplifier is fixed to the plane with T-shaped grooves in the vibration temperature and humidity test chamber through T-shaped bolts;

The reliability test bench of the hybrid loading servo drive system can realize reliability tests of three working conditions, namely, the reliability test of inertia and torque loading on the servo motor, the reliability test of inertia loading on the servo motor, and the reliability test of the servo motor. The motor is tested for reliability under torque loading.

The reliability test for inertia and torque loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part.

The reliability test for inertia loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a vibration temperature and humidity loading part and an automatic control part.

The reliability test of torque loading on the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part.

The motor adjusting backing plate described in the technical solution includes an upper wedge plate, a lock nut, a lower wedge plate, a screw nut and a screw mandrel. The upper wedge-shaped plate is a rectangular plate structure with a slope from left to right. A support seat is welded in the middle of the upper wedge-shaped plate. A round through hole is arranged in the center of the support seat. The longitudinal symmetry planes are coplanar, and four threaded holes are evenly distributed around the round through hole; the screw nut with the threaded hole in the center is installed in the support seat, and the two sides of the support seat are symmetrically provided with parallel cross-sections. guide. The lower wedge-shaped plate is a rectangular plate-like structure with a slope from left to right, and the slope of the lower wedge-shaped plate from left to right is the same as that of the upper wedge-shaped plate from left to right, but the slope The direction is opposite, and a supporting platform is welded at the left and right ends of the lower wedge-shaped plate, and the centers of the left and right two supporting platforms are all provided with round through holes. The two sides of the supporting platform at the left and right ends are symmetrically provided with guide rail grooves with a rectangular cross section parallel to each other. The upper wedge-shaped plate is installed on the lower wedge-shaped plate, and the screw nut installed in the support seat on the upper wedge-shaped plate is set on the screw rod, and the two guide rails on the upper wedge-shaped plate are installed in the two guide rail grooves on the lower wedge-shaped plate, and the lock Tight nut is installed on the right end of the screw mandrel that stretches out from the support platform circular through hole of right end.

The inertia loading part described in the technical solution also includes a No. 1 bearing supporting device, a sleeve, an inertia loading device and a No. 2 bearing supporting device. The stepped shaft is provided with shaft sections No. 1 to No. 7 with different diameters from right to left. The inertia loading device is set on the No. 3 shaft section of the stepped shaft. The right end surface of the No. 1 shaft section is contacted and connected, the left end surface of the sleeve is contacted and connected with the right end surface of the inertia disk in the inertia loading device, the right end surface of the sleeve is connected with the left end surface of the left end cover in the No. 1 bearing support device, and The sleeve and the No. 1 bearing support device are set on the No. 2 shaft section of the stepped shaft, the No. 2 bearing support device is set on the No. 6 shaft section of the stepped shaft, and the right end cover of the No. The left end face of the No. 5 shaft section is connected in contact, and the No. 1 bearing support device and the No. 2 bearing support device are fixed on the horizontal iron (1) by bolts.

The No. 1 bearing support device described in the technical solution has the same structure as the No. 2 bearing support device; the No. 1 bearing support device includes a right end cover, a retaining spring, a bearing, a bearing seat and a left end cover. The rotation axis of the left end cover is provided with a circular through hole, and there are 4 bolt through holes evenly distributed around the circular through hole. The left end cover is fixed on the left end surface of the bearing seat with bolts, and the right end surface of the left end cover is connected with the outer bearing ring of the bearing. The left end face is in contact, the bearing is installed in the center through hole of the bearing seat, the circlip is installed in the circlip groove on the stepped shaft, the right end face of the bearing inner bearing ring is in contact with the left end face of the circlip, and the rotation axis of the right end cover is set There are round through holes, and bolt through holes are evenly distributed around the circumference of the round through holes. The right end cover is fixed on the right end surface of the bearing seat by bolts, and the left end surface of the right end cover is in contact with the right end surface of the outer bearing ring of the bearing.

The bearing seat described in the technical proposal is welded by a horizontal cuboid bottom plate and a cuboid vertical support wall, and a round through hole for installing the bearing is set at the center of the upper half of the cuboid vertical support wall. The left and right end faces of the hole are evenly distributed circumferentially with threaded blind holes for connecting the left end cover and the right end cover, and the front and rear sides of the horizontal cuboid bottom plate are provided with U-shaped opening grooves for installing T-bolts.

The torque loading part described in the technical solution also includes a water cooler. The dynamometer in the torque loading part adopts the model DW10 eddy current dynamometer, the water cooler chooses the model LW35 water cooler, the dynamometer is fixed on the ground iron with bolts, and the water inlet and outlet on the dynamometer The water port is respectively connected with the water outlet and the water inlet of the water cooler through pipelines.

The automatic control part described in the technical proposal also includes a numerical control system, a programmable controller and a dynamometer controller. The RS-232C port of the industrial computer is connected with the RS-232C port wire of the programmable controller, the RS-232C port of the industrial computer is connected with the RS-232C port wire of the dynamometer controller, and the RS-232C port of the industrial computer (13) is The port is connected to the RS-232C port of the numerical control system, the input and output interfaces of the numerical control system are connected to the input unit and output unit of the programmable controller with wires, the axis control interface of the numerical control system is connected to the servo drive interface of the servo amplifier; the servo amplifier The encoder interface is connected to the encoder wire.

Compared with prior art, the beneficial effects of the present invention are:

1. The hybrid loading servo drive system reliability test bench of the present invention uses an inertia loading device to carry out inertia loading on the servo drive system to simulate the load torque of the servo motor during start-stop and speed change, and simultaneously utilizes a dynamometer to control the servo drive. The system performs torque loading to simulate the load torque on the servo motor at a constant speed. Through the reliability test of the tested servo drive system simulating real working conditions, product failures are exposed and stimulated, and practical basic data are provided for product reliability growth and evaluation.

2. The inertia loading device of the hybrid loading servo drive system reliability test bench according to the present invention can realize continuous adjustment of inertia without replacing the original inertia disk according to different load requirements, which reflects the advantages of this test bench. flexibility.

3. The height of the supporting part of the servo motor in the reliability test bench of the hybrid loading servo drive system according to the present invention can be continuously adjusted, and the height of the supporting part of the servo motor can be adjusted according to different servo motor models, so as to realize the axis of the output shaft of the servo motor, the bearing The supporting device and the axis of the output shaft of the dynamometer are collinear, reflecting the flexibility and versatility of the test bench.

4. In the hybrid loading servo drive system reliability test bench of the present invention, the load torque applied when the dynamometer is used to carry out the uniform speed of the servo motor, the maximum absorbed power of the dynamometer is 10KW, the maximum speed is 13000rpm, and the maximum load torque is 50Nm. It is more practical to carry out the loading test on the servo motor with high power and high speed.

5. The numerical control system in the reliability test bench of the hybrid loading servo drive system according to the present invention can be remotely controlled by the industrial computer, and simulate and observe the input and output signals of the numerical control system through the programmable logic controller (PLC) and the industrial computer. The machine controls the vibration temperature and humidity test chamber to realize the environmental conditions of the servo amplifier under actual working conditions.

Description of drawings

Below in conjunction with accompanying drawing, the present invention will be further described:

Fig. 1 is the axonometric projection diagram of the inertia and torque loading state of the servo motor by the hybrid loading servo drive system reliability test bench of the present invention;

Fig. 2 is the axonometric projection diagram of the inertia loading state of the servo motor by the hybrid loading servo drive system reliability test bench of the present invention;

Fig. 3 is the axonometric projection diagram of the torque loading state of the servo motor by the hybrid loading servo drive system reliability test bench of the present invention;

Fig. 4 is the decomposed axonometric projection diagram of the inertia loading device in the hybrid loading servo drive system reliability test bench of the present invention;

5 is an exploded axonometric projection view of the bearing support device in the hybrid loading servo drive system reliability test bench according to the present invention;

6 is an axonometric projection view of the servo motor support seat in the hybrid loading servo drive system reliability test bench of the present invention;

Fig. 7 is an exploded axonometric projection view of the motor adjustment backing plate in the reliability test bench of the hybrid loading servo drive system according to the present invention;

8 is an exploded axonometric projection view of the upper wedge-shaped plate in the motor adjustment backing plate in the reliability test bench of the hybrid loading servo drive system according to the present invention;

Fig. 9 is a schematic block diagram of the structural principle of the automatic control part and the connection relationship with other components in the reliability test bench of the hybrid loading servo drive system according to the present invention.

In the figure: 1. Horizontal iron, 2. Dynamometer, No. 3.1 diaphragm coupling, No. 4.1 bearing support device, 5. Sleeve, 6 inertia loading device, No. 7.2 bearing support device, 8. Ladder shaft, 9.2 Diaphragm coupling, 10. Servo motor support seat, 11. Servo motor, 12. Motor adjustment pad, 13. Industrial computer, 14. Inertia disc, 15. T-type nut, 16. Inertia slider, 17. Bolt, 18. Right end cover, 19. Circlip, 20. Bearing, 21. Bearing seat, 22. Left end cover, 23. Upper wedge plate, 24. Lock nut, 25. Lower wedge plate, 26. Screw nut, 27 .Screw.

detailed description

The present invention is described in detail below in conjunction with accompanying drawing:

The reliability test bench of the hybrid loading servo drive system consists of a servo motor support part, an inertia plus

Loading part, torque loading part, vibration temperature and humidity loading part and automatic control part.

The servo motor supporting part is installed on the left side of the horizontal iron 1, the inertia loading part is installed on the horizontal iron 1 on the right side of the servo motor supporting part, and the torque loading part is installed on the horizontal iron 1 on the right side of the inertia loading part; installed on the servo motor The output shaft of the measured servo motor 11 on the servo motor support base 10 in the supporting part is connected by the No. 2 diaphragm coupling 9 and the left end of the stepped shaft 8 in the inertia loading part, and the stepped shaft 8 in the inertia loading part The right end of the No. 1 diaphragm coupling 3 is connected to the output shaft of the dynamometer 2 in the torque loading part, the rotation axis of the output shaft of the dynamometer 2, the rotation axis of the No. 1 diaphragm coupling 3, and the stepped shaft The rotation axis of 8, the rotation axis of No. 2 diaphragm coupling 9 and the rotation axis of the servo motor 11 under test are in line; the vibration temperature and humidity loading part is the input and output line of the servo amplifier in the vibration temperature and humidity test chamber and the external The industrial computer 13 in the automatic control part is connected with the programmable logic controller (PLC) and the dynamometer controller respectively, the programmable logic controller (PLC) is connected with the numerical control system, and the numerical control system is connected with the servo amplifier.

1. Servo motor support part

The servo motor support part includes a servo motor support base 10 and a motor adjustment backing plate 12 . The motor adjustment backing plate 12 is installed under the servo motor support base 10 , and the bottom surface of the servo motor support base 10 is in contact with the top surface of the motor adjustment backing plate 12 .

Referring to Figures 1 and 6, the servo motor support base 10 is an "L"-shaped plate structure, which is formed by welding or mechanically connecting the bottom plate and the vertical support wall, and the left/right sides of the bottom plate and the vertical support wall For contact connection, the bottom end surface of the bottom plate is coplanar with the bottom end surface of the vertical support wall, and the included angle between the bottom plate and the vertical support wall is 90 degrees. The bottom plate is a plate structure with an inverted "T"-shaped cross-section, and four U-shaped openings are symmetrically arranged at its four corners, which are used to pass T-shaped bolts to fix the servo motor support base 10 on the horizontal iron 1. The cross-section of the bottom plate is designed as an inverted "T" shape to prevent the T-shaped bolts from interfering with the servo motor 11 when passing through the U-shaped opening to fix the motor support base 10 . The center of the vertical support wall is provided with a circular through hole, the diameter of which is larger than the diameter of the output shaft of the servo motor 11, and four elongated through holes with the same structure along the radial direction of the circular through hole are evenly distributed around the circular through hole, which can realize different types of The servo motor 11 is fixedly connected with the bolts of the vertical support wall in the motor support base 10 through four elongated holes.

Referring to FIG. 1 , FIG. 7 and FIG. 8 , the motor adjustment backing plate 12 includes an upper wedge-shaped plate 23 , a lock nut 24 , a lower wedge-shaped plate 25 , a screw nut 26 and a screw rod 27 . The motor adjustment backing plate 12 is placed between the motor support base 10 and the horizontal iron 1 .

The upper wedge-shaped plate 23 is a rectangular plate structure with a slope from left to right. A support seat is welded in the middle of the upper wedge-shaped plate 23. A round through hole is arranged at the center of the support seat. The rotation axis of the round through hole is in line with the upper The longitudinal symmetry planes of the wedge-shaped plate 23 are coplanar, and four threaded holes are evenly distributed around the round through hole; the screw nut 26 in the shape of a "D" with a threaded hole is arranged in the center and is installed in the support seat, and the screws are connected with the upper wedge-shaped plate. The support seat on the 23 is fixedly connected, and the two sides of the support seat are symmetrically provided with mutually parallel cross-sections that are rectangular through guide rails.

The lower wedge-shaped plate 25 is a rectangular plate-like structure with a slope from left to right, and the slope of the lower wedge-shaped plate 25 from left to right is the same as that of the upper wedge-shaped plate 23 from left to right. But the direction of inclination is opposite, like this, after last wedge-shaped plate 23 is installed on the following wedge-shaped plate 25, the top end surface of last wedge-shaped plate 23 is parallel with the bottom surface of following wedge-shaped plate 25, respectively welds a support platform at the left and right ends of lower wedge-shaped plate 25, The center of the left and right support platforms is provided with a circular through hole, the screw mandrel 27 is inserted into the circular through hole of the support platform at the left and right ends of the lower wedge plate 25, and the lock nut 24 is installed on the right end of the screw mandrel 27 protruding from the support platform circular through hole at the right end Up, the screw mandrel 27 is installed on the upper surface of the lower wedge-shaped plate 25 through the support platforms at the left and right ends of 5; the two sides of the support platforms at the left and right ends of the lower wedge-shaped plate 25 are symmetrically provided with mutually parallel cross-sections that are rectangular through guide rails Groove, two guide rail grooves on the lower wedge-shaped plate 25 are matched with two guide rails on the upper wedge-shaped plate 23, and are slidingly connected between the two.

Last wedge-shaped plate 23 is placed on the lower wedge-shaped plate 25, and the screw nut 26 in the support seat on the upper wedge-shaped plate 23 is sleeved on the screw mandrel 27, and two guide rails on the upper wedge-shaped plate 23 are packed into two guide rails on the lower wedge-shaped plate 25. In the guide rail groove, the lower wedge-shaped plate 25 is fixed, and by rotating the screw rod 27, the upper wedge-shaped plate 23 moves left and right relative to the lower wedge-shaped plate 25 along the two guide rail grooves, and the height of the backing plate 12 is adjusted by adjusting the motor, so that the measured The axis of rotation of the output shaft on the servo motor 11, the axis of rotation of the output shaft of the dynamometer 2, the axes of rotation of the No. 1 bearing support device 4 and the No. 2 bearing support device 7 are collinear. After the height of the servo motor 11 under test is adjusted, the motor adjustment backing plate 12 is locked by the locking nut 24 .

2. Inertia loading part

The inertia loading part includes No. 1 bearing supporting device 4 , sleeve 5 , inertia loading device 6 , No. 2 bearing supporting device 7 and stepped shaft 8 .

1 and 5, the No. 1 bearing support device 4 and the No. 2 bearing support device 7 have the same structure. The No. 1 bearing supporting device 4 includes a right end cover 18 , a snap spring 19 , a bearing 20 , a bearing seat 21 and a left end cover 22 .

The bearings 20 used in the No. 1 bearing support device 4 and the No. 2 bearing support device 7 of the present invention are deep groove ball bearings, which are installed in a face-to-face manner. The rotation axis of the left end cover 22 is provided with a round through hole, and there are 4 bolt through holes evenly distributed around the round through hole. The left end cover 22 is fixed on the left end surface of the bearing seat 21 by bolts, and the right end surface of the left end cover 22 is in contact with the bearing 20 The left end surface of the outer bearing ring is in contact with each other to play a positioning role. The bearing 20 is installed in the center through hole of the bearing seat 21, and the circlip 19 is installed in the circlip groove on the stepped shaft 8, between the bearing 20 and the right end cover 18 The right end surface of the inner bearing ring of the bearing 20 is in contact with the left end surface of the circlip 19 to play a positioning role to prevent the axial movement of the bearing 20. A circular through hole is arranged at the rotation axis of the right end cover 18, and the circumference of the circular through hole is uniformly distributed with bolt through holes , The right end cover 18 is fixed on the right end face of the bearing seat 21 by bolts, and the left end face of the right end cover 18 is in contact with the right end face of the outer bearing ring of the bearing 20 to play a positioning role. The stepped shaft 8 and the inner bearing ring of the bearing 20 are connected by an interference fit.

Referring to Fig. 1 and Fig. 5, the bearing seat 21 is welded and connected by a horizontal cuboid bottom plate and a cuboid vertical support wall, and a center of the upper half of the cuboid vertical support wall is provided for placing The round through hole of the stepped shaft 8 and the bearing 20, the left and right end faces of the round through hole are evenly distributed with threaded blind holes on the circumference, which are used for bolt connection with the left end cover 22 and the right end cover 18, and the front and rear sides of the horizontal cuboid bottom plate are arranged There is a U-shaped open slot for fixing the bearing block 21 on the horizontal iron 1 through T-bolts.

The stepped shaft 8 is a shaft structural member, which is provided with shaft sections with different diameters from No. 1 to No. 7 from right to left. The No. 1 shaft section and No. 7 shaft section at both ends of the shaft are provided with key grooves, which are respectively used for Install No. 1 diaphragm coupling 3 and No. 2 diaphragm coupling 9, install No. 1 bearing support device 4 and sleeve 5 on No. 2 shaft section, and install No. 3 shaft section for inertia loading device 6, No. 4 shaft Section 5 and No. 5 shaft section are used as positioning shoulders to position inertia loading device 6 and No. 2 bearing support device 7 respectively, and No. 2 bearing support device 7 is installed on No. 6 shaft section.

Referring to FIG. 4 , the inertia loading device 6 includes an inertia plate 14 , four T-nuts 15 with the same structure, four inertia sliders 16 with the same structure and four bolts 17 with the same structure.

The inertia disk 14 is a disk, the center of the disk is provided with a circular through hole, and 4 T-shaped grooves with the same structure are arranged along the radial direction around the 14 circular through holes of the inertia disk, and the 4 T-shaped grooves with the same structure The inner end of the tube is not connected to the round through hole, and the four T-shaped slots with the same structure are arranged opposite to each other, and the angle between two adjacent T-shaped slots is 90 degrees. The inertia disk 14 is fitted on the stepped shaft 8 through the round through hole in the center to form an interference fit. The inertia disk 14 rotates with the stepped shaft 8. The left end surface of the inertia disk 14 is in contact with the No. 4 shaft section of the stepped shaft 8 for positioning. Function, the right end surface is in contact with the sleeve 5 to play a positioning role and prevent the axial movement of the inertia disk 14.

The center of the four inertia sliders 16 with the same structure is provided with a round through hole matched with the T-shaped nut 15 and the bolt 17, the inertia slider 16 is placed above the T-shaped nut 15, and the inertia slider 16 passes through the T-shaped The screw connection of nut 15 and bolt 17 is fixed on the inertia plate 14, slides in the T-shaped groove by T-shaped nut 15, changes the position of inertia slider 16 on the inertia plate 14, and the T-shaped groove of inertia plate 14 is provided with There are scales to ensure that after changing the position of the inertia slider 16 on the inertia disk 14, the inertia slider 16 in the four directions is still on the same circumference, so as to ensure the dynamic balance of the inertia loading device 6 when rotating. Under the principle of matching the motor load inertia, it is possible to change the position of the inertia slider 16 on the T-slot, replace the inertia slider 16 with a different quality, or change the position of the inertia slider 16 on the T-slot and replace different T-slots at the same time. The mass inertia slider 16 is used to change the inertia of the inertia loading device 6 .

Referring to Fig. 1, when the inertia and torque are loaded on the servo motor 11, the inertia loading device 6 is first installed on the No. 3 shaft section through interference fit, and the No. 4 shaft section acts as a positioning shoulder to position the inertia loading device 6 , and then install the No. 1 bearing support device 4 and the No. 2 bearing support device 7 on the No. 2 shaft section and the No. 6 shaft section respectively, and the No. 5 shaft section serves as a positioning shoulder for positioning the No. 2 bearing support device 7. The cylinder 5 is installed on the No. 2 shaft section between the No. 1 bearing support device 4 and the inertia loading device 6, and plays a positioning role for the inertia loading device 6 and the No. 1 bearing support device 4. Finally, the No. 7 shaft section of the stepped shaft 8 The No. 2 diaphragm coupling 9 is keyed to the right end of the servo motor 11, and the No. 1 shaft section is keyed to the left end of the dynamometer 2 through the No. 1 diaphragm coupling 3 to transmit torque.

Referring to Fig. 2, when inertia loading is performed on the servo motor 11, the inertia loading device 6 is installed on the No. No. 1 bearing supporting device 4 and No. 2 bearing supporting device 7 are respectively installed on No. 2 shaft section and No. 6 shaft section. No. 5 shaft section is used as a positioning shoulder to position No. 2 bearing supporting device 7. On the No. 2 shaft section between the No. 1 bearing support device 4 and the inertia loading device 6, the inertia loading device 6 and the No. 1 bearing support device 4 are positioned, and finally the shaft section 7 of the stepped shaft 8 passes through the No. 2 film The right end key connection of sheet coupling 9 and servomotor 11.

3. Torque loading part

The torque loading part includes a dynamometer 2 and a water cooling machine.

In order to realize the torque loading under the condition of high speed and automatic control, the dynamometer 2 should choose a dynamometer with small moment of inertia, high allowable speed, closed-loop control, and can be automatically controlled by industrial computer. The present invention takes the eddy current dynamometer of model DW10 as an example, and performs torque loading on the servo motor 11 . In order to realize that the dynamometer 2 can perform torque loading for a long time at the allowable temperature, a water cooler should be used for cooling, and the liquid type can be water, aqueous solution or other non-corrosive liquids. The present invention is the use of the eddy current dynamometer that the model is DW10, selects the water cooling machine that the model is LW35, and the liquid type is water. The dynamometer 2 is fixed on the horizontal iron 1 by bolts, and the water inlet and the water outlet on the dynamometer 2 are respectively connected with the water outlet and the water inlet of the water cooler through pipelines.

Referring to Fig. 1, when the inertia and torque are applied to the servo motor 11, the output shaft at one (left) end of the dynamometer 2 is connected to the one (right) end of the No. 1 diaphragm coupling 3 with a key, and the No. 1 diaphragm coupling The other (left) end of the shaft device 3 is keyed to the one (right) end of the stepped shaft 8, the other (left) end of the stepped shaft 8 is keyed to the one (right) end of the No. 2 diaphragm coupling 9, and the No. 2 diaphragm The other (left) end of the sheet coupling 9 is keyed to the right end of the servo motor 11. The rotation axis of the output shaft of the dynamometer 2, the rotation axis of the No. 1 diaphragm coupling 3, the rotation axis of the stepped shaft 8, the rotation axis of the No. 2 diaphragm coupling 9 and the rotation axis of the servo motor 11 under test collinear.

Referring to Figure 3, when torque is applied to the servo motor 11, the output shaft at one (left) end of the dynamometer 2 is keyed to the one (right) end of the No. 2 diaphragm coupling 9, and the No. 2 diaphragm coupling The other (left) end of device 9 is connected with the right end key of servo motor 11. The axis of rotation of the output shaft of the dynamometer 2, the axis of rotation of the No. 2 diaphragm coupling 9, and the axis of rotation of the servo motor 11 under test are collinear.

4. Vibration temperature and humidity loading part

The vibration temperature and humidity loading part is the vibration temperature and humidity test chamber.

The vibration temperature and humidity test chamber can adjust the temperature and humidity, and can realize the adjustable amplitude at different frequencies at the same time, and the vibration direction is the sweeping movement in the three directions of X, Y, and Z axes. The model of the vibration temperature and humidity test chamber of the present invention is TEMI-880, the adjustable temperature range is -20°C~50°C, the adjustable humidity range is 30~95% R.H, the adjustable range of vibration frequency is 1~600HZ, and the adjustable range of amplitude is 1~600HZ. The range is 1 ~ 5mm. The vibration temperature and humidity test box is equipped with a programming controller and RS-232/485 interface. There are upper and lower layers inside the box. Both layers are airtight and isolated from each other. Humidity adjustment, the lower layer is equipped with a sweeping vibration device to push the upper layer to sweep and vibrate.

The RS-232C port of the vibration temperature and humidity test box is connected with the RS-232C port of the industrial computer 13, thereby realizing the control of the parameters of the vibration temperature and humidity test box by the industrial computer.

5. Automatic control part

Referring to Fig. 9, the automatic control part includes an industrial computer 13, a numerical control system, a programmable logic controller (PLC), a servo amplifier and a dynamometer controller.

Described industrial computer 13 is provided with communication interfaces such as RS-232/485, USB, can write control program on industrial computer, the RS-232C port of industrial computer 13 and the RS-232C port of dynamometer controller, programmable control The RS-232C port of the controller (PLC) is connected with the RS-232C port of the numerical control system, so as to realize the automatic control of each connected component.

The model of the dynamometer controller is ET2100, which is used in conjunction with the dynamometer 2. It is equipped with communication and control interfaces such as RS-232/485 interface, torque speed input interface, and excitation current interface. The RS of the dynamometer controller The -232C port is connected with the RS-232C port wire of the industrial computer 13, the torque speed input interface of the dynamometer controller is connected with the torque speed interface wire of the dynamometer 2, and the excitation current interface of the dynamometer controller is connected with the dynamometer 2. The excitation current interface wire connection.

Described programmable logic controller (PLC) model is CP1H, is provided with input unit, output unit, USB interface and RS-232C port, the RS-232C port of programmable logic controller (PLC) and the RS-232C of industrial computer 13 The port wires are connected, and the input unit and output unit of the programmable logic controller (PLC) are connected with the input and output interface wires of the numerical control system.

The model of the numerical control system is GSK988T, which includes a display screen, an operation panel and a control panel, and is equipped with control interfaces such as RS-232/485, USB, input and output interfaces, and axis control interfaces. The RS-232C port of the numerical control system is connected to the industrial computer 13 RS-232C port wire connection, the input and output interface of the numerical control system is connected with the input unit and output unit of the programmable logic controller (PLC), the axis control interface of the numerical control system is connected with the servo drive interface of the servo amplifier.

The servo amplifier is provided with a servo drive interface, a power supply interface, an encoder interface, etc., the servo drive interface of the servo amplifier is connected with the shaft control interface wire of the numerical control system, the encoder interface of the servo amplifier is connected with the encoder wire, and the servo amplifier's The power interface is connected with the servo motor 11 electric wires. By receiving and processing signals from CNC systems, encoders, etc., the closed-loop control of the servo drive system is realized.

Referring to Fig. 1, Fig. 2 and Fig. 3, the reliability test bench of the mixed loading servo drive system according to the present invention can realize reliability tests of three kinds of working conditions, respectively carrying out inertia and torque loading reliability tests on servo motors, The reliability test of the inertia loading of the servo motor and the reliability test of the torque loading of the servo motor.

The reliability test for inertia and torque loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part.

The reliability test for inertia loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a vibration temperature and humidity loading part and an automatic control part.

The reliability test of torque loading on the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part.

The working principle of the hybrid loading servo drive system reliability test bench:

Refer to Figure 1, which shows a schematic diagram of the inertia and torque loading test of the servo motor 11. First, the sleeve 5 and the inertia loading device 6 are installed on the stepped shaft 8, and the No. 1 bearing supports the No. 4 and No. 2 bearings. The bearing supporting device 7 supports both ends of the stepped shaft 8, the servo motor 11 is installed on the servo motor support base 10, and then the servo motor 11 and the servo motor support base 10 are placed on the motor adjustment pad 12, and then the stepped shaft 8 One (left) end is connected to the servo motor 11 through the No. 2 diaphragm coupling 9, and the height of the backing plate 12 is adjusted by adjusting the motor so that the axis line of the servo motor 11 under test and the axis of the output shaft of the dynamometer 2 The center line, the axis line of the No. 1 bearing support device 4 and the No. 2 bearing support device 7 are collinear, and finally the other (right) end of the stepped shaft 8 is connected to the dynamometer 2 through the No. 1 diaphragm coupling 3 .

Refer to Figure 2, which shows a schematic diagram of the inertia loading test of the servo motor 11. First, the sleeve 5 and the inertia loading device 6 are installed on the stepped shaft 8, and supported by the No. 1 bearing support device 4 and the No. 2 bearing The device 7 supports both ends of the stepped shaft 8, the servo motor 11 is installed on the servo motor support base 10, and then the servo motor 11 and the servo motor support base 10 are placed on the motor adjustment backing plate 12, and then the stepped shaft 8-( The left) end is connected to the servo motor 11 through the No. 2 diaphragm coupling 9, and the height of the backing plate 12 is adjusted by adjusting the motor so that the axis line of the measured servo motor 11 and the axis line of the No. 2 bearing support device 7 collinear.

Referring to Fig. 3, a schematic diagram of the torque loading test of the servo motor 11 is shown in the figure. Firstly, the servo motor 11 is installed on the servo motor support base 10, and then the servo motor 11 and the servo motor support base 10 are placed on the motor adjustment On the backing plate 12, adjust the height of the backing plate 12 by adjusting the motor, so that the axis line of the servo motor 11 under test and the axis line of the dynamometer 2 are collinear, and finally pass the output shaft of the servo motor 11 through the No. 1 film The disc coupling 3 is connected with the dynamometer 2.

Referring to Fig. 4, the schematic diagram of the inertia loading device 6 is shown in the figure, and a plurality of inertia sliders 16 with successively increasing masses can be designed. Proportional, it can be changed by changing the position of the inertia slider 16 on the inertia disk 14, changing the inertia slider 16 of different mass or changing the position of the inertia slider 16 on the inertia disk 14 and replacing the inertia slider 16 of different mass The inertia of the inertia loading device 6 can be changed to change the inertia loading of the servo motor 11, and the reliability test can be performed on the servo drive system with different load inertia without changing the inertia disk.

Referring to Fig. 9, select certain torque and speed parameters on the VB control interface of the industrial computer 13, communicate with the dynamometer controller through the RS-232C port, and the dynamometer controller controls the dynamometer by adjusting the excitation current according to the set parameters. The dynamometer 2 applies torque to the rotating servo motor 11 and controls the speed of the servo motor 11. The torque sensor and speed sensor included in the dynamometer 2 feed back the detected torque and speed signals to the dynamometer controller. And the speed measurement value is compared with the set value, so as to realize the closed-loop control of torque and speed, and carry out real-time monitoring at the same time. Set the cooling temperature of the water cooler and provide cooling water to the dynamometer 2 to avoid serious heating of the dynamometer 2, so that the dynamometer 2 can run normally for a long time.

The industrial computer communicates with the numerical control system through the RS-232C port, and transmits the numerical control program manually compiled by the industrial computer or the numerical control program automatically generated after three-dimensional modeling to the numerical control system, which can realize remote control. The numerical control system controls the servo motor 11 to act according to the numerical control program through the servo amplifier. The servo motor 11 has an encoder, and the encoder performs position and speed feedback to the servo amplifier to realize closed-loop control.

The servo amplifier is fixed to the plane with T-slots in the vibration temperature and humidity test chamber through T-bolts, and its input and output lines can be connected to external parts through the lead holes of the vibration temperature and humidity test chamber. The vibration temperature and humidity test chamber has a programming controller and an RS-232/485 interface. After the parameters such as temperature and humidity, amplitude, and vibration frequency are set through the VB control interface of the industrial computer 13, the industrial computer 13 communicates with the vibration temperature and humidity test box through RS-232C, so that the vibration temperature and humidity test box can control the servo according to the set value. The surrounding environment of the amplifier is set for temperature and humidity and frequency sweep vibration in X, Y, and Z directions to simulate the influence of indoor temperature and humidity and vibration of the machine tool on the servo amplifier.

The input signal is selected on the VB control interface of the industrial computer, and the industrial computer and the programmable controller PLC communicate through the serial port through RS232C to control the on-off of the programmable controller PLC, so that the selected input signal is transmitted to the numerical control system through the input interface , can simulate various switches and button signals on the machine tool. The numerical control system can transmit the signal to the programmable controller PLC through the output interface. Through the on-off of the programmable controller PLC, the industrial computer and the programmable controller PLC communicate through the serial port through RS232C, so as to observe the numerical control system on the control interface of the industrial computer The output signal can simulate the signal and fault indication of the state of each moving part on the machine tool.

The embodiments described in the present invention are for those skilled in the art to understand and apply the present invention. The present invention is only an optimized embodiment, or a preferred specific technical solution, which is only applicable to The reliability test of different models and different sizes of servo drive systems within a certain range, the reliability test of different models and different sizes of servo drive systems outside the range, the basic technical plan remains unchanged, but the components used Specifications and models will change accordingly, such as the selection of standard parts such as servo motors, servo amplifiers and dynamometers, etc., so the present invention is not limited to the description of implementing this relatively specific technical solution. If relevant technical personnel make equivalent structural changes or various modifications that do not require creative work while adhering to the basic technical solution of the present invention, they all fall within the protection scope of the present invention.

Claims (7)

1. A hybrid loading servo drive system reliability test bench is characterized in that, the hybrid loading servo drive system reliability test bench includes a servo motor support part, an inertia loading part, a torque loading part, and a vibration temperature and humidity loading part and automatic control part; The supporting part of the servo motor is installed on the left side of the horizontal iron (1), the inertia loading part is installed on the horizontal iron (1) on the right side of the servo motor supporting part, and the torque loading part is installed on the horizontal iron (1) on the right side of the inertia loading part Above; the output shaft of the measured servo motor (11) installed on the servo motor support base (10) in the servo motor support part adopts the No. 2 diaphragm coupling (9) and the stepped shaft in the inertia loading part ( 8) is connected to the left end, and the right end of the stepped shaft (8) in the inertia loading part is connected to the output shaft of the dynamometer (2) in the torque loading part with the No. 1 diaphragm coupling (3), and the dynamometer ( 2) The rotation axis of the output shaft, the rotation axis of the No. 1 diaphragm coupling (3), the rotation axis of the stepped shaft (8), the rotation axis of the No. 2 diaphragm coupling (9) and the measured servo motor The axis of rotation of (11) is collinear; The vibration temperature and humidity loading part is the RS-232C port of the vibration temperature and humidity test chamber and the RS-232C port wire connection of the industrial computer (13) in the automatic control part, and the servo in the automatic control part The power interface of the amplifier is connected with the electric wire of the servo motor (11) under test; The supporting part of the servo motor includes a servo motor support seat (10) and a motor adjustment backing plate (12); The servo motor support seat (10) is formed by welding or mechanically connecting the bottom plate and the vertical support wall, the bottom plate is connected to the left/right side of the bottom end of the vertical support wall, and the bottom end surface of the bottom plate is in common with the bottom end surface of the vertical support wall. On the surface, the angle between the bottom plate and the vertical support wall is 90 degrees; the bottom plate is a plate structure with an inverted “T” cross-section, and four U-shaped openings are symmetrically arranged at the four corners, and the vertical support wall A circular through hole is arranged at the center, and the diameter of the circular through hole is greater than the diameter of the output shaft of the servo motor (11) to be tested. Around the circular through hole, there are four uniformly distributed servo motors with the same structure along the radial direction of the circular through hole and different types of servo motors to be tested. (11) strip through hole; The motor adjustment backing plate (12) is installed under the servo motor support base (10), and the bottom surface of the servo motor support base (10) is in contact with the top surface of the motor adjustment backing plate (12); The inertia loading device (6) includes an inertia plate (14), 4 T-nuts (15) with the same structure, 4 inertia sliders (16) with the same structure and 4 bolts (17) with the same structure; Described inertia plate (14) is a disc, and disc center is provided with a circular through hole, is provided with 4 T-shaped grooves of identical structure along radial direction around the circular through hole of inertia plate (14), and T-shaped groove There is a scale on the top, the inner ends of the four T-shaped slots with the same structure are not connected to the round through hole, and the angle between two adjacent T-shaped slots is 90 degrees; The centers of the four inertia sliders (16) with the same structure are all provided with round through holes matched with the bolts (17); The four T-shaped nuts (15) with the same structure are loaded into the four T-shaped slots with the same structure as a sliding connection, and the four inertia sliders (16) with the same structure are placed above the T-shaped nuts (15) , using bolts (17) to connect the inertia slider (16) with the T-nut (15) installed in the T-shaped slot, that is, to fix four inertia sliders (16) with the same structure on the inertia disk (14); The vibration temperature and humidity loading part is the vibration temperature and humidity test chamber, and the servo amplifier is fixed to the plane with T-shaped grooves in the vibration temperature and humidity test chamber through T-shaped bolts; The reliability test bench of the hybrid loading servo drive system can realize reliability tests of three working conditions, namely, the reliability test of inertia and torque loading on the servo motor, the reliability test of inertia loading on the servo motor, and the reliability test of the servo motor. The reliability test of the motor under torque loading; The reliability test of the inertia and torque loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part; The reliability test for inertia loading of the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, an inertia loading part, a vibration temperature and humidity loading part and an automatic control part; The reliability test of torque loading on the servo motor in the reliability tests of the three working conditions is composed of a servo motor support part, a torque loading part, a vibration temperature and humidity loading part and an automatic control part. 2. According to the hybrid loading servo drive system reliability test bench according to claim 1, it is characterized in that, the motor adjustment backing plate (12) includes an upper wedge plate (23), a lock nut (24), a lower Wedge plate (25), screw nut (26) and screw mandrel (27); The upper wedge-shaped plate (23) is a rectangular plate structure with a slope from left to right. A support seat is welded in the middle of the upper wedge-shaped plate (23), and a round through hole is arranged at the center of the support seat. The round through hole The axis of rotation is coplanar with the longitudinal symmetry plane of the upper wedge-shaped plate (23), and four threaded holes are evenly distributed around the circular through hole; the nut (26) with threaded holes at the center is installed in the support seat, and Symmetrically arranged with mutually parallel guide rails with rectangular cross-sections; The lower wedge-shaped plate (25) is a rectangular plate structure with a slope from left to right, and the slope of the lower wedge-shaped plate (25) from left to right is the same as that of the upper wedge-shaped plate (23) from left to right. The inclination that has is the same, but the inclination direction is opposite, respectively welds a support platform at the left and right ends of the lower wedge-shaped plate (25), the center of the left and right two support platforms is all provided with a round through hole, and the screw mandrel (27) is inserted into the lower wedge-shaped plate ( 25) In the round through holes of the support platforms at the left and right ends, the two sides of the support platforms at the left and right ends of the lower wedge-shaped plate (25) are symmetrically provided with guide rail grooves with a rectangular cross section parallel to each other; The upper wedge (23) is installed on the lower wedge (25), the screw nut (26) in the support seat installed on the upper wedge (23) is sleeved on the screw mandrel (27), and the upper wedge (23) Two guide rails are packed into two guide rail grooves on the lower wedge-shaped plate (25), and lock nut (24) is installed on the right end of the screw mandrel (27) that stretches out from the supporting platform round through hole of the right end. 3. according to the described hybrid loading servo drive system reliability test bench of claim 1, it is characterized in that, described inertia loading part also comprises No. 1 bearing supporting device (4), sleeve (5), inertia loading device ( 6) and No. 2 bearing support device (7); The stepped shaft (8) is sequentially provided with shaft sections No. 1 to No. 7 with different diameters from right to left. The inertia loading device (6) is set on the No. 3 shaft section of the stepped shaft (8). The inertia loading device (6) The left end face of the inertia disk (14) is in contact with the right end face of the No. 4 shaft section on the stepped shaft (8), and the left end face of the sleeve (5) is connected with the inertia disk (14) in the inertia loading device (6). The right end surface is connected in contact, the right end surface of the sleeve (5) is in contact with the left end surface of the left end cover (22) in the No. 1 bearing support device (4), and the sleeve (5) and the No. 1 bearing support device (4) Set on the No. 2 shaft section of the stepped shaft (8), the No. 2 bearing support device (7) is set on the No. 6 shaft section of the stepped shaft (8), and the right end cover (18) of the No. 2 bearing support device (7) The right end face is connected with the left end face of No. 5 shaft section on the stepped shaft (8), and No. 1 bearing support device (4) and No. 2 bearing support device (7) are bolted on the horizontal iron (1). 4. According to the hybrid loading servo drive system reliability test bench according to claim 3, it is characterized in that, the No. 1 bearing support device (4) is identical in structure with the No. 2 bearing support device (7); The No. bearing supporting device (4) comprises a right end cover (18), a snap ring (19), a bearing (20), a bearing seat (21) and a left end cover (22); The rotation axis of the left end cover (22) is provided with a round through hole, and there are four bolt through holes evenly distributed around the round through hole, and the left end cover (22) is fixed on the left end surface of the bearing seat (21) by bolts, and the left end cover The right end surface of (22) is in contact with the left end surface of the outer bearing ring of the bearing (20), the bearing (20) is installed in the center through hole of the bearing seat (21), and the jumper (19) is installed on the stepped shaft (8) In the circlip groove, the right end surface of the inner bearing ring of the bearing (20) is in contact with the left end surface of the circlip (19), and a round through hole is arranged at the rotation axis of the right end cover (18). Cover (18) adopts bolt to be fixed on the right end face of bearing seat (21), and right end cover (18) left end face contacts with the right end face of bearing (20) outer bearing ring. 5. according to the described hybrid loading servo drive system reliability test bench of claim 4, it is characterized in that, described bearing housing (21) is welded by a horizontal cuboid bottom plate and a cuboid vertical support wall, A circular through hole for installing the bearing (20) is arranged at the center of the upper half of the vertical support wall of the cuboid shape, and the left and right end faces of the circular through hole are evenly distributed on the circumference for the left end cover (22) and the right end cover (18). Connected threaded blind holes, the front and rear sides of the horizontal cuboid bottom plate are provided with U-shaped opening grooves for installing T-bolts. 6. According to the hybrid loading servo drive system reliability test bench according to claim 1, it is characterized in that, the described torque loading part also includes a water cooler; The dynamometer (2) in the torque loading part adopts the eddy current dynamometer of model DW10, and the water cooler of model LW35 is selected for the water cooler, and the dynamometer (2) is fixed on the horizontal iron (1) by bolts , the water inlet and the water outlet on the dynamometer (2) are respectively connected with the water outlet and the water inlet of the water cooler through pipelines. 7. According to the hybrid loading servo drive system reliability test bench according to claim 1, it is characterized in that, the described automatic control part also includes a numerical control system, a programmable controller and a dynamometer controller; The RS-232C port of the industrial computer (13) is connected with the RS-232C port wire of the programmable controller, the RS-232C port of the industrial computer (13) is connected with the RS-232C port wire of the dynamometer controller, and the industrial computer ( 13) The RS-232C port of the CNC system is connected with the RS-232C port wire of the numerical control system, the input and output interfaces of the numerical control system are connected with the input unit and output unit of the programmable controller, the axis control interface of the numerical control system is connected with the servo amplifier of the servo amplifier The drive interface is connected; the encoder interface of the servo amplifier is connected with the encoder wire.