CN108871765A - One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device - Google Patents

One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device Download PDF

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Publication number
CN108871765A
CN108871765A CN201810758014.8A CN201810758014A CN108871765A CN 108871765 A CN108871765 A CN 108871765A CN 201810758014 A CN201810758014 A CN 201810758014A CN 108871765 A CN108871765 A CN 108871765A
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CN
China
Prior art keywords
roller screw
support plate
measured
servo motor
measurement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810758014.8A
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Chinese (zh)
Inventor
高会军
匡治安
孙光辉
于志远
高天泽
蒋孟龙
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Harbin Institute of Technology
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Harbin Institute of Technology
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Publication date
Application filed by Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN201810758014.8A priority Critical patent/CN108871765A/en
Publication of CN108871765A publication Critical patent/CN108871765A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • G01M13/02Gearings; Transmission mechanisms
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00Measuring torque, work, mechanical power, or mechanical efficiency in general

Abstract

One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device, the present invention relates to a kind of measuring devices, the present invention is to solve the problems, such as that roller screw pair positioning accuracy and moment of friction device can be measured simultaneously not yet, it includes absolute type encoder, servo motor, pedestal, torque sensor, roller screw to be measured, roller screw nut, grating dynamic device, guide rail, the quiet ruler of grating scale, bracket, pressure sensor, hydraulic loading system and four connection slide bars;Absolute type encoder is fixedly mounted on servo motor, the outer housing of servo motor is horizontally arranged on pedestal, the shaft of servo motor is fixedly connected with one end of torque sensor, the other end of torque sensor is fixedly connected with one end of roller screw to be measured, roller screw nut is covered on roller screw to be measured and is threadedly coupled with roller screw to be measured, and the present invention when lead screw pair positioning and measurement of friction torque for using.

Description

One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device
Technical field
The present invention relates to a kind of measuring devices, and in particular to one kind is used for planetary roller screw pair positioning accuracy and frictional force Square measuring device.
Background technique
Planetary roller screw pair is a kind of mechanical mechanism for converting rotary motion to linear motion.Planetary roller screw pair Load transmission element be threaded rollers, compared to traditional ball screw assembly, have higher bearing capacity and impact resistance, It is capable of providing higher rotation speed and acceleration, and its lead can be more fine.Exactly in view of these plurality of advantages, planet Roller screw pair is widely used in the servo-system of all conglomeraties such as weaponry, aerospace, high-end lathe, has light Development prospect.
Positioning accuracy and moment of friction are most important two performance parameters of planetary roller screw pair.Planetary roller screw pair As the important mechanical part of servo-system, positioning accuracy directly affects the precision of servo-system entirety, and moment of friction is then Influence the transmission efficiency, service life and many dynamic performances of product.Therefore, the positioning of planetary roller screw pair is measured Precision and moment of friction are the steps necessaries of roller screw pair factory testing and product servo R&D and production.
Currently, the device of roller screw pair positioning accuracy and moment of friction can be measured simultaneously not yet.And profession is used for The device for measuring roller screw pair locating friction torque is also few, and existing measuring device also has many restrictions and disadvantage.Example Such as, " a kind of planetary roller screw friction performance testing device " disclosed in patent of invention CN106769011A is only capable of measuring roller The static energy of lead screw, the dynamic friction performance and the frictional behaviour in the case where there is loading condition for being unable to measure roller screw.
Summary of the invention
The present invention is to solve the problems, such as that roller screw pair positioning accuracy and moment of friction device can be measured simultaneously not yet, And then it provides a kind of for planetary roller screw pair positioning accuracy and measurement of friction torque device.
The present invention adopts the technical scheme that in order to solve the above problem:It includes absolute type encoder, servo motor, bottom Seat, torque sensor, roller screw to be measured, roller screw nut, grating dynamic device, guide rail, the quiet ruler of grating scale, bracket, pressure Sensor, hydraulic loading system and four connection slide bars;Absolute type encoder is fixedly mounted on servo motor, servo motor Outer housing is horizontally arranged on pedestal, and the shaft of servo motor is fixedly connected with one end of torque sensor, torque sensor The other end is fixedly connected with one end of roller screw to be measured, roller screw nut cover on roller screw to be measured and with roller to be measured Threads of lead screw connection, roller screw to be measured are horizontally set on pedestal, and guide rail is mounted on the base along the length direction of pedestal, rolling The bottom end of column feed screw nut is machined with the groove with guide rail cooperation, and roller screw nut is slidably arranged on guide rail, roller screw Nut is slided on guide rail by groove, and a side of roller screw nut is equipped with grating dynamic device, grating dynamic device Lower section is equipped with the quiet ruler of grating scale, and the quiet ruler of grating scale is mounted on the base, and grating dynamic device is equipped with the quiet ruler of grating scale, to be measured The other end of roller screw is connect with base rotation, and an end face of roller screw nut passes through four connection slide bars and bracket One end face is fixedly connected, another end face of bracket is equipped with pressure sensor, and pressure sensor is mounted on hydraulic loaded system It unites on the extension end of telescopic rod, the end of hydraulic loading system is fixedly connected with pedestal.
The beneficial effects of the invention are as follows:Not only the positioning accuracy of planetary roller screw pair can have been measured, but can measure its Moment of friction under the conditions of different loads, under the conditions of different rotating speeds.The measuring device passes through special structure design and a variety of biographies The cooperation of sensor, has that structure is simple, operates conveniently, many advantages, such as measurement accuracy is high, safe and reliable.
2 shaft of servo motor passes through the through-hole reserved in the first support plate 3, passes through first shaft coupling 4 and torque sensor 5 The pedestal of coaxial connected torque sensor 5 is fixed on test sewing platform base 7, and the other end of torque sensor 5 passes through the second shaft coupling Device 6 is connected with roller screw 8 to be measured;Roller screw nut 9 is installed on roller screw 8 to be measured and roller screw nut 9 with lead The cooperation of rail 11 slides back and forth;Guide rail 11 is fixed on test sewing platform base 7, and coaxial with test sewing platform base 7;Roller screw nut Grating dynamic device 10 is also fixed on 9, the quiet ruler 12 of grating scale is fixed on test sewing platform base 7 and coaxial with test sewing platform base 7; The other end of roller screw 8 to be measured passes through and the interference fit of bearing 13 is mounted in the through-hole of the second support plate 14;Roller screw Nut 9 is connected with bracket 15, and pressure sensor 16 is housed on bracket 15 and is connected with the axial direction of hydraulic loading system 17;It is hydraulic to add The other end of loading system 17 is fixed in third support plate 18.
The roller screw to be measured 8, roller screw nut 9, the shaft of servo motor 2, torque sensor 5, hydraulic loaded The output shaft of system 17 and 14 through-hole of the second support plate are to be co-axially mounted.
The quiet ruler 12 of the absolute type encoder 1, torque sensor 5, grating dynamic device 10, grating scale and pressure sensor 16 Output signal be acquired by sensor capture card, and on computers store and show.
The present invention realizes the load to planetary roller screw pair by hydraulic loading system 17, by servo motor 2 and absolutely To formula encoder 1 form closed loop servo system control servo motor 2 output need revolving speed, using grating scale i.e. can measure to Survey positioning accuracy of the roller screw 8 under different motor speeds, different loads operating condition;It can measure electricity using torque sensor 5 The resultant couple of machine output, the loading moment being converted into is subtracted with resultant couple can be obtained roller screw in different motor speeds, difference Moment of friction under load behavior.The measuring device structure is simple, and can measure various working lower planet roller screw pair Positioning accuracy and moment of friction, versatility are very strong.
A kind of planetary roller screw pair positioning accuracy proposed by the present invention and measurement of friction torque device, it is hydraulic by loading Cylinder realizes the load to planetary roller screw pair, and the numerical value of exportable loading force is big and adjustable range is big, with roller screw reality The operating condition that works is close.
A kind of planetary roller screw pair positioning accuracy proposed by the present invention and measurement of friction torque device, positioning accuracy is by height Precision grating scale is directly measured and is obtained, measurement accuracy is very high;Non-essential friction is not present in roller screw pair and experimental provision, keeps away Exempt to generate interference moment of friction, therefore the measurement of friction torque precision of roller screw pair is very high.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention,
Fig. 2 is overall structure main view of the invention,
Fig. 3 is the main view that four connection slide bars are mounted on bracket 15,
Fig. 4 is the right view of Fig. 3,
Fig. 5 is the bottom view of Fig. 3.
Specific embodiment
Specific embodiment one:Illustrate that present embodiment, one kind described in present embodiment are rolled for planet in conjunction with Fig. 1-Fig. 5 Column lead screw pair positioning accuracy and measurement of friction torque device, it includes absolute type encoder 1, servo motor 2, pedestal, torque biography The quiet ruler 12 of sensor 5, roller screw to be measured 8, roller screw nut 9, grating dynamic device 10, guide rail 11, grating scale, bracket 15, pressure Force snesor 16, hydraulic loading system 17 and four connection slide bars;Absolute type encoder 1 is fixedly mounted on servo motor 2, is watched The outer housing for taking motor 2 is horizontally arranged on pedestal, and the shaft of servo motor 2 is fixedly connected with one end of torque sensor 5, power The other end of square sensor 5 is fixedly connected with one end of roller screw 8 to be measured, and 9 sets of roller screw nut in roller screw 8 to be measured It above and with roller screw 8 to be measured is threadedly coupled, roller screw 8 to be measured is horizontally set on pedestal, length of the guide rail 11 along pedestal Direction is mounted on the base, and the bottom end of roller screw nut 9 is machined with the groove cooperated with guide rail 11, and roller screw nut 9 is sliding Dynamic to be arranged on guide rail 11, roller screw nut 9 is slided on guide rail 11 by groove, a side of roller screw nut 9 Grating dynamic device 10 is installed, the lower section of grating dynamic device 10 is equipped with the quiet ruler 12 of grating scale, and the quiet ruler 12 of grating scale is mounted on pedestal On, grating dynamic device 10 is equipped with the quiet ruler 12 of grating scale, and the other end of roller screw 8 to be measured is connect with base rotation, rolling One end face of column feed screw nut 9 is fixedly connected by four connection slide bars with an end face of bracket 15, bracket 15 it is another A end face is equipped with pressure sensor 16, and pressure sensor 16 is mounted on the extension end of 17 telescopic rod of hydraulic loading system, liquid The end of pressure loading system 17 is fixedly connected with pedestal.
Servo motor 2 is the servo motor of twin shaft output in present embodiment, and hydraulic loading system 17 is hydraulic cylinder.
Bracket 15 is a square rigid metal plate in present embodiment, and square-shaped metal plate center is provided with round recessed Slot is used for installation pressure sensor 16 and connection 17 output shaft of hydraulic loading system.Four connection slide bars are four metallic rods, Four metallic rods axially retain vertical with square-shaped metal plate, and the section circle of each metallic rod is located at square-shaped metal plate On diagonal line, using metal plate center as symmetrical centre, four metallic rods are centrosymmetric pattern arrangement.
This design structure of bracket 15 is simple, while preventing the tangential stress of roller screw pair from introducing additional frictional force Square ensure that the accuracy of measurement.
Hydraulic loading system 17 can provide under the action of electrohydraulic servo valve the power of constant size and other forms to Simulate the load of roller screw.In order to further ensure measurement accuracy, between 17 output shaft of hydraulic loading system and bracket 15 It is also equipped with pressure sensor 16.Hydraulic loading system 17 can simulate relatively large load, and roller screw pair also make big by multiplexing Under load behavior, this design can both guarantee measurement range, it is also ensured that measurement accuracy.
The quiet ruler 12 of servo motor 2, grating dynamic device 10, grating scale, sensor capture card, computer and servo motor driving Device constitutes close loop control circuit, can guarantee that the acceleration of roller screw nut 9 is controlled by certain control algolithm, prevent from drawing Entering unknown inertia force makes fictitious load generate deviation, ensure that measurement accuracy.
Specific embodiment two:Illustrate that present embodiment, one kind described in present embodiment are rolled for planet in conjunction with Fig. 1-Fig. 2 Column lead screw pair positioning accuracy and measurement of friction torque device, pedestal include the first support plate 3, test sewing platform base 7, the second support plate 14 and third support plate 18;Test sewing platform base 7 is horizonal base plate, the first support plate 3, the second support plate 14 and third support plate 18 It is vertical vertical plate, the first support plate 3, the second support plate 14 are parallel with third support plate 18 to be fixedly mounted on test sewing platform base 7 On, the outer housing of servo motor 2 is horizontally mounted on the first support plate 3, the other end and the second support plate of roller screw 8 to be measured 14 rotation connections, four connection slide bars are inserted into the second support plate 14 and are slidably connected with the second support plate 14, hydraulic loaded The end of 17 cylinder body of system is fixedly connected with third support plate 18, other structures and connection relationship and one phase of specific embodiment Together.
Present embodiment three:Say that it further includes bearing 13 in conjunction with Fig. 1-Fig. 2;Bearing 13 is mounted on the second support plate 14 On, and bearing 13 is sleeved on the other end of roller screw 8 to be measured.Other structures and connection relationship and one phase of specific embodiment Together.
Present embodiment four:Illustrate that present embodiment, one kind described in present embodiment are used for planet in conjunction with Fig. 1-Fig. 2 Roller screw pair positioning accuracy and measurement of friction torque device, it further includes first shaft coupling 4 and second shaft coupling 6;Servo electricity The output end of 2 shaft of machine passes through the first support plate 3 and is fixedly connected with one end of first shaft coupling 4, the other end of first shaft coupling 4 It being fixedly connected with one end of torque sensor 5, the other end of torque sensor 5 is fixedly connected with Ei with one end of second shaft coupling 6, The other end of second shaft coupling 6 is fixedly connected with roller screw 8 to be measured.Other structures and connection relationship and specific embodiment two It is identical.
Working principle
The course of work of the invention is:Hydraulic loading system 17 sets certain power output, for simulating roller screw reality Load when border works, pressure sensor 16 are used to the size of 17 power output of real-time monitoring hydraulic loading system;With rear bearing sheet 3 On servo motor 2 drive torque sensor 5 axis and roller screw 8 rotate, push roller screw nut 9 along 11 direction of guide rail Sliding.The positioning accuracy of roller screw can be measured by the comparison of the output of encoder 1 and grating scale 10,12;In known silk Moment of friction can be accurately calculated under conditions of thick stick lead, the output of torque sensor 5 and the output of hydraulic loading system 17 Size.

Claims (4)

1. one kind is used for planetary roller screw pair positioning accuracy and measurement of friction torque device, it is characterised in that:It includes absolute Formula encoder (1), servo motor (2), pedestal, torque sensor (5), roller screw to be measured (8), roller screw nut (9), light Grid ruler moves ruler (10), guide rail (11), the quiet ruler of grating scale (12), bracket (15), pressure sensor (16), hydraulic loading system (17) With four connection slide bars;Absolute type encoder (1) is fixedly mounted on servo motor (2), and the outer housing of servo motor (2) is horizontal Be mounted on the base, the shaft of servo motor (2) is fixedly connected with one end of torque sensor (5), torque sensor (5) it is another One end is fixedly connected with the one end of roller screw to be measured (8), roller screw nut (9) cover on roller screw to be measured (8) and with Roller screw (8) to be measured is threadedly coupled, and roller screw (8) to be measured is horizontally set on pedestal, length of the guide rail (11) along pedestal Direction is mounted on the base, and the bottom end of roller screw nut (9) is machined with the groove with guide rail (11) cooperation, roller screw nut (9) it is slidably arranged on guide rail (11), a side of roller screw nut (9) is equipped with grating dynamic device (10), grating scale The lower section of dynamic ruler (10) is equipped with the quiet ruler of grating scale (12), and the quiet ruler of grating scale (12) is mounted on the base, grating dynamic device (10) with The quiet ruler of grating scale (12) is equipped with, and the other end of roller screw (8) to be measured is connect with base rotation, roller screw nut (9) An end face be fixedly connected by four connection slide bars with an end face of bracket (15), another end face of bracket (15) is set Have pressure sensor (16), and pressure sensor (16) is mounted on the extension end of hydraulic loading system (17) telescopic rod, it is hydraulic The end of loading system (17) is fixedly connected with pedestal.
2. a kind of according to claim 1 be used for planetary roller screw pair positioning accuracy and measurement of friction torque device, spy Sign is:Pedestal includes the first support plate (3), test sewing platform base (7), the second support plate (14) and third support plate (18);Examination Testing sewing platform base (7) is horizonal base plate, and the first support plate (3), the second support plate (14) and third support plate (18) are vertical vertical Plate, the first support plate (3), the second support plate (14) are parallel with third support plate (18) to be fixedly mounted in test sewing platform base (7), The outer housing of servo motor (2) is horizontally arranged on the first support plate (3), the other end of roller screw (8) to be measured and second Fagging (14) rotation connection, four connection slide bars, which are inserted on the second support plate (14) and slide with the second support plate (14), to be connected It connects, the end of hydraulic loading system (17) cylinder body is fixedly connected with third support plate (18).
3. a kind of according to claim 2 be used for planetary roller screw pair positioning accuracy and measurement of friction torque device, spy Sign is:It further includes bearing (13);Bearing (13) is mounted on the second support plate (14), and bearing (13) is sleeved on rolling to be measured On the other end of column lead screw (8).
4. a kind of according to claim 2 be used for planetary roller screw pair positioning accuracy and measurement of friction torque device, spy Sign is:It further includes first shaft coupling (4) and second shaft coupling (6);The output end of servo motor (2) shaft passes through first Fagging (3) is fixedly connected with one end of first shaft coupling (4), and the one of the other end of first shaft coupling (4) and torque sensor (5) End is fixedly connected, and the other end of torque sensor (5) is fixedly connected with Ei, second shaft coupling (6) with one end of second shaft coupling (6) The other end be fixedly connected with roller screw to be measured (8).
CN201810758014.8A 2018-07-11 2018-07-11 One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device Pending CN108871765A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810758014.8A CN108871765A (en) 2018-07-11 2018-07-11 One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810758014.8A CN108871765A (en) 2018-07-11 2018-07-11 One kind being used for planetary roller screw pair positioning accuracy and measurement of friction torque device

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CN108871765A true CN108871765A (en) 2018-11-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110542545A (en) * 2019-07-18 2019-12-06 北京精密机电控制设备研究所 Automatic test electromagnetic brake's actuation device under complicated application environment

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104776992A (en) * 2015-04-24 2015-07-15 南京理工大学 Planetary roller lead screw precision testing device
CN105890895A (en) * 2016-04-12 2016-08-24 西北工业大学 Comprehensive performance test bench for planetary roller screw
CN105954017A (en) * 2016-05-10 2016-09-21 西北工业大学 Planetary roller screw pair friction torque measurement device
CN106679958A (en) * 2017-01-09 2017-05-17 哈尔滨工业大学 Comprehensive performance testing platform for planetary roller screw

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104776992A (en) * 2015-04-24 2015-07-15 南京理工大学 Planetary roller lead screw precision testing device
CN105890895A (en) * 2016-04-12 2016-08-24 西北工业大学 Comprehensive performance test bench for planetary roller screw
CN105954017A (en) * 2016-05-10 2016-09-21 西北工业大学 Planetary roller screw pair friction torque measurement device
CN106679958A (en) * 2017-01-09 2017-05-17 哈尔滨工业大学 Comprehensive performance testing platform for planetary roller screw

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110542545A (en) * 2019-07-18 2019-12-06 北京精密机电控制设备研究所 Automatic test electromagnetic brake's actuation device under complicated application environment

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