CN106840730A - A kind of test platform for studying single shaft resetting error mechanism - Google Patents
A kind of test platform for studying single shaft resetting error mechanism Download PDFInfo
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Abstract
本发明公开了一种研究单轴重复定位误差机理的试验平台，包括床身、工作台、伺服电机、负载装置、光栅尺和丝杠挠度测试装置，床身上表面两侧平行的安装有带有滑块的滚动直线导轨副，所述滑块与所述工作台相连，床身上表面中部安装有由固定端和轴承端组成的滚珠丝杠螺母副，通过所述固定端和轴承端连接有滚珠丝杠，伺服电机安装于滚珠丝杠螺母副的固定端用于驱动滚珠丝杠旋转，滚珠丝杠螺母副还配置有所述丝杠挠度测试装置，用于实时测量滚珠丝杠在水平和垂直方向的挠度，负载装置安装在床身的尾端用于放置外部负载；光栅尺设置有两处，分别设置在床身左侧面的顶部和上表面的左侧。该试验平台可进行多因素单变量试验、单因素机理探索。
The invention discloses a test platform for studying the mechanism of single-axis repeated positioning errors, which includes a bed, a workbench, a servo motor, a load device, a grating ruler and a screw deflection testing device. The rolling linear guide rail pair of the slider, the slider is connected with the workbench, the ball screw nut pair consisting of a fixed end and a bearing end is installed in the middle of the upper surface of the bed, and a ball screw nut pair is connected through the fixed end and the bearing end. The screw and the servo motor are installed on the fixed end of the ball screw nut pair to drive the ball screw to rotate. The ball screw nut pair is also equipped with the screw deflection test device for real-time measurement of the ball screw in the horizontal and vertical The deflection in the direction, the load device is installed at the end of the bed to place the external load; there are two grating rulers, which are respectively set on the top of the left side of the bed and on the left side of the upper surface. The test platform can carry out multi-factor univariate experiments and single-factor mechanism exploration.
Description
技术领域technical field
本发明涉及机床误差测试领域，具体的说，是涉及一种研究单轴重复定位误差机理的试验平台。The invention relates to the field of machine tool error testing, in particular to a test platform for studying the mechanism of single-axis repeated positioning errors.
背景技术Background technique
随着现代机床业的发展日益向着自动化、高速化、精密化等方向发展，产品对机床的精度要求越来越高，机床重复定位误差也越来越被人们重视，提高机床综合准确度是提高机床的整体性能的关键。重复定位误差体现了机床定位的稳定性和一致性，是评价机床性能的重要指标之一，目前国际标准用运动偏差的标准差的扩展不确定度来表述重复定位误差：With the development of the modern machine tool industry towards automation, high speed, and precision, the products have higher and higher requirements for the accuracy of machine tools, and the repeated positioning error of machine tools has been paid more and more attention. Improving the comprehensive accuracy of machine tools is the key to improving critical to the overall performance of the machine tool. Repeated positioning error reflects the stability and consistency of machine tool positioning, and is one of the important indicators for evaluating machine tool performance. The current international standard uses the expanded uncertainty of the standard deviation of motion deviation to express repeated positioning error:
目前关系重复误差影响因素和产生机理相关的研究尚属空白，对影响重复误差的因素系尚不清楚，重复定位误差产生的机理尚不明白，缺乏有效的抑制重复定位误差技术，所以需要一台专用重复定位误差机理研究试验平台。At present, the research related to the influencing factors and generation mechanism of repeat error is still blank, the factors affecting repeat error are still unclear, the mechanism of repeat positioning error is still unclear, and there is a lack of effective suppression of repeat positioning error technology, so a Dedicated repeat positioning error mechanism research test platform.
发明内容Contents of the invention
本发明的目的是为了克服现有技术中的不足，提供一种可以进行多因素单变量试验、单因素机理探索的单轴重复定位误差机理的试验平台。The purpose of the present invention is to overcome the deficiencies in the prior art and provide a test platform for the single-axis repetitive positioning error mechanism that can carry out multi-factor univariate experiments and single-factor mechanism exploration.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
一种研究单轴重复定位误差机理的试验平台，包括床身、工作台、伺服电机、负载装置、光栅尺和丝杠挠度测试装置，所述床身上表面两侧平行的安装有带有滑块的滚动直线导轨副，所述滑块与所述工作台相连，床身上表面中部安装有由固定端和轴承端组成的滚珠丝杠螺母副，通过所述固定端和轴承端连接有滚珠丝杠，所述伺服电机安装于所述滚珠丝杠螺母副的固定端用于驱动滚珠丝杠旋转，所述滚珠丝杠螺母副还配置有所述丝杠挠度测试装置，用于实时测量滚珠丝杠在水平和垂直方向的挠度，所述负载装置安装在床身的尾端用于放置外部负载；所述光栅尺设置有两处，分别设置在床身左侧面的顶部和上表面的左侧。A test platform for studying the mechanism of single-axis repetitive positioning errors, including a bed, a workbench, a servo motor, a load device, a grating ruler, and a screw deflection testing device. The two sides of the upper surface of the bed are parallel with sliders The rolling linear guide rail pair, the slider is connected with the workbench, the ball screw nut pair consisting of a fixed end and a bearing end is installed in the middle of the upper surface of the bed, and a ball screw is connected through the fixed end and the bearing end , the servo motor is installed on the fixed end of the ball screw nut pair to drive the ball screw to rotate, and the ball screw nut pair is also equipped with the screw deflection testing device for real-time measurement of the ball screw For deflection in the horizontal and vertical directions, the load device is installed at the end of the bed for placing external loads; the grating ruler is provided in two places, respectively on the top of the left side of the bed and on the left side of the upper surface .
所述工作台的两侧设置有与滑块连接的连接孔，用于调整工作台的支撑距离。Both sides of the workbench are provided with connecting holes connected with the sliders for adjusting the support distance of the workbench.
所述滚珠丝杠螺母副的轴承端的端盖和轴承之间设置有调整垫片，通过调整所述垫片的厚度实现滚珠丝杠即支撑轴刚度的调整。An adjusting gasket is arranged between the end cover of the bearing end of the ball screw nut pair and the bearing, and the adjustment of the stiffness of the ball screw, that is, the support shaft, is realized by adjusting the thickness of the gasket.
所述床身的长宽高分别为2245mm、800mm、700mm，床身的内部设置有井字型筋板，床身前后两端的筋板上设有圆形或方形的开孔用于提升刚度。The length, width and height of the bed are 2245mm, 800mm, and 700mm respectively, and the inside of the bed is provided with well-shaped ribs, and the ribs at the front and rear ends of the bed are provided with circular or square openings for improving rigidity.
所述工作台内部设有米字型筋板，以提升高度；工作台的上表面还设置有用于固定工件的T型槽。The inside of the workbench is provided with rice-shaped ribs to increase the height; the upper surface of the workbench is also provided with T-shaped grooves for fixing workpieces.
所述负载装置由底座、滑轮座和滑轮构成。The loading device is composed of a base, a pulley seat and a pulley.
所述光栅尺的分辨率为0.1μm，精度为3μm。The grating ruler has a resolution of 0.1 μm and an accuracy of 3 μm.
所述光栅尺的工作行程为1000mm，最大进给速度为40m/min。The working stroke of the grating ruler is 1000mm, and the maximum feed speed is 40m/min.
与现有技术相比，本发明的技术方案所带来的有益效果是：Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are:
本发明试验平台由床身、滚动直线导轨副、工作台、滚珠丝杠螺母副、光栅尺等组成，工作台由一条滚珠丝杠驱动且支撑距离可调；滚珠丝杠轴承端支撑刚度具有可调功能；具有两处光栅安装位置，具有光栅安装位置可调功能，且两处安装位置在运动轴线的同一侧；具有丝杠挠度测试装置，可实时测试滚珠丝杠挠度；具有施加沿运动轴线方向的外部载荷功能。因此该试验平台能够满足工作台支撑距离对重复定位误差的影响、滚珠丝杠作为支撑轴承其刚度对重复定位误差的影响、光栅尺安装位置对重复定位误差的影响、外部负载对重复定位误差的影响、丝杠挠度变化与重复定位误差的变化规律、工作台应变与重复定位误差的变化规律、滑块应变/应力与重复定位误差的变化规律、关键点温度与重复定位误差的变化规律等试验需求。The test platform of the present invention is composed of a bed, a rolling linear guide pair, a workbench, a ball screw nut pair, a grating ruler, etc. The workbench is driven by a ball screw and the support distance is adjustable; the support stiffness of the ball screw bearing end has adjustable It has two grating installation positions, and the grating installation position can be adjusted, and the two installation positions are on the same side of the motion axis; it has a screw deflection test device, which can test the deflection of the ball screw in real time; it has the function of applying force along the motion axis Direction of the external load function. Therefore, the test platform can meet the influence of the support distance of the workbench on the repeated positioning error, the influence of the stiffness of the ball screw as a support bearing on the repeated positioning error, the influence of the installation position of the grating ruler on the repeated positioning error, and the external load on the repeated positioning error. Influence, screw deflection change and repeat positioning error change law, table strain and repeat positioning error change law, slider strain/stress and repeat positioning error change law, key point temperature and repeat positioning error change law, etc. need.
附图说明Description of drawings
图1是本发明的三维结构示意图。Fig. 1 is a schematic diagram of a three-dimensional structure of the present invention.
图2是工作台的三维结构示意图。Fig. 2 is a schematic diagram of the three-dimensional structure of the workbench.
图3是丝杠挠度测试装置的连接状态结构示意图。Fig. 3 is a schematic structural diagram of the connection state of the screw deflection testing device.
图4是滚珠丝杠螺母副的轴承端的结构示意图。Fig. 4 is a structural schematic diagram of the bearing end of the ball screw nut pair.
图5是负载装置的结构示意图。Fig. 5 is a schematic structural view of the loading device.
附图标记：1-床身，2-工作台，3-滚动直线导轨副，4-滚珠丝杠，5-丝杠挠度测试装置，6-伺服电机，7-负载装置，8-光栅尺，9-T型槽，10-连接孔，11-轴承，12-端盖，13-调整垫片，14-底座，15-滑轮座，16-滑轮Reference signs: 1-bed, 2-table, 3-rolling linear guide pair, 4-ball screw, 5-screw deflection test device, 6-servo motor, 7-load device, 8-grating ruler, 9-T-slot, 10-connecting hole, 11-bearing, 12-end cover, 13-adjusting gasket, 14-base, 15-pulley seat, 16-pulley
具体实施方式detailed description
下面结合附图对本发明作进一步的描述：Below in conjunction with accompanying drawing, the present invention will be further described:
如图1所示，一种研究单轴重复定位误差机理的试验平台，包括床身1、工作台2、伺服电机6、负载装置7、光栅尺8和丝杠挠度测试装置5，床身1底面固定在地面上，两条滚动直线导轨副3平行安装在床身1上表面的两侧，滚珠丝杠螺母副安装在床身1上表面的中间，工作台2的两侧通过紧固螺钉与滚动直线导轨副3的滑块连接，工作台2中间通过丝杠螺母与滚珠丝杠4连接，伺服电机6安装在滚珠丝杠螺母副的前端(固定端)，用于驱动滚珠丝杠4旋转，滚珠丝杠螺母副配置有丝杠挠度测试装置5，用于实时测量滚珠丝杠的在水平和垂直方向的挠度，在床身1的尾端设置有外部负载装置7，用于放置外部负载；本实施例中两处光栅尺8安装位置分别在床身1左侧侧面和上表面左侧。工作台2两侧设置了两组与滑块连接的连接孔10，可实现工作台2距离可调，本实施例中连接孔10为螺钉孔。As shown in Figure 1, a test platform for studying the mechanism of single-axis repetitive positioning errors includes a bed 1, a workbench 2, a servo motor 6, a load device 7, a grating ruler 8, and a screw deflection test device 5. The bed 1 The bottom surface is fixed on the ground, two rolling linear guide rail pairs 3 are installed in parallel on both sides of the upper surface of the bed 1, the ball screw nut pair is installed in the middle of the upper surface of the bed 1, and the two sides of the workbench 2 are fixed by fastening screws. It is connected with the slider of the rolling linear guide pair 3, the middle of the workbench 2 is connected with the ball screw 4 through the screw nut, and the servo motor 6 is installed on the front end (fixed end) of the ball screw nut pair to drive the ball screw 4 Rotation, the ball screw nut pair is equipped with a screw deflection test device 5, which is used to measure the deflection of the ball screw in the horizontal and vertical directions in real time. Load: In this embodiment, the installation positions of the two grating rulers 8 are respectively on the left side of the bed 1 and on the left side of the upper surface. Two groups of connection holes 10 connected with the slider are arranged on both sides of the workbench 2, which can realize the adjustable distance of the workbench 2. In this embodiment, the connection holes 10 are screw holes.
本实施例中床身1的外形尺寸为2245mm(长)×800mm(宽)×700mm(高)，内部采用井字形筋板，并在筋板上开圆形孔，具有较好的刚度，滚动直线导轨副安装基面设置在床身两侧沿长度方向筋板的正上方，以保证导轨安装后的变形最小；预留两处光栅尺8安装位置，且在运动轴线的同一侧，分别在床身左侧侧面和上表面左侧；床身底部有地脚螺钉固定孔。In this embodiment, the overall dimensions of the bed 1 are 2245mm (length) × 800mm (width) × 700mm (height), and the inside adopts a well-shaped rib plate, and a circular hole is opened on the rib plate, which has good rigidity and is easy to roll. The installation base of the linear guide rail is set directly above the longitudinal ribs on both sides of the bed to ensure the minimum deformation of the guide rail after installation; two installation positions for the grating ruler 8 are reserved, and they are on the same side of the movement axis. The left side of the bed and the left side of the upper surface; there are anchor screw fixing holes at the bottom of the bed.
本实施例中滚动直线导轨副选用THK型号：SHS45LC2SSC1+2100LP-11，每条导轨上有两个支撑滑块，具体参数为：In this embodiment, the rolling linear guide rail pair is selected from THK model: SHS45LC2SSC1+2100LP-11, and there are two supporting sliders on each guide rail. The specific parameters are:
本实施例中滚珠丝杠螺母副选用THK型号：SBN4016-5RRG0+1930LC2，具体参数为：In this embodiment, the ball screw nut pair is selected from THK model: SBN4016-5RRG0+1930LC2, and the specific parameters are:
如图2所示，本实施例中工作台2内部采用米字型筋板，以保证工作台具有较好的刚度，表面设计有T型槽9，以方便固定工件；工作台2通过螺钉与滚动直线导轨副3的滑块连接，每条导轨副上有两个支撑滑块，每个支撑滑块通过四个螺钉连接工作台2，在工作台2上预留了两组与导轨滑块连接的螺纹孔，实现工作台支撑距离可调整。As shown in Figure 2, the inside of the workbench 2 in this embodiment adopts a rice-shaped rib to ensure that the workbench has better rigidity, and the surface is designed with a T-shaped groove 9 to facilitate fixing the workpiece; The slider connection of the rolling linear guide rail pair 3, there are two supporting sliders on each rail pair, and each supporting slider is connected to the workbench 2 through four screws, and two sets of guide rail sliders are reserved on the workbench 2 Connected threaded holes to realize the adjustable support distance of the workbench.
如图3所示，滚珠丝杠弯曲挠度测试装置在卡盘位置处布置四个力传感器，滚珠丝杠在运动过程中四个力传感器会测得两丝杠螺母之间的作用力，将信号传递到采集器中，采集器读出传感器示数。力传感器可选用interface WMC 1000LBF(4450N)。其检测精度为0.05％。当滚珠丝杠发生弯曲变形时四个力传感器的示数会发生变化，根据传感器的示数变化值来计算丝杠弯曲挠度。As shown in Figure 3, the ball screw bending deflection testing device arranges four force sensors at the position of the chuck, and the four force sensors will measure the force between the two screw nuts during the movement of the ball screw, and the signal Passed to the collector, the collector reads the sensor readings. The force sensor can choose interface WMC 1000LBF (4450N). Its detection accuracy is 0.05%. When the ball screw is bent and deformed, the readings of the four force sensors will change, and the bending deflection of the screw is calculated according to the changing values of the readings of the sensors.
如图4所示，滚珠丝杠螺母副的轴承端的端盖12和轴承11之间设置有调整垫片13，不同的调整垫片13厚度产生不同的轴承压缩量，进而产生不同的轴承刚度，该试验台设计了一组(5个)不同厚度的调整垫片13，可以通过改变图中调整垫片13的厚度，实现支撑轴承刚度的调整。As shown in Fig. 4, an adjusting washer 13 is arranged between the end cover 12 of the bearing end of the ball screw nut pair and the bearing 11, and different thicknesses of the adjusting washer 13 produce different bearing compressions, thereby producing different bearing stiffnesses. The test bench is designed with a set of (5) adjusting shims 13 with different thicknesses, and the adjustment of the stiffness of the supporting bearing can be realized by changing the thickness of the adjusting shims 13 in the figure.
如图5所示负载装置由底座14、滑轮座15和滑轮16构成，其中底座14通过螺钉固定在床身1尾端，滑轮座15安装在底座14上，滑轮16通过销钉固定在滑轮座15上，滑轮16顶端切向方向与工作运动轴线方向一致，其工作原理为在工作台的尾端引出一条钢丝线，钢丝线的另一端绕过滑轮连接配重物块，工作台往复直线运动时，带动配重物块上下运动，实现外部加载。As shown in Figure 5, the loading device is composed of a base 14, a pulley seat 15 and a pulley 16, wherein the base 14 is fixed on the tail end of the bed 1 by screws, the pulley seat 15 is installed on the base 14, and the pulley 16 is fixed on the pulley seat 15 by pins. Above, the tangential direction of the top of the pulley 16 is consistent with the direction of the working motion axis. Its working principle is to draw a steel wire at the end of the workbench, and the other end of the steel wire goes around the pulley to connect the counterweight. When the workbench moves back and forth in a straight line , to drive the counterweight to move up and down to realize external loading.
另，本实施例中光栅尺8选用海德汉绝对式光栅尺，型号：LC195F-ML1240(±3μm)线缆10m，分辨率0.1um，精度3um；伺服电机6的转矩为22Nm，电机最大转速3000r/min，功率4KW。In addition, in this embodiment, the grating ruler 8 is a HEIDENHAIN absolute grating ruler, model: LC195F-ML1240 (±3μm), cable 10m, resolution 0.1um, precision 3um; the torque of the servo motor 6 is 22Nm, and the maximum speed of the motor is 3000r/min, power 4KW.
通过本发明试验平台可实现：工作台支撑距离对重复定位误差的影响、丝杠支撑轴承刚度对重复定位误差的影响、光栅尺安装位置对重复定位误差的影响、光栅尺安装精度对重复定位精度的影响、外部负载对重复定位误差的影响、丝杠挠度变化与重复定位误差的变化规律、工作台应变与重复定位误差的变化规律、滑块应变/应力与重复定位误差的变化规律、关键点温度与重复定位误差的变化规律、进给速度对重复定位精度的影响、导轨基面直线度/垂直度对重复定位精度的影响等试验需求。The test platform of the present invention can realize: the influence of the support distance of the worktable on the repeated positioning error, the influence of the stiffness of the screw support bearing on the repeated positioning error, the influence of the installation position of the grating ruler on the repeated positioning error, and the installation accuracy of the grating ruler on the repeated positioning accuracy Influence of external load on repeated positioning error, change law of lead screw deflection and repeated positioning error, change law of table strain and repeated positioning error, change law of slider strain/stress and repeated positioning error, key points The variation law of temperature and repeat positioning error, the influence of feed speed on repeat positioning accuracy, the influence of guide rail base surface straightness/perpendicularity on repeat positioning accuracy and other test requirements.
本发明并不限于上文描述的实施方式。以上对具体实施方式的描述旨在描述和说明本发明的技术方案，上述的具体实施方式仅仅是示意性的，并不是限制性的。在不脱离本发明宗旨和权利要求所保护的范围情况下，本领域的普通技术人员在本发明的启示下还可做出很多形式的具体变换，这些均属于本发明的保护范围之内。The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solution of the present invention, and the above specific embodiments are only illustrative and not restrictive. Without departing from the gist of the present invention and the scope of protection of the claims, those skilled in the art can also make many specific changes under the inspiration of the present invention, and these all belong to the protection scope of the present invention.
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