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 PDFInfo
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Abstract
一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置，本发明涉及一种测量装置，本发明为解决还没有可以同时测量滚柱丝杠副定位精度和摩擦力矩装置的问题，它包括绝对式编码器、伺服电机、底座、力矩传感器、待测滚柱丝杠、滚柱丝杠螺母、光栅尺动尺、导轨、光栅尺静尺、支架、压力传感器、液压加载系统和四个连接滑杆；绝对式编码器固定安装在伺服电机上，伺服电机的外壳体水平安装在底座上，伺服电机的转轴与力矩传感器的一端固定连接，力矩传感器的另一端与待测滚柱丝杠的一端固定连接，滚柱丝杠螺母套在待测滚柱丝杠上并与待测滚柱丝杠螺纹连接，本发明用于丝杠副定位和摩擦力矩测量时使用。
A device for measuring positioning accuracy and friction torque of a planetary roller screw pair. The invention relates to a measuring device. The invention solves the problem that there is no device that can measure the positioning accuracy and friction torque of a roller screw pair at the same time. Including absolute encoder, servo motor, base, torque sensor, roller screw to be tested, roller screw nut, grating scale moving scale, guide rail, grating scale static scale, bracket, pressure sensor, hydraulic loading system and four Connect the slide bar; the absolute encoder is fixedly installed on the servo motor, the outer casing of the servo motor is installed horizontally on the base, the shaft of the servo motor is fixedly connected to one end of the torque sensor, and the other end of the torque sensor is connected to the roller screw to be tested One end is fixedly connected, and the roller screw nut is sleeved on the roller screw to be tested and is threadedly connected with the roller screw to be tested. The invention is used for the positioning of the screw pair and the measurement of frictional torque.
Description
技术领域technical field
本发明涉及一种测量装置，具体涉及一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置。The invention relates to a measuring device, in particular to a measuring device for positioning accuracy and friction torque of a planetary roller screw pair.
背景技术Background technique
行星滚柱丝杠副是一种将旋转运动转化为直线运动的机械机构。行星滚柱丝杠副的载荷传递元件为螺纹滚柱，相比传统的滚珠丝杠副具有更高的承载能力和抗冲击能力，能够提供更高的旋转速度和加速度，且其导程可以更加精细。正是鉴于这些诸多优点，行星滚柱丝杠副广泛应用在武器装备、航空航天、高端机床等诸多行业的伺服系统，具有光明的发展前景。A planetary roller screw pair is a mechanical mechanism that converts rotary motion into linear motion. The load transmission element of the planetary roller screw pair is a threaded roller, which has higher load capacity and impact resistance than the traditional ball screw pair, can provide higher rotation speed and acceleration, and its lead can be more fine. In view of these many advantages, the planetary roller screw pair is widely used in servo systems in many industries such as weaponry, aerospace, and high-end machine tools, and has bright development prospects.
定位精度和摩擦力矩是行星滚柱丝杠副最重要的两个性能参数。行星滚柱丝杠副作为伺服系统的重要机械部件，其定位精度直接影响伺服系统整体的精度，其摩擦力矩则影响到产品的传动效率、使用寿命以及诸多动力学性能。因此，测量行星滚柱丝杠副的定位精度和摩擦力矩是滚柱丝杠副出厂检测和伺服产品生产研发的必要步骤。Positioning accuracy and frictional torque are the two most important performance parameters of a planetary roller screw pair. The planetary roller screw pair is an important mechanical part of the servo system, its positioning accuracy directly affects the overall accuracy of the servo system, and its friction torque affects the transmission efficiency, service life and many dynamic properties of the product. Therefore, measuring the positioning accuracy and friction torque of the planetary roller screw pair is a necessary step for the factory inspection of the roller screw pair and the production and development of servo products.
目前，还没有可以同时测量滚柱丝杠副定位精度和摩擦力矩的装置。而专业用于测量滚柱丝杠副定位摩擦力矩的装置也不多，已有的测量装置也有着诸多限制和缺点。例如，发明专利CN106769011A中公开的“一种行星滚柱丝杠摩擦性能测试装置”仅能测量滚柱丝杠的静摩擦性能，无法测量滚柱丝杠的动态摩擦性能和在有负载条件下的摩擦性能。At present, there is no device that can simultaneously measure the positioning accuracy and frictional torque of the roller screw pair. However, there are not many devices specially used to measure the positioning friction torque of the roller screw pair, and the existing measuring devices also have many limitations and shortcomings. For example, the "a planetary roller screw friction performance test device" disclosed in the invention patent CN106769011A can only measure the static friction performance of the roller screw, but cannot measure the dynamic friction performance of the roller screw and the friction under load conditions. performance.
发明内容Contents of the invention
本发明为解决还没有可以同时测量滚柱丝杠副定位精度和摩擦力矩装置的问题，进而提供一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置。In order to solve the problem that there is no device capable of simultaneously measuring the positioning accuracy and frictional moment of a roller screw pair, the present invention further provides a measuring device for the positioning accuracy and frictional moment of a planetary roller screw pair.
本发明为解决上述问题采取的技术方案是：它包括绝对式编码器、伺服电机、底座、力矩传感器、待测滚柱丝杠、滚柱丝杠螺母、光栅尺动尺、导轨、光栅尺静尺、支架、压力传感器、液压加载系统和四个连接滑杆；绝对式编码器固定安装在伺服电机上，伺服电机的外壳体水平安装在底座上，伺服电机的转轴与力矩传感器的一端固定连接，力矩传感器的另一端与待测滚柱丝杠的一端固定连接，滚柱丝杠螺母套在待测滚柱丝杠上并与待测滚柱丝杠螺纹连接，待测滚柱丝杠水平设置在底座上，导轨沿底座的长度方向安装在底座上，滚柱丝杠螺母的底端加工有与导轨配合的凹槽，滚柱丝杠螺母滑动设置在导轨上，滚柱丝杠螺母通过凹槽在导轨上滑动，滚柱丝杠螺母的一个侧面安装有光栅尺动尺，光栅尺动尺的下方设有光栅尺静尺，光栅尺静尺安装在底座上，光栅尺动尺与光栅尺静尺配合设置，待测滚柱丝杠的另一端与底座转动连接，滚柱丝杠螺母的一个端面通过四个连接滑杆与支架的一个端面固定连接，支架的另一个端面设有压力传感器，且压力传感器安装在液压加载系统伸缩杆的伸出端上，液压加载系统的末端与底座固定连接。The technical solution adopted by the present invention to solve the above problems is: it includes an absolute encoder, a servo motor, a base, a torque sensor, a roller screw to be tested, a roller screw nut, a grating ruler, a guide rail, and a grating ruler. Ruler, bracket, pressure sensor, hydraulic loading system and four connecting slide bars; the absolute encoder is fixedly installed on the servo motor, the outer shell of the servo motor is installed horizontally on the base, and the shaft of the servo motor is fixedly connected to one end of the torque sensor , the other end of the torque sensor is fixedly connected to one end of the roller screw to be tested. Set on the base, the guide rail is installed on the base along the length direction of the base, the bottom end of the roller screw nut is processed with a groove matching the guide rail, the roller screw nut is slidably set on the guide rail, and the roller screw nut passes through The groove slides on the guide rail, a grating ruler is installed on one side of the roller screw nut, and a grating ruler is installed under the grating ruler. The grating ruler is installed on the base, and the grating ruler and the grating The other end of the roller screw to be tested is connected to the base in rotation, one end of the roller screw nut is fixedly connected to one end of the bracket through four connecting sliders, and the other end of the bracket is provided with a pressure sensor, and the pressure sensor is installed on the extended end of the telescopic rod of the hydraulic loading system, and the end of the hydraulic loading system is fixedly connected with the base.
本发明的有益效果是：既可以测量行星滚柱丝杠副的定位精度，又可以测量其在不同负载条件下、不同转速条件下的摩擦力矩。该测量装置通过特殊的结构设计和多种传感器的配合，具有结构简单、操作便利、测量精度高、安全可靠等诸多优点。The beneficial effect of the invention is that it can not only measure the positioning accuracy of the planetary roller screw pair, but also measure its friction torque under different load conditions and different rotational speed conditions. The measuring device has many advantages such as simple structure, convenient operation, high measurement accuracy, safety and reliability through special structural design and cooperation of various sensors.
伺服电机2转轴穿过第一支撑板3上预留的通孔，通过第一联轴器4与力矩传感器5同轴相连力矩传感器5的基座固定于试验台基座7上，力矩传感器5的另一端通过第二联轴器6和待测滚柱丝杠8相连；待测滚柱丝杠8上安装有滚柱丝杠螺母9且滚柱丝杠螺母9与导轨11配合前后滑动；导轨11固定在试验台基座7上，且与试验台基座7同轴向；滚柱丝杠螺母9上还固连有光栅尺动尺10，光栅尺静尺12固定在试验台基座7上且与试验台基座7同轴向；待测滚柱丝杠8的另一端通过和轴承13过盈配合安装在第二支撑板14的通孔中；滚柱丝杠螺母9和支架15相连，支架15上装有压力传感器16且和液压加载系统17的轴向相连；液压加载系统17的另一端固定在第三支撑板18上。The rotating shaft of the servo motor 2 passes through the reserved through hole on the first support plate 3, and is coaxially connected with the torque sensor 5 through the first coupling 4. The base of the torque sensor 5 is fixed on the test bench base 7, and the torque sensor 5 The other end of the other end is connected to the roller screw 8 to be tested through the second coupling 6; the roller screw nut 9 to be tested is installed on the roller screw 8 to be tested, and the roller screw nut 9 cooperates with the guide rail 11 to slide back and forth; The guide rail 11 is fixed on the test bench base 7, and is coaxial with the test bench base 7; the grating ruler moving ruler 10 is fixedly connected to the roller screw nut 9, and the grating ruler static ruler 12 is fixed on the test bench base 7 and coaxial with the test bench base 7; the other end of the roller screw 8 to be tested is installed in the through hole of the second support plate 14 through an interference fit with the bearing 13; the roller screw nut 9 and the bracket 15, the support 15 is equipped with a pressure sensor 16 and connected to the axial direction of the hydraulic loading system 17; the other end of the hydraulic loading system 17 is fixed on the third support plate 18.
所述待测滚柱丝杠8、滚柱丝杠螺母9、伺服电机2的转轴、力矩传感器5、液压加载系统17的输出轴和第二支撑板14通孔均为同轴安装。The roller screw 8 to be tested, the roller screw nut 9 , the rotating shaft of the servo motor 2 , the torque sensor 5 , the output shaft of the hydraulic loading system 17 and the through hole of the second support plate 14 are coaxially installed.
所述绝对式编码器1、力矩传感器5、光栅尺动尺10、光栅尺静尺12和压力传感器16的输出信号均由传感器采集卡进行采集，并在计算机上存储和显示。The output signals of the absolute encoder 1 , torque sensor 5 , grating ruler moving ruler 10 , grating ruler static ruler 12 and pressure sensor 16 are all collected by a sensor acquisition card, and stored and displayed on a computer.
本发明通过液压加载系统17实现对行星滚柱丝杠副的加载，通过伺服电机2和绝对式编码器1组成的闭环伺服系统控制伺服电机2输出需要的转速，利用光栅尺即可测量待测滚柱丝杠8在不同电机转速、不同负载工况下的定位精度；利用力矩传感器5可测量出电机输出的总力矩，用总力矩减去折算出的负载力矩可得到滚柱丝杠在不同电机转速、不同负载工况下的摩擦力矩。该测量装置结构简单，且可以测量多种工况下行星滚柱丝杠副的定位精度和摩擦力矩，通用性很强。The present invention realizes the loading on the planetary roller screw pair through the hydraulic loading system 17, and controls the output speed required by the servo motor 2 through the closed-loop servo system composed of the servo motor 2 and the absolute encoder 1, and can measure the to-be-measured by using the grating ruler The positioning accuracy of the roller screw 8 under different motor speeds and different load conditions; the total torque output by the motor can be measured by using the torque sensor 5, and the converted load torque can be obtained by subtracting the converted load torque from the total torque. Motor speed, friction torque under different load conditions. The measuring device has a simple structure, can measure the positioning accuracy and frictional moment of the planetary roller screw pair under various working conditions, and has strong versatility.
本发明提出的一种行星滚柱丝杠副定位精度和摩擦力矩测量装置，通过加载液压缸实现对行星滚柱丝杠副的加载，可输出加载力的数值大且调节范围大，与滚柱丝杠实际工作工况相近。A planetary roller screw pair positioning accuracy and friction torque measurement device proposed by the present invention realizes the loading of the planetary roller screw pair through the loading hydraulic cylinder, and the value of the output loading force is large and the adjustment range is large, which is comparable to that of the roller The actual working conditions of the lead screw are similar.
本发明提出的一种行星滚柱丝杠副定位精度和摩擦力矩测量装置，定位精度由高精度光栅尺直接测量得出，测量精度很高；滚柱丝杠副与实验装置不存在非必要的摩擦，避免产生干扰摩擦力矩，因此滚柱丝杠副的摩擦力矩测量精度很高。A planetary roller screw pair positioning accuracy and friction torque measurement device proposed by the present invention, the positioning accuracy is directly measured by a high-precision grating ruler, and the measurement accuracy is very high; there is no unnecessary friction between the roller screw pair and the experimental device Friction, to avoid interference friction torque, so the measurement accuracy of the friction torque of the roller screw pair is very high.
附图说明Description of drawings
图1是本发明的整体结构示意图，Fig. 1 is the overall structure schematic diagram of the present invention,
图2是本发明的整体结构主视图，Fig. 2 is the overall structure front view of the present invention,
图3是四个连接滑杆安装在支架15的主视图，Fig. 3 is the front view of four connecting slide bars installed on the bracket 15,
图4是图3的右视图,Figure 4 is the right side view of Figure 3,
图5是图3的仰视图。FIG. 5 is a bottom view of FIG. 3 .
具体实施方式Detailed ways
具体实施方式一：结合图1-图5说明本实施方式，本实施方式所述一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置，它包括绝对式编码器1、伺服电机2、底座、力矩传感器5、待测滚柱丝杠8、滚柱丝杠螺母9、光栅尺动尺10、导轨11、光栅尺静尺12、支架15、压力传感器16、液压加载系统17和四个连接滑杆；绝对式编码器1固定安装在伺服电机2上，伺服电机2的外壳体水平安装在底座上，伺服电机2的转轴与力矩传感器5的一端固定连接，力矩传感器5的另一端与待测滚柱丝杠8的一端固定连接，滚柱丝杠螺母9套在待测滚柱丝杠8上并与待测滚柱丝杠8螺纹连接，待测滚柱丝杠8水平设置在底座上，导轨11沿底座的长度方向安装在底座上，滚柱丝杠螺母9的底端加工有与导轨11配合的凹槽，滚柱丝杠螺母9滑动设置在导轨11上，滚柱丝杠螺母9通过凹槽在导轨11上滑动，滚柱丝杠螺母9的一个侧面安装有光栅尺动尺10，光栅尺动尺10的下方设有光栅尺静尺12，光栅尺静尺12安装在底座上，光栅尺动尺10与光栅尺静尺12配合设置，待测滚柱丝杠8的另一端与底座转动连接，滚柱丝杠螺母9的一个端面通过四个连接滑杆与支架15的一个端面固定连接，支架15的另一个端面设有压力传感器16，且压力传感器16安装在液压加载系统17伸缩杆的伸出端上，液压加载系统17的末端与底座固定连接。Specific embodiment 1: This embodiment is described in conjunction with Fig. 1-Fig. 5. The device for measuring the positioning accuracy and friction torque of a planetary roller screw pair described in this embodiment includes an absolute encoder 1 and a servo motor 2. , base, torque sensor 5, roller screw to be tested 8, roller screw nut 9, grating ruler moving ruler 10, guide rail 11, grating ruler static ruler 12, bracket 15, pressure sensor 16, hydraulic loading system 17 and four A connecting slide bar; the absolute encoder 1 is fixedly installed on the servo motor 2, the outer shell of the servo motor 2 is horizontally installed on the base, the rotating shaft of the servo motor 2 is fixedly connected with one end of the torque sensor 5, and the other end of the torque sensor 5 It is fixedly connected with one end of the roller screw 8 to be tested, the roller screw nut 9 is set on the roller screw 8 to be tested and threaded with the roller screw 8 to be tested, and the roller screw 8 to be tested is set horizontally On the base, the guide rail 11 is installed on the base along the length direction of the base. The bottom end of the roller screw nut 9 is processed with a groove matching the guide rail 11. The roller screw nut 9 is slidably arranged on the guide rail 11. The screw nut 9 slides on the guide rail 11 through the groove, and a grating ruler moving ruler 10 is installed on one side of the roller screw nut 9, and a grating ruler static ruler 12 is arranged below the grating ruler moving ruler 10, and a grating ruler static ruler 12 Installed on the base, the moving ruler 10 of the grating ruler is set in cooperation with the static ruler 12 of the grating ruler. The other end of the roller screw 8 to be tested is connected to the base in rotation, and one end surface of the roller screw nut 9 is connected to the roller screw nut 9 through four connecting slide bars. One end face of the support 15 is fixedly connected, and the other end face of the support 15 is provided with a pressure sensor 16, and the pressure sensor 16 is installed on the extended end of the telescopic rod of the hydraulic loading system 17, and the end of the hydraulic loading system 17 is fixedly connected with the base.
本实施方式中伺服电机2为双轴输出的伺服电机，液压加载系统17为液压缸。In this embodiment, the servo motor 2 is a servo motor with dual-axis output, and the hydraulic loading system 17 is a hydraulic cylinder.
本实施方式中支架15为一个正方形刚性金属板，正方形金属板中心开有圆形凹槽，供安装压力传感器16和连接液压加载系统17输出轴使用。四个连接滑杆为四个金属杆，四个金属杆的轴向保持和正方形金属板垂直，且每个金属杆的截面圆位于正方形金属板的对角线上，以金属板中心为对称中心，四个金属杆呈中心对称图形排列。In this embodiment, the bracket 15 is a square rigid metal plate with a circular groove in the center of the square metal plate for installing the pressure sensor 16 and connecting the output shaft of the hydraulic loading system 17 . The four connecting slide bars are four metal rods, the axial direction of the four metal rods is kept perpendicular to the square metal plate, and the cross-sectional circle of each metal rod is located on the diagonal of the square metal plate, with the center of the metal plate as the center of symmetry , four metal rods are arranged in a centrally symmetrical figure.
支架15的这种设计结构简单，同时防止滚柱丝杠副切向受力引入额外的摩擦力矩，保证了测量的精确性。The design of the bracket 15 has a simple structure, and at the same time prevents the tangential force of the roller screw pair from introducing additional friction torque, thereby ensuring the accuracy of measurement.
液压加载系统17在电液伺服阀的作用下可提供恒定大小以及其他形式的力用以模拟滚柱丝杠的负载。为了进一步保证测量精度，在液压加载系统17输出轴和支架15之间还安装有压力传感器16。液压加载系统17可以模拟较大负载，而滚柱丝杠副也多工作在大负载工况下，这种设计既可以保证测量范围，也可以保证测量精度。The hydraulic loading system 17 can provide constant magnitude and other forms of force under the action of the electro-hydraulic servo valve to simulate the load of the roller screw. In order to further ensure measurement accuracy, a pressure sensor 16 is installed between the output shaft of the hydraulic loading system 17 and the support 15 . The hydraulic loading system 17 can simulate a relatively large load, and the roller screw pair usually works under a large load condition. This design can not only ensure the measurement range, but also ensure the measurement accuracy.
伺服电机2、光栅尺动尺10、光栅尺静尺12、传感器采集卡、计算机和伺服电机驱动器构成闭环控制回路，通过一定的控制算法可以保证滚柱丝杠螺母9的加速度受控，防止引入未知的惯性力使模拟负载产生偏差，保证了测量精度。Servo motor 2, grating ruler moving ruler 10, grating ruler static ruler 12, sensor acquisition card, computer and servo motor driver form a closed-loop control loop, and a certain control algorithm can ensure that the acceleration of the roller screw nut 9 is controlled to prevent the introduction of The unknown inertial force makes the simulated load deviate, which ensures the measurement accuracy.
具体实施方式二：结合图1-图2说明本实施方式，本实施方式所述一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置，底座包括第一支撑板3、试验台基座7、第二支撑板14和第三支撑板18；试验台基座7为水平底板，第一支撑板3、第二支撑板14和第三支撑板18均为竖直立板，第一支撑板3、第二支撑板14和第三支撑板18平行固定安装在试验台基座7上，伺服电机2的外壳体水平安装在第一支撑板3上，待测滚柱丝杠8的另一端与第二支撑板14转动连接，四个连接滑杆插装在第二支撑板14上并与第二支撑板14滑动连接，液压加载系统17缸体的末端与第三支撑板18固定连接，其它结构及连接关系与具体实施方式一相同。Specific embodiment two: this embodiment is described in conjunction with Fig. 1-Fig. Seat 7, the second support plate 14 and the third support plate 18; the test bench base 7 is a horizontal base plate, the first support plate 3, the second support plate 14 and the third support plate 18 are all vertical vertical plates, the first The support plate 3, the second support plate 14 and the third support plate 18 are fixedly installed on the test bench base 7 in parallel, the outer casing of the servo motor 2 is horizontally installed on the first support plate 3, and the roller screw 8 to be tested The other end is rotatably connected with the second support plate 14, and the four connecting slide bars are inserted on the second support plate 14 and slidably connected with the second support plate 14, and the end of the hydraulic loading system 17 cylinder is fixed with the third support plate 18 Connection, other structures and connection relations are the same as those in the first embodiment.
本具体实施方式三：结合图1-图2说它还包括轴承13；轴承13安装在第二支撑板14上，且轴承13套装在待测滚柱丝杠8的另一端上。其它结构及连接关系与具体实施方式一相同。The third specific embodiment: it also includes a bearing 13 in conjunction with Fig. 1-Fig. 2; Other structures and connections are the same as those in the first embodiment.
本具体实施方式四：结合图1-图2说明本实施方式，本实施方式所述一种用于行星滚柱丝杠副定位精度和摩擦力矩测量装置，它还包括第一联轴器4和第二联轴器6；伺服电机2转轴的输出端穿过第一支撑板3与第一联轴器4的一端固定连接，第一联轴器4的另一端与力矩传感器5的一端固定连接，力矩传感器5的另一端与第二联轴器6的一端固定连接诶，第二联轴器6的另一端与待测滚柱丝杠8固定连接。其它结构及连接关系与具体实施方式二相同。This specific embodiment four: this embodiment is described in conjunction with Fig. 1-Fig. The second shaft coupling 6; the output end of the servo motor 2 rotating shaft passes through the first support plate 3 and is fixedly connected with one end of the first shaft coupling 4, and the other end of the first shaft coupling 4 is fixedly connected with one end of the torque sensor 5 , the other end of the torque sensor 5 is fixedly connected to one end of the second coupling 6, and the other end of the second coupling 6 is fixedly connected to the roller screw 8 to be measured. Other structures and connections are the same as those in the second embodiment.
工作原理working principle
本发明的工作过程是：液压加载系统17设定一定的输出力，用来模拟滚柱丝杠实际工作时的负载，压力传感器16用来实时监测液压加载系统17输出力的大小；随后支撑板3上的伺服电机2带动力矩传感器5的轴和滚柱丝杠8转动，推动滚柱丝杠螺母9沿导轨11方向滑动。通过编码器1和光栅尺10、12的输出的对比可以测定滚柱丝杠的定位精度；在已知丝杠导程、力矩传感器5的输出和液压加载系统17的输出的条件下可以精确解算出摩擦力矩的大小。The working process of the present invention is: the hydraulic loading system 17 sets a certain output force to simulate the load when the roller screw actually works, and the pressure sensor 16 is used to monitor the output force of the hydraulic loading system 17 in real time; then the support plate The servo motor 2 on the 3 drives the shaft of the torque sensor 5 and the roller screw 8 to rotate, and pushes the roller screw nut 9 to slide along the direction of the guide rail 11. The positioning accuracy of the roller screw can be determined by comparing the output of the encoder 1 and the grating ruler 10, 12; it can be accurately solved under the conditions of the known screw lead, the output of the torque sensor 5 and the output of the hydraulic loading system 17. Calculate the magnitude of the friction torque.
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