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 PDFInfo
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- 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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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。
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.
Description
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.
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| CN113715898B (en) * | 2020-05-25 | 2022-10-21 | 吉林世宝机械制造有限公司 | Intermediate shaft torsion device and intermediate shaft machining method |
| CN112659017B (en) * | 2020-12-17 | 2022-05-06 | 中国航空综合技术研究所 | Pipeline connecting piece axial error simulation assembly device and testing method thereof |
| CN113232852B (en) * | 2021-05-11 | 2023-05-09 | 重庆大学 | A transmission mechanism for tiltrotor wing |
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| CN108918101A (en) | 2018-11-30 |
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