CN108918101B - Precision and efficiency detection device for small planetary roller screw pair - Google Patents

Precision and efficiency detection device for small planetary roller screw pair Download PDF

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Publication number
CN108918101B
CN108918101B CN201810298896.4A CN201810298896A CN108918101B CN 108918101 B CN108918101 B CN 108918101B CN 201810298896 A CN201810298896 A CN 201810298896A CN 108918101 B CN108918101 B CN 108918101B
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nut
guide rail
planetary roller
screw pair
roller screw
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CN108918101A (en
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付永领
郑世成
张文森
张朋
韩旭
李林杰
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Tangshan Zhongke Linghang Intelligent Equipment Co ltd
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Beihang University
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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

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Abstract

本发明为一种小型行星滚柱丝杠副精度及效率检测装置,包括:伺服电机、转矩传感器、旋转编码器、直线导轨位移传感器、弹性卡套及替代杆。弹性卡套后端斜面与安装轴斜面接触,旋转卡套螺母使弹性卡套发生弹性变形,夹持并固定丝杠;直线导轨位移传感器既为螺母提供导向,也对螺母的轴向位移进行精准测量;测试过程中利用圆锥销固连螺母连接杆和安装转接头,拆卸时将圆锥销拔出,方便丝杠副的安装和拆卸;利用等效替代杆进行同等负载条件下的系统转矩误差测试,用于误差补偿;底板中间铣有通槽,为各部件的安装提供基准。本发明解决了测试过程中系统转矩误差的问题,为小型行星滚柱丝杠副夹持提出了解决方案,可对丝杠副精度及效率进行精确检测。

Figure 201810298896

The invention relates to a small planetary roller screw pair accuracy and efficiency detection device, comprising: a servo motor, a torque sensor, a rotary encoder, a linear guide rail displacement sensor, an elastic ferrule and a substitute rod. The rear end slope of the elastic ferrule is in contact with the inclined surface of the installation shaft, and the ferrule nut is rotated to elastically deform the elastic ferrule to clamp and fix the lead screw; the linear guide displacement sensor not only provides guidance for the nut, but also accurately measures the axial displacement of the nut Measurement; during the test, the nut connecting rod and the installation adapter are fixed with a tapered pin, and the tapered pin is pulled out during disassembly to facilitate the installation and disassembly of the screw pair; the equivalent substitute rod is used to measure the system torque error under the same load conditions Test, used for error compensation; a through slot is milled in the middle of the bottom plate to provide a reference for the installation of various components. The invention solves the problem of system torque error in the testing process, provides a solution for clamping the small planetary roller screw pair, and can accurately detect the precision and efficiency of the screw pair.

Figure 201810298896

Description

Precision and efficiency detection device for small planetary roller screw pair
Technical Field
The invention relates to a planetary roller screw pair performance detection device, in particular to a small planetary roller screw pair precision and efficiency detection device, and belongs to the technical field of mechanical equipment precision detection.
Background
The planetary roller screw pair is a high-precision mechanical transmission mechanism for converting system input rotation torque into linear thrust, and the basic principle of the planetary roller screw pair is similar to that of a ball screw. Compared with the ball screw in a multipoint contact manner, the planetary roller screw pair is in a linear contact manner, and the bearing capacity and rigidity of the planetary roller screw pair are greatly improved due to the increase of the contact surface. And the planetary roller screw has the advantages of high rotating speed, long service life, high motion precision and the like. These characteristics of the planetary roller screw mechanism make it an ideal choice for applications such as harsh operating conditions, long-term continuous operation, etc.
At present, the development time of the planetary roller screw pair in China is short, the domestic research work mainly focuses on the research aspects of theoretical analysis, structural optimization and the like, and the research on the performance test is not complete.
The planetary roller screw pair theoretically has higher precision and efficiency than a ball screw, and needs to be verified through testing in order to prove the correctness of theoretical derivation. The invention discloses a test bench for testing the comprehensive performance of a planetary roller screw pair, which adopts a motor to drive a screw to perform rotation test and a hydraulic system to perform loading, does not consider the compensation of system errors, and can generate great errors in torque measurement during small-torque driving. Therefore, it is of great significance to design a set of precision and efficiency detection device for the small planetary roller screw pair.
Disclosure of Invention
In view of the above, the present invention provides a device capable of detecting the precision and efficiency of a small planetary roller screw pair, which is used for detecting the precision and efficiency of the small planetary roller screw pair.
A precision and efficiency detection device for a small planetary roller screw pair comprises: servo motor, reduction gear, torque sensor, rotary encoder, guide rail, slider, equivalent substitute lever, draw pressure sensor, thrust ball bearing, installation axle, ejector pin, elastic card cover, cutting ferrule nut, nut sleeve, nut connecting rod, taper pin adapter, locating pin, electromechanical actuator, bottom plate and each connecting plate, pin etc.. The servo motor drives the speed reducer to provide a power source for the system; the torque sensor tests the torque of the input end of the screw rod, and the torque sensor is respectively connected with the output shaft of the servo motor and the mounting shaft through the coupler to ensure the coaxiality of the input end of the screw rod; a rotary encoder is arranged on a locking flange of the bearing seat and used for measuring an actual rotating angle of the input end of the lead screw, meanwhile, a pair of angular contact ball bearings are arranged in the bearing seat to ensure the coaxiality of the system, and a pair of thrust ball bearings provide a foundation for axial unloading of the system; the ejector rod is in threaded fit connection with the inner part of the mounting shaft and is used for axial positioning of the lead screw; the rear end inclined plane of the elastic clamping sleeve is contacted with the front end inclined plane of the mounting shaft, and the clamping sleeve nut is rotated to enable the elastic clamping sleeve to elastically deform and clamp and fix the screw rod; the linear guide rail displacement sensor consists of a guide rail and a sliding block, a guide rail and a grating ruler are integrated on the guide rail, and a sliding block and a reading head are integrated on the sliding block, so that the linear guide rail displacement sensor not only can provide guidance for a nut, but also can accurately measure the axial displacement of the nut; the guide rail is matched with the side surface of the groove of the bottom plate and used as a positioning reference; the guide rail is fixed on the guide rail positioning pin through a screw; the guide rail positioning pin is fixedly connected with the bottom plate groove through lower end threads, and the installation height of the guide rail is adjusted through milling the positioning pin in the assembling and debugging process so as to ensure the coaxiality of the system; the nut is in threaded fit with the inner side of the nut sleeve, and meanwhile, a locking screw is used for applying pretightening force to prevent the nut from rotating circumferentially in the test process; the nut connecting rod is matched with the external thread of the nut to lock the nut, so that the matched thread between the nut and the nut sleeve is prevented from loosening; in the testing process, the nut connecting rod and the mounting adapter are fixedly connected by using the taper pin, the taper pin is pulled out during disassembly, the load output shaft retracts by using the electromechanical actuator, and an axial space is reserved for facilitating the assembly and disassembly of the planetary roller screw pair; the axial force of the load output shaft is collected in real time by the tension pressure sensor and fed back to the electromechanical actuator; the electromechanical actuator is used for simulating a load, loading the planetary roller screw pair, is arranged on the electromechanical actuator mounting plate, and compresses the side face by using the limiting pressure plate; the load positioning pin is arranged on the mounting plate of the electromechanical actuator and provides axial positioning for the electromechanical actuator; when the torque error of the system is tested, an equivalent substitution rod is used for replacing a clamping sleeve nut, a nut connecting rod and a small planetary roller screw pair, one end of the equivalent substitution rod is fixedly connected with the mounting adapter through a taper pin, and the other end of the equivalent substitution rod is propped against a thrust ball bearing race to test the torque error of the system under the same load condition; the middle of the bottom plate is milled with a through groove, the positioning pins are assembled with the motor mounting bracket, the torque sensor mounting plate, the bearing seat mounting plate and the electromechanical actuator mounting plate respectively during mounting, the assembled mounting plates are inserted into the bottom plate to be used for positioning the mounting plates, and finally the mounting plates are mounted and fixed on the bottom plate by screws.
According to the precision and efficiency detection device for the small planetary roller screw pair, the rear end inclined plane of the elastic clamping sleeve is in contact with the front end inclined plane of the mounting shaft, the clamping sleeve nut is rotated to enable the elastic clamping sleeve to elastically deform, and the screw is clamped and fixed;
the torque sensor is used for testing the torque of the input end of the screw rod and is respectively connected with the output shaft of the servo motor and the mounting shaft through the coupler, so that the coaxiality of the input end of the screw rod is ensured;
the rotary encoder is arranged on a locking flange of the bearing seat and used for measuring the actual rotation angle of the input end of the lead screw;
the angular contact ball bearing is arranged in the bearing seat, the coaxiality of the system is ensured, and the thrust bearing provides a foundation for axial unloading of the system;
the ejector rod is in threaded fit connection with the inside of the mounting shaft and is used for axial positioning of the lead screw;
the linear guide rail displacement sensor consists of a guide rail and a sliding block, a guide rail and a grating ruler are integrated on the guide rail, and the sliding block and a reading head are integrated on the sliding block, so that the linear guide rail displacement sensor not only can provide guidance for a nut, but also can accurately measure the axial displacement of the nut;
the guide rail is matched with the side surface of the groove of the bottom plate and used as a positioning reference and is fixed on the guide rail positioning pin through a screw;
the guide rail positioning pin is fixedly connected with the bottom plate groove through lower end threads, and the installation height of the guide rail is adjusted through milling of the positioning pin in the assembling and debugging process, so that the coaxiality of the system is ensured;
the nut is in threaded fit with the inner side of the nut sleeve, and meanwhile, a locking screw is used for applying pretightening force to prevent the nut from rotating circumferentially in the test process;
the nut connecting rod is matched with the external thread of the nut to lock the nut, so that the matched thread between the nut and the nut sleeve is prevented from loosening;
the taper pin is fixedly connected with the nut connecting rod and the mounting adapter in the testing process, the taper pin is pulled out during disassembly, the load output shaft retracts by using the electromechanical actuator, and an axial space is reserved for facilitating the assembly and disassembly of the planetary roller screw pair;
the tension and pressure sensor collects the axial force of the load output shaft in real time and feeds the axial force back to the electromechanical actuator;
the electromechanical actuator is used for simulating a load, loading the planetary roller screw pair, is arranged on the electromechanical actuator mounting plate, and compresses the side face by using the limiting pressure plate;
the load positioning pin is arranged on the mounting plate of the electromechanical actuator and provides axial positioning for the electromechanical actuator;
the equivalent substitution rod replaces a clamping sleeve nut, a nut connecting rod and a small planetary roller screw pair when the torque error of the system is tested, one end of the equivalent substitution rod is fixedly connected with the mounting adapter through a conical pin, and the other end of the equivalent substitution rod is propped against a thrust ball bearing race to test the torque error of the system under the same load condition;
a through groove is milled in the middle of the bottom plate, the positioning pins are respectively assembled with the motor mounting bracket, the torque sensor mounting plate, the bearing seat mounting plate and the electromechanical actuator mounting plate, the assembled mounting plates are inserted into the bottom plate to be used for positioning the mounting plates, and finally the mounting plates are mounted and fixed on the bottom plate by screws;
compared with the prior structure, the invention has the following advantages:
(1) according to the precision and efficiency detection device for the small planetary roller screw pair, an equivalent substitution method is adopted, a substitution part is used for measuring the torque error of a system during loading, compensation is carried out, and the system testing precision can be greatly improved;
(2) according to the precision and efficiency detection device for the small planetary roller screw pair, the rear end inclined plane of the elastic clamping sleeve is in contact with the front end inclined plane of the mounting shaft, and the clamping sleeve nut is rotated to enable the elastic clamping sleeve to be elastically deformed, so that the problem that the small planetary roller screw pair is difficult to clamp is solved;
(3) according to the precision and efficiency detection device for the small planetary roller screw pair, the conical pin is adopted to fixedly connect the nut connecting rod and the mounting adapter in the test process, the conical pin is pulled out during disassembly, the load output shaft retracts by using the electromechanical actuator, and an axial space is reserved to facilitate the mounting and the disassembly of the planetary roller screw pair;
(4) according to the precision and efficiency detection device for the small planetary roller screw pair, the linear guide rail displacement sensor is adopted, the guide rail sliding block and the grating ruler are integrated into a whole, so that guidance can be provided for the nut, the axial displacement of the nut can be accurately measured, and the influence of errors such as non-parallel installation of the guide rail and the grating ruler on the system precision is avoided.
Drawings
FIG. 1 is an isometric view of a small planetary roller screw pair accuracy and efficiency detection device;
FIG. 2 is a sectional view of a device for detecting precision and efficiency of a small planetary roller screw pair;
FIG. 3 is a system torque error test chart of a small planetary roller screw pair precision and efficiency detection device;
FIG. 4 is a cross-sectional view of a screw clamping end of a small planetary roller screw pair precision and efficiency detection device;
FIG. 5 is a cross-sectional view of a nut clamping end of a small planetary roller screw pair precision and efficiency detection device;
FIG. 6 is a cross-sectional view of a nut loading end of a small planetary roller screw pair precision and efficiency detection device;
FIG. 7 is a cross-sectional view of a small planetary roller screw assembly of the precision and efficiency detection apparatus;
in the figure: 1 is a servo motor; 2 is a speed reducer; 3 is a coupling; 4 is a torque sensor; 5 is a rotary encoder; 6 is a bearing seat; 7 is a mounting shaft; 8 is a nut sleeve; 9 is a locking screw; 10 is a slide block; 11 is a guide rail; 12 is a pull pressure sensor; 13 is a load output shaft; 14 is a bottom plate; 15 is an electromechanical actuator; 16 is a limit pressure plate; 17 is a motor mounting bracket; 18 is a torque sensor mounting plate; 19 is a locking flange; 20 is an angular contact ball bearing; 21 is a thrust ball bearing; 22 is a small planetary roller screw pair; 23 is a load adapter; 24 is an electromechanical actuator mounting plate; 25 is a load positioning pin; 26 is a bearing seat mounting plate; 27 is a taper pin; 28 is a mandril; 29 is an elastic ferrule; 30 is a ferrule nut; 31 is a nut connecting rod; 32 is an installation adapter; 33 is a screw; 34 is a guide rail positioning pin; 35 equivalent to a replacement rod.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention aims to overcome the defects of the existing structure and provide a device capable of detecting the precision and the efficiency of a small-sized planetary roller screw pair, which is used for detecting the precision and the efficiency of the small-sized planetary roller screw pair.
Referring to fig. 1 to 7, a device for detecting precision and efficiency of a small planetary roller screw pair includes: a servo motor (1); a speed reducer (2); a coupling (3); a torque sensor (4); a rotary encoder (5); a bearing seat (6); a mounting shaft (7); a nut sleeve (8); a locking screw (9); a slider (10); a guide rail (11); a pull pressure sensor (12); a load output shaft (13); a base plate (14); an electromechanical actuator (15); a limit pressure plate (16); a motor mounting bracket (17); a torque sensor mounting plate (18); a locking flange (19); an angular contact ball bearing (20); a thrust ball bearing (21); a small planetary roller screw pair (22); a load adapter (23); an electromechanical actuator mounting plate (24); a load lock pin (25); a bearing seat mounting plate (26); a taper pin (27); a ram (28); an elastic ferrule (29); a ferrule nut (30); a nut connecting rod (31); installing an adapter (32); a screw (33); a guide positioning pin (34); equivalent replacement rods (35).
The servo motor (1) drives the speed reducer (2) to provide a power source for the system; the torque sensor (4) is used for testing the torque of the input end of the lead screw (22-1), and the shaft coupling (3) is respectively connected with the output shaft of the servo motor (1) and the mounting shaft (7) to ensure the coaxiality of the input end of the lead screw (22-1); a locking flange (19) of the bearing seat (6) is provided with a rotary encoder (5) for measuring the actual rotation angle of the input end of the screw rod (22-1); a pair of angular contact ball bearings (20) arranged in the bearing seat (6) ensures the coaxiality of the system, and a pair of thrust ball bearings (21) provides a foundation for axial unloading of the system; the ejector rod (28) is in threaded fit connection with the inside of the mounting shaft (7) and is used for axial positioning of the lead screw (22-1); the rear end inclined plane of the elastic clamping sleeve (29) is contacted with the front end inclined plane of the mounting shaft (7), the clamping sleeve nut (30) is rotated to enable the elastic clamping sleeve (29) to generate elastic deformation, and the lead screw (22-1) is clamped and fixed; the linear guide rail displacement sensor consists of a guide rail (11) and a sliding block (10), a guide rail and a grating ruler are integrated on the guide rail (11), and the sliding block and a reading head are integrated on the sliding block (10), so that the linear guide rail displacement sensor not only can provide guidance for the nut (22-2), but also can accurately measure the axial displacement of the nut (22-2); the guide rail (11) is matched with the side surface of the groove of the bottom plate (14) and used as a positioning reference; the guide rail (11) is fixed on a guide rail positioning pin (34) through a screw (33); the guide rail positioning pin (34) is fixedly connected with a groove of the bottom plate (14) through lower end threads, and the installation height of the guide rail (11) is adjusted through milling the guide rail positioning pin (34) in the assembling and debugging process so as to ensure the coaxiality of the system; the nut (22-2) is in threaded fit with the inner side of the nut sleeve (8), and meanwhile, a locking screw (9) is used for applying pretightening force to prevent the nut (22-2) from rotating circumferentially in the test process; the nut connecting rod (31) is matched with the external thread of the nut (22-2) to lock the nut (22-2) and prevent the matched thread between the nut (22-2) and the nut sleeve (8) from loosening; in the test process, a nut connecting rod (31) and an installation adapter (32) are fixedly connected by using a taper pin (27), the taper pin (27) is pulled out during disassembly, a load output shaft (13) is retracted by using an electromechanical actuator (15), and an axial space is reserved to facilitate the installation and the disassembly of a planetary roller screw pair (22); the tension and pressure sensor (12) collects the axial force of the load output shaft (13) in real time and feeds the axial force back to the electromechanical actuator (15); the electromechanical actuator (15) is used for simulating a load, loading the planetary roller screw pair (22), is arranged on the electromechanical actuator mounting plate (24), and is pressed against the side face by the limiting pressing plate (16); the load positioning pin (25) is arranged on the electromechanical actuator mounting plate (24) and provides axial positioning for the electromechanical actuator (15); when the system torque error is tested, the ferrule nut (30), the nut connecting rod (31) and the small-sized planetary roller screw pair (22) are replaced by the equivalent replacing rod (35), one end of the equivalent replacing rod (35) is fixedly connected with the mounting adapter (32) by the taper pin (27), and the other end of the equivalent replacing rod is propped against the seat ring of the thrust ball bearing (21), so that the system torque error is tested under the condition of the same load; a through groove is milled in the middle of the bottom plate (14), the positioning pins are assembled with the motor mounting bracket (17), the torque sensor mounting plate (18), the bearing seat mounting plate (26) and the electromechanical actuator mounting plate (24) respectively during installation, the assembled mounting plates are inserted into the bottom plate (14) to be used for positioning the mounting plates, and finally the mounting plates are fixedly installed on the bottom plate (14) through screws.
According to the precision and efficiency detection device for the small planetary roller screw pair, a rear end inclined plane of an elastic clamping sleeve (29) is in contact with a front end inclined plane of a mounting shaft (7), the elastic clamping sleeve (29) is elastically deformed by rotating a clamping sleeve nut (30), and a screw (22-1) is clamped and fixed;
according to the precision and efficiency detection device for the small planetary roller screw pair, the torque sensor (4) is used for testing the torque of the input end of the screw (22-1), and the coupling (3) is respectively connected with the output shaft of the servo motor (1) and the mounting shaft (7), so that the coaxiality of the input end of the screw (22-1) is ensured;
the precision and efficiency detection device for the small planetary roller screw pair is characterized in that a rotary encoder (5) is arranged on a locking flange (19) of a bearing seat (6) and used for measuring an actual rotating angle of an input end of a screw (22-1);
according to the device for detecting the precision and the efficiency of the small planetary roller screw pair, an angular contact ball bearing (20) is installed inside a bearing seat (6) to ensure the coaxiality of a system, and a thrust ball bearing (21) provides a foundation for axial unloading of the system;
according to the precision and efficiency detection device for the small planetary roller screw pair, the ejector rod (28) is in threaded fit connection with the inner part of the mounting shaft (7) and is used for axial positioning of the screw (22-1);
according to the precision and efficiency detection device for the small planetary roller screw pair, a linear guide rail displacement sensor consists of a guide rail (11) and a sliding block (10), a guide rail and a grating ruler are integrated on the guide rail (11), the sliding block and a reading head are integrated on the sliding block (10), so that the guide can be provided for a nut (22-2), and the axial displacement of the nut (22-2) can be accurately measured;
according to the precision and efficiency detection device for the small planetary roller screw pair, a guide rail (11) is matched with the side face of a groove of a bottom plate (14) to serve as a positioning reference and is fixed on a guide rail positioning pin (34) through a screw (33);
according to the device for detecting the precision and the efficiency of the small planetary roller screw pair, the guide rail positioning pin (34) is fixedly connected with the groove of the bottom plate (14) through lower end threads, and the installation height of the guide rail (11) is adjusted through milling of the guide rail positioning pin (34) in the assembling and debugging process, so that the coaxiality of a system is guaranteed;
according to the precision and efficiency detection device for the small planetary roller screw pair, a nut (22-2) is in threaded fit with the inner side of a nut sleeve (8), and a locking screw (9) is used for applying pretightening force to prevent the nut (22-2) from rotating circumferentially in the test process;
according to the device for detecting the precision and the efficiency of the small planetary roller screw pair, the nut connecting rod (31) is matched with the external thread of the nut (22-2) to lock the nut (22-2) and prevent the matched thread between the nut (22-2) and the nut sleeve (8) from loosening;
according to the precision and efficiency detection device for the small planetary roller screw pair, the conical pin (27) is fixedly connected with the nut connecting rod (31) and the mounting adapter (32) in the test process, the conical pin (27) is pulled out during disassembly, the load output shaft (13) is retracted by using the electromechanical actuator (15), and an axial space is reserved to facilitate the mounting and the disassembly of the planetary roller screw pair (22);
according to the precision and efficiency detection device for the small planetary roller screw pair, the axial force of a load output shaft (13) is collected by a tension and pressure sensor (12) in real time and fed back to an electromechanical actuator (15);
according to the precision and efficiency detection device for the small planetary roller screw pair, an electromechanical actuator (15) is used for simulating a load, loading is carried out on the planetary roller screw pair (22), the electromechanical actuator is installed on an installation plate (24), and a limit pressure plate (16) is used for pressing the side face;
according to the precision and efficiency detection device for the small planetary roller screw pair, a load positioning pin (25) is arranged on an electromechanical actuator mounting plate (24) and provides axial positioning for an electromechanical actuator (15);
when the torque error of the system is tested, the clamping sleeve nut (30), the nut connecting rod (31) and the small planetary roller screw pair (22) are replaced by the equivalent replacing rod (35), one end of the equivalent replacing rod (35) is fixedly connected with the mounting adapter (32) through the taper pin (27), the other end of the equivalent replacing rod is propped against the seat ring of the thrust ball bearing (21), and the system torque error is tested under the same load condition;
according to the device for detecting the precision and the efficiency of the small planetary roller screw pair, a through groove is milled in the middle of a bottom plate (14), positioning pins are respectively assembled with a motor mounting bracket (17), a torque sensor mounting plate (18), a bearing seat mounting plate (26) and an electromechanical actuator mounting plate (24), the assembled mounting plates are inserted into the bottom plate (14) to be used for positioning the mounting plates, and finally the mounting plates are fixedly mounted on the bottom plate (14) through screws.
In summary, the above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (1)

1.一种小型行星滚柱丝杠副精度及效率检测装置,其特征在于:由伺服电机(1);减速器(2);联轴器(3);转矩传感器(4);旋转编码器(5);轴承座(6);安装轴(7);螺母套筒(8);锁紧螺钉(9);滑块(10);导轨(11);拉压力传感器(12);负载输出轴(13);底板(14);机电作动器(15);限位压板(16);电机安装支架(17);转矩传感器安装板(18);锁紧法兰(19);角接触球轴承(20);推力球轴承(21);小型行星滚柱丝杠副(22);负载转接头(23);机电作动器安装板(24);负载定位销(25);轴承座安装板(26);圆锥销(27);顶杆(28);弹性卡套(29);卡套螺母(30);螺母连接杆(31);安装转接头(32);螺钉(33);导轨定位销(34);等效替代杆(35)组成;转矩传感器(4)对丝杠(22-1)输入端转矩进行测试,并由联轴器(3)分别连接伺服电机(1)输出轴和安装轴(7),保证丝杠(22-1)输入端同轴度;旋转编码器(5)安装在轴承座(6)的锁紧法兰上(19),用于测量丝杠(22-1)输入端实际转角;角接触球轴承(20)安装在轴承座(6)内部保证系统同轴度,推力球轴承(21)为系统轴向卸载提供基础;拉压力传感器(12)对负载输出轴(13)的轴向力实时采集,并反馈给机电作动器(15);机电作动器(15)用于模拟负载,为行星滚柱丝杠副(22)进行加载,安装在机电作动器安装板(24)上,并用限位压板(16)压紧侧面;负载定位销(25)安装在机电作动器安装板(24)上,为机电作动器(15)提供轴向定位;弹性卡套(29)后端斜面与安装轴(7)前端斜面接触,旋转卡套螺母(30)使弹性卡套(29)发生弹性变形,夹持并固定丝杠(22-1);顶杆(28)与安装轴(7)内部螺纹配合连接,作为丝杠(22-1)的轴向定位;导轨(11)与底板(14)凹槽侧面配合,作为定位基准,并通过螺钉(33)固定在导轨定位销(34)上;导轨定位销(34)通过下端螺纹与底板(14)凹槽固连,装配调试过程中通过对导轨定位销(34)的铣削调整导轨(11)的安装高度,以保证系统的同轴度;螺母(22-2)与螺母套筒(8)内侧螺纹配合,同时用锁紧螺钉(9)施加预紧力防止螺母(22-2)在测试过程中发生周向转动;螺母连接杆(31)与螺母(22-2)外螺纹配合,将螺母(22-2)锁紧,防止螺母(22-2)与螺母套筒(8)间配合螺纹松动;底板(14)中间铣有通槽,定位销分别与电机安装支架(17)、转矩传感器安装板(18)、轴承座安装板(26)、机电作动器安装板(24)装配,再将装配好的各安装板插入底板(14),作为各安装板的定位,最后用螺钉将各安装板安装固定于底板(14);采用等效替代的方式,在测试系统转矩误差时,用等效替代杆(35)替代卡套螺母(30)、螺母连接杆(31)及小型行星滚柱丝杠副(22),等效替代杆(35)一端用圆锥销(27)与安装转接头(32)固连,另一端顶在推力球轴承(21)座圈上,进行同等负载条件下系统转矩误差的测试;采用的直线导轨位移传感器由导轨(11)和滑块(10)组成,导向轨道和光栅尺集成在导轨(11)上,滑动块和读数头集成在滑块(10)上,不仅可以为螺母(22-2)提供导向,还可以对螺母(22-2)的轴向位移进行精准测量,同时避免了导轨和光栅尺安装不平行等误差对系统精度造成影响;采用圆锥销(27)在测试过程中将螺母连接杆(31)及安装转接头(32)固连,拆卸时将圆锥销(27)拔出,利用机电作动器(15)将负载输出轴(13)缩回,留出轴向空间方便行星滚柱丝杠副(22)的安装和拆卸。1. A small planetary roller screw pair accuracy and efficiency detection device, characterized in that: a servo motor (1); a reducer (2); a coupling (3); a torque sensor (4); (5); bearing seat (6); mounting shaft (7); nut sleeve (8); locking screw (9); slider (10); guide rail (11); tension pressure sensor (12); load output shaft (13); bottom plate (14); electromechanical actuator (15); limit pressure plate (16); motor mounting bracket (17); torque sensor mounting plate (18); locking flange (19); Angular contact ball bearing (20); thrust ball bearing (21); small planetary roller screw pair (22); load adapter (23); electromechanical actuator mounting plate (24); load positioning pin (25); Bearing seat mounting plate (26); tapered pin (27); ejector rod (28); elastic ferrule (29); ferrule nut (30); nut connecting rod (31); mounting adapter (32); screw ( 33); the guide rail positioning pin (34); the equivalent substitute rod (35) is composed; the torque sensor (4) tests the torque of the input end of the lead screw (22-1), and is connected by the coupling (3) respectively The output shaft of the servo motor (1) and the installation shaft (7) ensure the coaxiality of the input end of the lead screw (22-1); the rotary encoder (5) is installed on the locking flange (19) of the bearing seat (6). , used to measure the actual rotation angle of the input end of the screw (22-1); the angular contact ball bearing (20) is installed inside the bearing seat (6) to ensure the coaxiality of the system, and the thrust ball bearing (21) provides the basis for the axial unloading of the system ; The axial force of the load output shaft (13) is collected in real time by the tension pressure sensor (12) and fed back to the electromechanical actuator (15); the electromechanical actuator (15) is used to simulate the load and is a planetary roller screw The auxiliary (22) is loaded and installed on the electromechanical actuator mounting plate (24), and the side is pressed by the limit pressing plate (16); the load positioning pin (25) is installed on the electromechanical actuator mounting plate (24), Provide axial positioning for the electromechanical actuator (15); the rear end slope of the elastic ferrule (29) is in contact with the front end slope of the installation shaft (7), and the ferrule nut (30) is rotated to elastically deform the elastic ferrule (29), Clamp and fix the lead screw (22-1); the ejector rod (28) is connected with the internal thread of the installation shaft (7) to serve as the axial positioning of the lead screw (22-1); the guide rail (11) and the bottom plate (14) The side of the groove is matched as a positioning reference, and is fixed on the guide rail positioning pin (34) by screws (33). The installation height of the guide rail (11) is adjusted by milling the guide pin (34) to ensure the coaxiality of the system; the nut (22-2) is threaded with the inner side of the nut sleeve (8), and the locking screw (9) is used at the same time. Apply pre-tightening force to prevent the nut (22-2) from rotating in the circumferential direction during the test; to prevent loosening of the mating threads between the nut (22-2) and the nut sleeve (8); a through slot is milled in the middle of the bottom plate (14), and the positioning pins are respectively connected to the motor mounting bracket (17) and the torque sensor mounting plate (18). , the bearing seat mounting plate (26), and the electromechanical actuator mounting plate (24) are assembled, and then insert the assembled mounting plates into the bottom plate (14) as the positioning of each mounting plate, and finally install and fix the mounting plates with screws. on the base plate (14); the equivalent substitution method is adopted. When testing the torque error of the system, the equivalent substitution rod (35) is used to replace the ferrule nut (30), the nut connecting rod (31) and the small planetary roller screw. The pair (22), the equivalent substitute rod (35), is fixedly connected with the installation adapter (32) by a tapered pin (27), and the other end is placed on the seat ring of the thrust ball bearing (21), and the system is rotated under the same load condition. Torque error test; the linear guide rail displacement sensor used is composed of guide rail (11) and slider (10), the guide rail and grating ruler are integrated on the guide rail (11), and the sliding block and the reading head are integrated on the slider (10) , not only can provide guidance for the nut (22-2), but also can accurately measure the axial displacement of the nut (22-2), and avoid errors such as non-parallel installation of the guide rail and the grating ruler. The pin (27) firmly connects the nut connecting rod (31) and the installation adapter (32) during the test. When disassembling, pull out the conical pin (27), and use the electromechanical actuator (15) to connect the load output shaft (13). ) retracted, leaving an axial space to facilitate the installation and removal of the planetary roller screw pair (22).
CN201810298896.4A 2018-03-30 2018-03-30 Precision and efficiency detection device for small planetary roller screw pair Expired - Fee Related CN108918101B (en)

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