CN107101830A - A kind of electrical servo straight line loads test system - Google Patents
A kind of electrical servo straight line loads test system Download PDFInfo
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- CN107101830A CN107101830A CN201710298100.0A CN201710298100A CN107101830A CN 107101830 A CN107101830 A CN 107101830A CN 201710298100 A CN201710298100 A CN 201710298100A CN 107101830 A CN107101830 A CN 107101830A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
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Abstract
Test system, including testing stand, console and power distribution cabinet are loaded the invention discloses a kind of electrical servo straight line, testing stand includes base frame, servo loading system, motion conversion system, tested servo-drive system and sensing system.The present invention realizes that straight line force is loaded using ball screw assembly, is as motion transformational structure and combination line slideway limitation rotates output；By line slideway, ball screw assembly, support unit, grating scale integrated installation to identical platform, it is possible to decrease alignment error, it is ensured that overall performance；Rotatable parts only have screw mandrel in motion conversion system, and its rotary inertia is small, are conducive to improving loading performance.For the problems of electric-liquid type loading, the present invention constitutes Electric Loading System using servomotor substitution hydraulic valve, has the advantages that response quickly, small volume, simple in construction, cost are low and easy to control；Relative to the active loading by executing agency of linear servo-actuator, the present invention is passive type loading, and technology maturation, cost performance is higher.
Description
Technical field
The invention belongs to control device technical field, particularly a kind of electrical servo straight line loading test system.
Background technology
In the last few years, it is a collection of that there is independent intellectual property right the need for china's overall national strength growth and national defense construction
Facilities come into operation, successively start such as thrust-augmented rocket, big heavily loaded aircraft, aircraft carrier and all kinds of newer versions of these missiles items
Purpose research, and in this kind of equipment, a kind of servo drive system that can realize straight-line motion mechanism plays important role.
How vehicle debugging before according to real load changing rule to the linear motion servo drive system carry out mould
Intend loading, and real-time testing and show its drive current variations, output characteristics and dynamics, for understanding the servo-drive
The working characteristics of system, the need for judging whether its performance meets actual condition, important role.Pass through the servo loading system
System carries out simulation loading and tests its dynamic characteristic, and according to the result of performance test, easily to the servo drive system
Energy parameter is adjusted and finds corresponding Optimized Approaches, can also reduce the lead time that entrucking debugging repeatedly and change tape come
Lengthening and development cost raising, greatly improve development efficiency and quality.
But the domestic thing mainly studied is using hydraulic motor or pressurized strut as the electric-liquid type servo loading of executing agency at present
System, this load mode has oil leak, safeguards inconvenient, sensitive to greasy dirt and regular the shortcomings of break down, in addition greatly
The non-linear factor such as inertia and seal friction also largely have impact on loading accuracy；And use the electricity of linear servo-actuator
The shortcomings of dynamic formula servo loading exists and is confined to active loading, cost is higher, manufacture maintenance is inconvenient.
The content of the invention
Test system is loaded it is an object of the invention to provide a kind of electrical servo straight line.
The technical solution for realizing the object of the invention is：A kind of electrical servo straight line loads test system, including experiment
Platform, console and power distribution cabinet, wherein console are used to carry out loading closed-loop control to testing stand and realize human-computer interaction function, match somebody with somebody
Electric cabinet provides power for testing stand and console and is isolated each several part power module by isolation circuit, wherein testing stand
Including base frame, servo loading system, motion conversion system and tested servo-drive system, wherein base frame includes pedestal and T
Type groove plate, servo loading system includes servo loading motor, servo loading motor support base, bellows coupling, bellows shaft coupling
Device, torque rotary speed sensor and torque rotary speed sensor bearing, motion conversion system include support platform, ball screw assembly, and supported
Unit, ball-screw, rolling ball screw pair screw nut, sleeve, connecting plate, grating scale connecting plate, grating ruler reading head, sliding block, guide rail,
Grating scale, connector, pull pressure sensor, drag chain, limit switch baffle plate, limit switch bearing, limit switch and connection section, quilt
Survey servo-drive system include connecting shaft, tested axle sleeve, micro-displacement sensor, micro-displacement sensor bearing, tested straight-line motion mechanism,
Strap, lifting platform, encoder support, encoder；
In the base frame, the top of pedestal sets T-slot plate, and T-slot plate has the T grooves of length, width both direction
Passage, for adjusting mounting lifting platform to adapt to the straight-line motion mechanism of different size, T-slot plate is connected by fastener and pedestal
Fixation is connect, servo loading motor support base, torque rotary speed sensor bearing, support platform, lifting platform, encoder support pass through fastening
Part is connected with T-slot plate；Lifting platform is installed on the T groove passages of width side, encoder support, servo loading electricity
Machine bearing, torque rotary speed sensor bearing, support platform are located on the T groove passages of length direction, and support platform is located at encoder
Between bearing and torque rotary speed sensor bearing, servo loading motor support base is located at the opposite side of torque rotary speed sensor bearing；
In the servo loading system, servo loading motor is fastenedly connected by fastener with servo loading motor support base,
It is connected between motor shaft and torque rotary speed sensor by the first bellows coupling, torque rotary speed sensor and motion conversion system
It is connected between ball-screw in system by the second bellows coupling, torque rotary speed sensor is arranged on torque by fastener
On speed probe bearing；
Ball screw assembly, support unit is set in the motion conversion system, in support platform, it is guide rail, grating scale, spacing
The fixing end of switch carrier and drag chain；Ball-screw one end is fixed, and the other end is free, and fixing end supports single by ball screw assembly,
Member is fixed, and ball screw assembly, support unit is fixed in support platform by fastener；
Rolling ball screw pair screw nut is connected with barrel forward end by fastener, and sleeve upper surface is consolidated by fastener and connecting plate
Fixed, sleeve tail end is connected to realize linear motion output by fastener and connector；
Sleeve ends are limited in the middle part of support platform to realize mechanical position limitation, and limit switch bearing is arranged on support platform
Sideways, limit switch baffle plate is arranged on connecting plate, and limit switch is arranged on limit switch bearing to realize electric limiting；
It is connected in the middle part of connecting plate with sleeve by fastener, connecting plate two ends are connected with sliding block, and by straight
The effect limitation rolling ball screw pair screw nut of line guide rail and the rotation of sleeve, it is ensured that sleeve linear movement output, connecting plate and grating
Chi connecting plate is connected by fastener；
Grating scale is arranged in the groove of support platform one, and grating ruler reading head is connected with grating scale connecting plate by fastener
Fixed, the displacement signal of grating scale acquisition system feeds back to computer control system；
Pull pressure sensor one end is connected through a screw thread with connector, and the other end is connected through a screw thread with being connected section, tension and compression
Force snesor side is provided with signal wire, and loading force is fed back to computer control system by signal wire, and signal wire is placed in drag chain,
Drag chain mobile terminal is fixed on connecting plate, and drag chain fixing end is arranged in support platform；
The connection section end of thread is threadably connected with pull pressure sensor, and the other end is transported by connecting shaft and tested straight line
Motivation structure is connected；
In the tested servo-drive system, it is tested axle sleeve and is connected with connecting shaft, micro-displacement sensor is arranged on micro-displacement
On sensor support base, the displacement that micro-displacement sensor measures tested axle sleeve exports and feeds back to computer control system, is tested straight
Line movement mechanism is fixedly mounted on lifting platform by strap, and lifting platform side is equipped with height fine adjusting function knob, can meet not
Same type is tested the requirement of straight-line motion mechanism centering, and micro-displacement sensor bearing is fixed on lifting platform by fastener；
Encoder support is arranged on T-slot plate, and encoder is arranged on encoder support, is tested straight-line motion mechanism defeated
Shaft opposite side is connected with encoder.
The power distribution cabinet includes servo loading motor driver, programmable power supply and braking resistor, loading motor driver
It is connected with the servo loading motor in testing stand by motor braking band-type brake cable, feedback cable, loading motor driver and control
Device processed is connected, and programmable power supply is that tested straight-line motion mechanism is powered.
The console includes host computer, real-time controller, data collecting card, signal processing system, cabinet and terminal box,
TT＆C software is installed, host computer is communicated and real-time monitoring system shape by TCP/IP communication agreement with real-time controller in host computer
State, real-time controller is connected with loading motor driver, tested straight-line motion mechanism driver.
Host computer sets loading mode and control instruction is sent into real-time controller by TCP/IP communication agreement, in real time
Controller is sent to servo loading motor driver after handling instruction, is added by servo loading motor driver driving servo
Carry motor and complete loading tasks, while torque rotary speed sensor, pull pressure sensor, grating scale gather real time data and fed back to
Real-time controller carries out closed-loop control, and real-time controller sends the data to host computer and shown and stored.
Compared with prior art, its remarkable advantage is the present invention：1) middle sleeve of the present invention, connecting plate, grating scale connecting plate,
Limit switch baffle plate and limit switch bearing use high-strength hard aluminum alloy material, and loading system inertia itself is small, is conducive to carrying
The dynamic property of high system；2) it is to loading because loading the active movement of object relative to existing Based on Electro-hydraulic Loading Servo System
Caused by system very strong position interference, larger redundant force, the problems such as safeguard inconvenient, the present invention uses servomotor substitution hydraulic pressure
Valve constitute Electric Loading System have response quickly, small volume, simple in construction, cost it is low, easy to control, safeguard it is easy to use
The advantages of；3) existed relative to the electrodynamic type servo loading using linear servo-actuator and be confined to active loading, cost ratio
It is higher, the shortcomings of manufacture maintenance is inconvenient, although the present invention to set timing structure relative complex, adds available for passive type
Carry, Technical comparing is ripe, Loading Control is more convenient, and manufacturing cost, than relatively low, is a kind of higher servo loading of cost performance
Form；4) present invention arrives line slideway, ball screw assembly, support unit, displacement transducer, drag chain, limit switch integrated installation
Identical platform, can reduce alignment error, the brought interference of reduction vibration, it is ensured that loading test overall performance；5) it is of the invention
Rotatable parts only have screw mandrel in motion Transfer Structure Design, and the part of its rotary inertia is few and single, rotary inertia number
Value is small, is conducive to overcoming Surplus Moment, improves system loads frequency；6) sleeve ends of the present invention are limited in the middle part of support platform
To realize mechanical position limitation, limit switch bearing is arranged on support platform side, and limit switch baffle plate is arranged on connecting plate, spacing
Switch is arranged on limit switch bearing to realize electric limiting, can be avoided because electrical fault is to sensor and system unit
Damage, play a part of dual security protection；7) present invention has wide applicability, can be become according to the actual stand under load of mechanism
Emotionally condition, effectively carries out simulation to mechanism using suitable loading spectrum for certain serial various sizes of straight-line motion mechanism and adds
Carry, with service behaviour and functional reliability of the said institution or organization under actual condition；8) present invention loading test system function is a variety of
It is various, it disclosure satisfy that servo analog loading, the precision measure of transmission mechanism, mechanism dynamic characteristic test, the ultimate bearing of mechanism
Four major functions of ability and reliability test, wherein servo analog loading form include constant loading, waveform loading, opened with load
Dynamic, synchronous loading and random waveform loading.
Further detailed description is done to the present invention below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is that a kind of electrical servo straight line of the present invention loads the top view of test system.
Fig. 2 is that a kind of electrical servo straight line of the present invention loads the front view of test system.
Fig. 3 is that a kind of electrical servo straight line of the present invention loads the motion conversion system Local map of test system.
Fig. 4 is that a kind of electrical servo straight line of the present invention loads the fundamental diagram of test system.
Representative implication is numbered in figure is：1- pedestal 2-T type groove plate 3- servo loading motor 4- servo loading motors
Bearing 5- bellows coupling 6- torque rotary speed sensor 7- torque rotary speed sensor bearing 8- support platform 9- ball wires
Thick stick pair support unit 10- ball-screw 11- rolling ball screw pair screw nut 12- sleeve 13- connecting plate 14- grating scale connecting plates
15- grating ruler reading head 16- sliding block 17- guide rail 18- grating scale 19- connector 20- pull pressure sensor 21- drag chains
22- limit switch baffle plate 23- limit switch bearing 24- limit switches 25- connections section 26- connecting shafts 27- is tested axle sleeve
28- micro-displacement sensor 29- micro-displacement sensor bearings 30- is tested straight-line motion mechanism 31- strap 32- lifting platforms
33- encoder support 34- encoder 35- fasteners
Embodiment
The present invention in order to solve existing Based on Electro-hydraulic Loading Servo System because load object active movement and to loading system
The problems such as caused very strong position interference, larger redundant force, inconvenient maintenance, propose a kind of for certain series of straight lines fitness machine
The Electric Servo Loading System of structure, loading system effectively can apply suitable for this type of straight-line motion mechanism different model size
Loading spectrum to servo control mechanism carry out simulation loading, with service behaviour and reliable operation of the said institution or organization in the case of real work
Property.
Test system, including testing stand, console and power distribution cabinet are loaded the invention discloses a kind of electrical servo straight line, its
Middle console is used to carry out loading closed-loop control to testing stand and realizes human-computer interaction function, and power distribution cabinet is testing stand and console
Power is provided and isolated each several part power module by isolation circuit, wherein testing stand adds including base frame, servo
Loading system, motion conversion system, tested servo-drive system and sensing system, wherein base frame include pedestal 1 and T-slot plate 2,
Servo loading system includes servo loading motor 3, servo loading motor support base 4, bellows coupling 5-1, bellows coupling
5-2, torque rotary speed sensor 6 and torque rotary speed sensor bearing 7, motion conversion system include support platform 8, ball screw assembly,
Support unit 9, ball-screw 10, rolling ball screw pair screw nut 11, sleeve 12, connecting plate 13, grating scale connecting plate 14, grating scale are read
Several first 15, sliding block 16, guide rail 17, grating scale 18, connector 19, pull pressure sensor 20, drag chain 21, limit switch baffle plate 22,
Limit switch bearing 23, limit switch 24 and connection section 25, being tested servo-drive system includes connecting shaft 26, tested axle sleeve 27, microbit
Displacement sensor 29, micro-displacement sensor bearing 28, tested straight-line motion mechanism 30, strap 31, lifting platform 32, encoder branch
Seat 33, encoder 34, sensing system include torque rotary speed sensor 6, grating scale 18, pull pressure sensor 20, micro-displacement and passed
Sensor 29 and encoder 34, sensing system are mainly used in testing motion and the power signal of system output；
In the base frame, the top of pedestal 1 sets T-slot plate 2, and T-slot plate 2 has length, the T of width both direction
Groove passage, for adjusting mounting lifting platform to adapt to the straight-line motion mechanism of different size, T-slot plate 2 passes through fastener and base
Seat 1 is connected, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8, lifting platform 32, encoder branch
Seat 33 is connected by fastener with T-slot plate 2；Lifting platform 32 is installed on the T groove passages of width side, encoder
Bearing 33, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8 are located at the T groove passages of length direction
On, support platform 8 is located between encoder support 33 and torque rotary speed sensor bearing 7, and servo loading motor support base 4, which is located at, to be turned
The opposite side of square speed probe bearing 7；
In the servo loading system, servo loading motor 3 is fastened by fastener and servo loading motor support base 4 to be connected
Connect, be connected between motor shaft and torque rotary speed sensor 6 by the first bellows coupling 5-1, torque rotary speed sensor 6 and fortune
It is connected between ball-screw 10 in dynamic converting system by the second bellows coupling 5-2, torque rotary speed sensor 6 is by tight
Firmware is arranged on torque rotary speed sensor bearing 7；
In the motion conversion system, ball screw assembly, support unit 9, guide rail 17, grating scale are set in support platform 8
18th, the fixing end of limit switch bearing 23 and drag chain 21；The one end of ball-screw 10 is fixed, and the other end is free, and fixing end is by rolling
Ballscrew pair support unit 9 is fixed, and ball screw assembly, support unit 9 is fixed in support platform 8 by fastener；
Rolling ball screw pair screw nut 11 is connected with the front end of sleeve 12 by fastener, and the upper surface of sleeve 12 passes through fastener and company
Fishplate bar 13 is fixed, and the tail end of sleeve 12 is connected to realize linear motion output by fastener and connector 19；
The end of sleeve 12 is limited in the middle part of support platform 8 to realize mechanical position limitation, and limit switch bearing 23 is arranged on branch
Support the side of platform 8, limit switch baffle plate 22 is arranged on connecting plate 13, limit switch 24 be arranged on limit switch bearing 23 with
Realize electric limiting；
The middle part of connecting plate 13 is connected with sleeve 12 by fastener, and the two ends of connecting plate 13 are connected with sliding block 16,
And the effect limitation rolling ball screw pair screw nut 11 by line slideway and the rotation of sleeve 12, it is ensured that the output straight line fortune of sleeve 12
Dynamic, connecting plate 13 is connected with grating scale connecting plate 14 by fastener；
Grating scale 18 is arranged in the groove of support platform 8 one, and grating ruler reading head 15 is with grating scale connecting plate 14 by tight
Firmware is connected, and the displacement signal of the acquisition system of grating scale 18 feeds back to computer control system；
The one end of pull pressure sensor 20 is connected through a screw thread with connector 19, and the other end is connected with being connected section 25 by screw thread
Connect, the side of pull pressure sensor 20 is provided with signal wire, loading force is fed back to computer control system by signal wire, and signal wire is put
In drag chain 21, the mobile terminal of drag chain 21 is fixed on connecting plate 13, and the fixing end of drag chain 21 is arranged in support platform 8；
Connection 25 ends of thread of section are threadably connected with pull pressure sensor 20, and the other end is by connecting shaft 26 with being tested
Straight-line motion mechanism 30 is connected；
In the tested servo-drive system, tested axle sleeve 27 is connected with connecting shaft 26, and micro-displacement sensor 29 is arranged on
On micro-displacement sensor bearing 28, the displacement that micro-displacement sensor 29 measures tested axle sleeve 27 exports and feeds back to computer control
System, tested straight-line motion mechanism 30 is fixedly mounted on lifting platform 32 by strap 31, and the side of lifting platform 32 is equipped with height
Vernier knob is spent, the requirement that different type is tested the centering of straight-line motion mechanism 30 can be met, micro-displacement sensor bearing 28 leads to
Fastener is crossed to be fixed on lifting platform 32；
Encoder support 33 is arranged on T-slot plate 2, and encoder 34 is arranged on encoder support 33, is tested straight line fortune
The output shaft opposite side of motivation structure 30 is connected with encoder 34.
The servo loading motor 3, torque rotary speed sensor 6, ball-screw 10, connector 19, pull pressure sensor 20,
Connection section 25, tested straight-line motion mechanism 30 and encoder 34 are coaxially connected.
Described sleeve 12, connecting plate 13, grating scale connecting plate 14, limit switch baffle plate 22 and limit switch bearing 23 is adopted
Use high-strength hard aluminum alloy material.
Connector 19, connection section 25, connecting shaft 26 use 45 Steel materials and pass through modifier treatment.
The power distribution cabinet includes servo loading motor driver, programmable power supply and braking resistor, loading motor driver
It is connected with the servo loading motor 3 in testing stand by motor braking band-type brake cable, feedback cable, loading motor driver and control
Device processed is connected, and programmable power supply is that tested straight-line motion mechanism 30 is powered.
The console, which includes installing in host computer, real-time controller, data collecting card and motion control card, host computer, to be surveyed
Software is controlled, host computer is communicated and real-time monitoring system state, real-time controller by TCP/IP communication agreement with real-time controller
It is connected with motion control card and data collecting card, data collecting card is sensed with torque rotary speed sensor 6, grating scale 18, pressure
Device 20 is connected, and receives the signal of the sensor, and above-mentioned signal is transferred into real-time controller；Real-time controller passes through simultaneously
Motion control card control servo loading motor 3, tested straight-line motion mechanism 30 are moved；
Host computer sets loading mode and control instruction is sent into real-time controller by TCP/IP communication agreement, in real time
Controller is sent to motion control card after handling instruction, drives servo loading motor to complete loading by motion control card and appoints
Business, while torque rotary speed sensor 6, pull pressure sensor 20, grating scale 18 gather real time data and feed back to real-time controller
Closed-loop control is carried out, real-time controller sends the data to host computer and shown and stored.
Below in conjunction with embodiment, the present invention is described in further detail.
Embodiment
A kind of electrical servo straight line loads test system, including testing stand, console and power distribution cabinet, and wherein console is used for
Loading closed-loop control is carried out to testing stand and human-computer interaction function is realized, power distribution cabinet provides power for testing stand and console and led to
Cross isolation circuit to be isolated each several part power module, wherein testing stand includes base frame, servo loading system, motion turn
System and tested servo-drive system are changed, wherein base frame includes pedestal 1 and T-slot plate 2, and servo loading system includes servo loading
Motor 3, servo loading motor support base 4, bellows coupling 5-1, bellows coupling 5-2, torque rotary speed sensor 6 and torque
Speed probe bearing 7, motion conversion system includes support platform 8, ball screw assembly, support unit 9, ball-screw 10, ball
Lead screw pair nut 11, sleeve 12, connecting plate 13, grating scale connecting plate 14, grating ruler reading head 15, sliding block 16, guide rail 17, grating
Chi 18, connector 19, pull pressure sensor 20, drag chain 21, limit switch baffle plate 22, limit switch bearing 23, limit switch 24
And connection section 25, being tested servo-drive system includes connecting shaft 26, tested axle sleeve 27, micro-displacement sensor 29, micro-displacement sensor branch
Seat 28, tested straight-line motion mechanism 30, strap 31, lifting platform 32, encoder support 33, encoder 34；
In the base frame, the top of pedestal 1 sets T-slot plate 2, and T-slot plate 2 has length, the T of width both direction
Groove passage, for adjusting mounting lifting platform to adapt to the straight-line motion mechanism of different size, T-slot plate 2 passes through fastener and base
Seat 1 is connected, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8, lifting platform 32, encoder branch
Seat 33 is connected by fastener with T-slot plate 2；Lifting platform 32 is installed on the T groove passages of width side, encoder
Bearing 33, servo loading motor support base 4, torque rotary speed sensor bearing 7, support platform 8 are located at the T groove passages of length direction
On, support platform 8 is located between encoder support 33 and torque rotary speed sensor bearing 7, and servo loading motor support base 4, which is located at, to be turned
The opposite side of square speed probe bearing 7；
In the servo loading system, servo loading motor 3 is fastened by fastener and servo loading motor support base 4 to be connected
Connect, be connected between motor shaft and torque rotary speed sensor 6 by the first bellows coupling 5-1, torque rotary speed sensor 6 and fortune
It is connected between ball-screw 10 in dynamic converting system by the second bellows coupling 5-2, torque rotary speed sensor 6 is by tight
Firmware is arranged on torque rotary speed sensor bearing 7；
In the motion conversion system, ball screw assembly, support unit 9, guide rail 17, grating scale are set in support platform 8
18th, the fixing end of limit switch bearing 23 and drag chain 21；The one end of ball-screw 10 is fixed, and the other end is free, and fixing end is by rolling
Ballscrew pair support unit 9 is fixed, and ball screw assembly, support unit 9 is fixed in support platform 8 by fastener；
Rolling ball screw pair screw nut 11 is connected with the front end of sleeve 12 by fastener, and the upper surface of sleeve 12 passes through fastener and company
Fishplate bar 13 is fixed, and the tail end of sleeve 12 is connected to realize linear motion output by fastener and connector 19；
The end of sleeve 12 is limited in the middle part of support platform 8 to realize mechanical position limitation, and limit switch bearing 23 is arranged on branch
Support the side of platform 8, limit switch baffle plate 22 is arranged on connecting plate 13, limit switch 24 be arranged on limit switch bearing 23 with
Realize electric limiting；
The middle part of connecting plate 13 is connected with sleeve 12 by fastener, and the two ends of connecting plate 13 are connected with sliding block 16,
And the effect limitation rolling ball screw pair screw nut 11 by line slideway and the rotation of sleeve 12, it is ensured that the output straight line fortune of sleeve 12
Dynamic, connecting plate 13 is connected with grating scale connecting plate 14 by fastener；
Grating scale 18 is arranged in the groove of support platform 8 one, and grating ruler reading head 15 is with grating scale connecting plate 14 by tight
Firmware is connected, and the displacement signal of the acquisition system of grating scale 18 feeds back to computer control system；
The one end of pull pressure sensor 20 is connected through a screw thread with connector 19, and the other end is connected with being connected section 25 by screw thread
Connect, the side of pull pressure sensor 20 is provided with signal wire, loading force is fed back to computer control system by signal wire, and signal wire is put
In drag chain 21, the mobile terminal of drag chain 21 is fixed on connecting plate 13, and the fixing end of drag chain 21 is arranged in support platform 8；
Connection 25 ends of thread of section are threadably connected with pull pressure sensor 20, and the other end is by connecting shaft 26 with being tested
Straight-line motion mechanism 30 is connected；
In the tested servo-drive system, tested axle sleeve 27 is connected with connecting shaft 26, and micro-displacement sensor 29 is arranged on
On micro-displacement sensor bearing 28, the displacement that micro-displacement sensor 29 measures tested axle sleeve 27 exports and feeds back to computer control
System, tested straight-line motion mechanism 30 is fixedly mounted on lifting platform 32 by strap 31, and the side of lifting platform 32 is equipped with height
Vernier knob is spent, the requirement that different type is tested the centering of straight-line motion mechanism 30 can be met, micro-displacement sensor bearing 28 leads to
Fastener is crossed to be fixed on lifting platform 32；
Encoder support 33 is arranged on T-slot plate 2, and encoder 34 is arranged on encoder support 33, is tested straight line fortune
The output shaft opposite side of motivation structure 30 is connected with encoder 34.
The power distribution cabinet includes servo loading motor driver, programmable power supply and braking resistor, loading motor driver
It is connected with the servo loading motor 3 in testing stand by motor braking band-type brake cable, feedback cable, loading motor driver and control
Device processed is connected, and programmable power supply is that tested straight-line motion mechanism 30 is powered.
The console includes host computer, real-time controller, data collecting card, signal processing system, cabinet and terminal box,
TT＆C software is installed, host computer is communicated and real-time monitoring system shape by TCP/IP communication agreement with real-time controller in host computer
State, real-time controller is connected with loading motor driver, tested straight-line motion mechanism driver.
Host computer sets loading mode and control instruction is sent into real-time controller by TCP/IP communication agreement, in real time
Controller is sent to servo loading motor driver after handling instruction, is added by servo loading motor driver driving servo
Carry motor and complete loading tasks, while torque rotary speed sensor 6, pull pressure sensor 20, grating scale 18 collection real time data are simultaneously
Feed back to real-time controller and carry out closed-loop control, real-time controller sends the data to host computer and shown and stored.
Power distribution cabinet is used to provide to tested straight-line motion mechanism 30, servo loading motor 3, sensor and data collecting system
Required power, and isolated each several part power module by isolation circuit, in order to avoid influence each other；Strap 31, branch
Support platform 8 and lifting platform 32 are mainly used in installing each part of loading test system, it is ensured that the normal reliable of each several part during experiment
Work, and the need for adapting to the different straight-line motion mechanisms loading of certain series and test；Servo loading system is mainly by servo
Loading motor 3 drives, driving mechanical part transmission, by controlling the current signal of servo loading motor 3 to control its output torque
Change, the required load working condition of simulation, and loading moment is changed into by movement conversion mechanism be applied to tested straight line fortune
Axial force on motivation structure 30；Sensing system includes torque rotary speed sensor 6, grating scale 18, pull pressure sensor 20, microbit
Displacement sensor 29 and encoder 34, are mainly used in testing motion and the power signal of system output；Data collecting system is main
Data-signal for gathering sensor, is analyzed signal, handled and is shown, and coherent signal is fed back into control system
System, be more accurately controlled servo loading system to output, the loading rule needed for realizing and is reduced as far as redundant force
Square influences, and improves system loads precision.
The present invention has wide applicability, can be for certain effectively according to the actual stand under load change conditions of mechanism
Arrange various sizes of straight-line motion mechanism and simulation loading is carried out to mechanism using suitable loading spectrum, with the said institution or organization in actual work
Service behaviour and functional reliability under condition；
Present invention loading test system function is varied, disclosure satisfy that servo analog loading, the precision of transmission mechanism is surveyed
Amount, mechanism dynamic characteristic test, the ultimate bearing capacity of mechanism and four major functions of reliability test, wherein servo analog add
Load form includes constant loading, waveform loading, started with load, synchronous loading and random waveform are loaded；
The present invention the course of work be：
Host computer sets loading mode and loading force, is changed through D/A, output voltage control is believed after signal conditioning circuit conditioning
Number, operated by driver control servo loading motor 3；Host computer will be sent to by RS422 is loaded mechanism drive drive
Dynamic signal, drives straight-line motion mechanism；
Output torque is passed to ball-screw 10 by servo loading motor 3 through torque rotary speed sensor 6, and by rotary motion
Linear motion is converted into, the loading moment of torsion that will be rotated is converted into the loading force of straight line, promotes sleeve 12 to move along a straight line, so that real
Now the power for being tested straight-line motion mechanism 30 is loaded；Tested straight-line motion mechanism 30 passes through connector 19, pressure with sleeve 12
Sensor 20 and connection section 25 are connected；
Pull pressure sensor 20 measures actual loaded force signal, through signal conditioning circuit and A/D conversion feedbacks to host computer,
Form closed-loop control；
Host computer, which is compared drive signal with feedback signal, draws regulation error, through control algolithm computing, provides after regulation
Voltage control signal, said process is run repeatedly.
The present invention has wide applicability, can be for certain effectively according to the actual stand under load change conditions of mechanism
Arrange various sizes of straight-line motion mechanism and simulation loading is carried out to mechanism using suitable loading spectrum, with the said institution or organization in actual work
Service behaviour and functional reliability under condition.
Claims (6)
1. a kind of electrical servo straight line loads test system, it is characterised in that including testing stand, console and power distribution cabinet, wherein
Console is used to carry out loading closed-loop control to testing stand and realizes human-computer interaction function, and power distribution cabinet is that testing stand and console are carried
Each several part power module is isolated for power and by isolation circuit, wherein testing stand includes base frame, servo loading
System, motion conversion system, tested servo-drive system and sensing system, wherein base frame include pedestal (1) and T-slot plate
(2), servo loading system includes servo loading motor (3), servo loading motor support base (4), bellows coupling (5-1), ripple
Line pipe shaft coupling (5-2), torque rotary speed sensor (6) and torque rotary speed sensor bearing (7), motion conversion system include support
Platform (8), ball screw assembly, support unit (9), ball-screw (10), rolling ball screw pair screw nut (11), sleeve (12), connecting plate
(13), grating scale connecting plate (14), grating ruler reading head (15), sliding block (16), guide rail (17), grating scale (18), connector
(19), pull pressure sensor (20), drag chain (21), limit switch baffle plate (22), limit switch bearing (23), limit switch (24)
And connection section (25), being tested servo-drive system includes connecting shaft (26), tested axle sleeve (27), micro-displacement sensor (29), micro-displacement
Sensor support base (28), tested straight-line motion mechanism (30), strap (31), lifting platform (32), encoder support (33), volume
Code device (34), sensing system includes torque rotary speed sensor (6), grating scale (18), pull pressure sensor (20), micro-displacement and passed
Sensor (29) and encoder (34), sensing system are mainly used in testing motion and the power signal of system output；
In the base frame, the top of pedestal (1) sets T-slot plate (2), and T-slot plate (2) has length, width both direction
T groove passages, for adjusting mounting lifting platform to adapt to the straight-line motion mechanism of different size, T-slot plate (2) passes through fastener
It is connected with pedestal (1), servo loading motor support base (4), torque rotary speed sensor bearing (7), support platform (8), lifting
Platform (32), encoder support (33) are connected by fastener and T-slot plate (2)；Lifting platform (32) is installed on width
On the T groove passages of side, encoder support (33), servo loading motor support base (4), torque rotary speed sensor bearing (7), support
Platform (8) is located on the T groove passages of length direction, and support platform (8) is located at encoder support (33) and torque rotary speed sensor
Between bearing (7), servo loading motor support base (4) is located at the opposite side of torque rotary speed sensor bearing (7)；
In the servo loading system, servo loading motor (3) is fastened by fastener and servo loading motor support base (4) to be connected
Connect, be connected between motor shaft and torque rotary speed sensor (6) by the first bellows coupling (5-1), torque rotary speed sensor
(6) it is connected between the ball-screw (10) in motion conversion system by the second bellows coupling (5-2), torque rotary speed is passed
Sensor (6) is arranged on torque rotary speed sensor bearing (7) by fastener；
In the motion conversion system, ball screw assembly, support unit (9), guide rail (17), grating scale are set in support platform (8)
(18), the fixing end of limit switch bearing (23) and drag chain (21)；Ball-screw (10) one end is fixed, and the other end is free, Gu
Fixed end is fixed by ball screw assembly, support unit (9), and ball screw assembly, support unit (9) is fixed to support platform by fastener
(8) on；
Rolling ball screw pair screw nut (11) is connected with sleeve (12) front end by fastener, sleeve (12) upper surface by fastener with
Connecting plate (13) is fixed, and sleeve (12) tail end is connected to realize linear motion output by fastener and connector (19)；
Sleeve (12) end is limited in the middle part of support platform (8) to realize mechanical position limitation, and limit switch bearing (23) is arranged on
Support platform (8) side, limit switch baffle plate (22) is arranged on connecting plate (13), and limit switch (24) is arranged on limit switch
To realize electric limiting on bearing (23)；
It is connected in the middle part of connecting plate (13) with sleeve (12) by fastener, connecting plate (13) two ends are connected solid with sliding block (16)
It is fixed, and the effect limitation rolling ball screw pair screw nut (11) by line slideway and the rotation of sleeve (12), it is ensured that sleeve (12) is defeated
Go out linear motion, connecting plate (13) is connected with grating scale connecting plate (14) by fastener；
Grating scale (18) is arranged in the groove of support platform (8) one, and grating ruler reading head (15) leads to grating scale connecting plate (14)
Cross fastener to be connected, the displacement signal of grating scale (18) acquisition system feeds back to computer control system；
Pull pressure sensor (20) one end is connected through a screw thread with connector (19), and the other end is connected with being connected section (25) by screw thread
Connect, pull pressure sensor (20) side is provided with signal wire, and loading force is fed back to computer control system, signal wire by signal wire
It is placed in drag chain (21), drag chain (21) mobile terminal is fixed on connecting plate (13), drag chain (21) fixing end is arranged on support platform
(8) on；
Connection section (25) end of thread is threadably connected with pull pressure sensor (20), and the other end passes through connecting shaft (26) and quilt
Survey straight-line motion mechanism (30) connection；
In the tested servo-drive system, it is tested axle sleeve (27) and is connected with connecting shaft (26), micro-displacement sensor (29) is installed
On micro-displacement sensor bearing (28), the displacement that micro-displacement sensor (29) measures tested axle sleeve (27) exports and feeds back to meter
Calculation machine control system, tested straight-line motion mechanism (30) is fixedly mounted on lifting platform (32) by strap (31), is lifted
Platform (32) side is equipped with height fine adjusting function knob, can meet the requirement that different type is tested straight-line motion mechanism (30) centering, micro-
Displacement transducer bearing (28) is fixed on lifting platform (32) by fastener；
Encoder support (33) is arranged on T-slot plate (2), and encoder (34) is arranged on encoder support (33), is tested straight
Line movement mechanism (30) output shaft opposite side is connected with encoder (34).
2. a kind of electrical servo straight line loading test system according to claim 1, it is characterised in that the servo loading
Motor (3), torque rotary speed sensor (6), ball-screw (10), connector (19), pull pressure sensor (20), connection section
(25), it is tested straight-line motion mechanism (30) and encoder (34) is coaxially connected.
3. a kind of electrical servo straight line loading test system according to claim 1, it is characterised in that described sleeve
(12), connecting plate (13), grating scale connecting plate (14), limit switch baffle plate (22) and limit switch bearing (23) use high intensity
Duralumin, hard alumin ium alloy material.
4. a kind of electrical servo straight line loading test system according to claim 1, it is characterised in that connector (19),
Connection section (25), connecting shaft (26) are using 45 Steel materials and pass through modifier treatment.
5. a kind of electrical servo straight line loading test system according to claim 1, it is characterised in that the power distribution cabinet bag
Include servo loading motor driver, programmable power supply and braking resistor, loading motor driver and the servo loading in testing stand
Motor (3) is connected by motor braking band-type brake cable, feedback cable, and loading motor driver is connected with controller, may be programmed electricity
Source is tested straight-line motion mechanism (30) power supply.
6. a kind of electrical servo straight line loading test system according to claim 1, it is characterised in that the console bag
Include and TT＆C software is installed in host computer, real-time controller, data collecting card and motion control card, host computer, host computer passes through
TCP/IP communication agreement communicates and real-time monitoring system state with real-time controller, real-time controller and motion control card and data
Capture card is connected, and data collecting card is connected with torque rotary speed sensor (6), grating scale (18), pull pressure sensor (20), receives
The signal of the sensor, and above-mentioned signal is transferred to real-time controller；Real-time controller passes through motion control control simultaneously
Servo loading motor (3) processed, tested straight-line motion mechanism (30) motion；
Host computer sets loading mode and control instruction is sent into real-time controller by TCP/IP communication agreement, in real time control
Device is sent to motion control card after handling instruction, drives servo loading motor to complete loading tasks by motion control card,
Torque rotary speed sensor (6), pull pressure sensor (20), grating scale (18) gather real time data and feed back to real-time control simultaneously
Device carries out closed-loop control, and real-time controller sends the data to host computer and shown and stored.
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| CN201710298100.0A CN107101830B (en) | 2017-04-30 | 2017-04-30 | A kind of electrical servo straight line load test system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298100.0A CN107101830B (en) | 2017-04-30 | 2017-04-30 | A kind of electrical servo straight line load test system |
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| CN107101830B CN107101830B (en) | 2019-04-16 |
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| CN110333695A (en) * | 2019-06-30 | 2019-10-15 | 南京理工大学 | A kind of electric linear Loading Control System |
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| CN112683209B (en) * | 2020-12-21 | 2024-03-22 | 华南理工大学 | Line gear machining precision detection table |
| CN113267727A (en) * | 2021-07-02 | 2021-08-17 | 内蒙古民族大学 | Dynamic loading motor speed regulation experiment method and system based on signal flow diagram |
| CN113267727B (en) * | 2021-07-02 | 2023-10-20 | 内蒙古民族大学 | Dynamic loading motor speed regulation experiment method and system based on signal flow diagram |
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| CN114354183A (en) * | 2021-12-09 | 2022-04-15 | 昆明北方红外技术股份有限公司 | Damping detection device and method for high-precision linear transmission mechanism |
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