CN109556778A - A kind of ball screw assembly, pretightning force on-line monitoring method based on electric current - Google Patents
A kind of ball screw assembly, pretightning force on-line monitoring method based on electric current Download PDFInfo
- Publication number
- CN109556778A CN109556778A CN201811490353.9A CN201811490353A CN109556778A CN 109556778 A CN109556778 A CN 109556778A CN 201811490353 A CN201811490353 A CN 201811490353A CN 109556778 A CN109556778 A CN 109556778A
- Authority
- CN
- China
- Prior art keywords
- pretightning force
- ball screw
- screw assembly
- ball
- nut
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
Landscapes
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current, since raceway abrasion causes its pretightning force to be degenerated in the ball screw assembly, course of work, pretightning force degeneration causes the reduction of ball screw assembly, axial rigidity, influences ball screw assembly, positioning accuracy.The degenerative process of quick monitoring pretightning force for convenience, the driving current that the present invention passes through driving motor under on-line monitoring ball screw assembly, at the uniform velocity idle condition, it determines the Ball Screw Pair Friction Moment overcome needed for driving motor driving ball screw assembly, uniform rotation, and then ball screw assembly, pretightning force is calculated according to the relationship of moment of friction and pretightning force.The monitoring method, by the motor current signal under the at the uniform velocity light condition of periodic monitoring acquisition, accurately can easily assess abrasion and the Pre strained state of ball screw assembly, predict pretightning force degradation trend in the case where not influencing ball screw assembly, normal running conditions.
Description
Technical field
The invention discloses a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current, belongs to ball-screw
Secondary detection technique field.
Background technique
Rotary motion can be turned to linear motion by ball screw assembly, while can bear radial pressure, therefore in work
Its in industry production has a large amount of application, is related to numerical control processing, 3D printing, the multiple fields such as robot motion.Due to its positioning accurate
Degree, running precision is high, therefore also has a large amount of application in precise motion.
Ball screw assembly, is as the key position in all kinds of precision instrument and equipments such as numerically-controlled machine tool, precision instrument, its biography
Efficiency of movement and transmission accuracy and synchronism etc. are all very important index.It is negative for high speed at present, high-precision and height
For the ball-screw byproduct of load, precision stability is vital.So the ball wire in actual moving process
Thick stick pair is to guarantee the premise of its precise operation to the monitoring of its precision stability.
In actual moving process, the abrasion that ball generates during rotation will will affect its kinematic accuracy, therefore supervise
It surveys very necessary when the state of wear of ball screw assembly,.In the process of running, pretightning force is the important indicator of monitoring, friction
Abrasion influences moment of friction, and moment of friction is of close concern to each other with pretightning force.
Currently, the method for measurement ball screw assembly, pretightning force mainly has direct method and indirect method.Due to ball screw assembly,
In, the active force between ball and lead screw is inside feed screw nut, and ball rolls in raceway, therefore directly measurement pre-tightens
Power is highly difficult.Because direct method of the plan in the pretightning force of measurement ball screw assembly, is: the opposite position between measurement feed screw nut
It moves, if having displacement between two feed screw nuts, it means that the gasket between nut is changed, therefore initial preload
Power is changed, and the variation of pretightning force can be represented.But specific value can not be solved, it can only represent its preload
The forfeiture of power.Indirect method is: the torque by measuring servo motor output shaft, by this torque come the variation of sign pretightning force.
Although it can be with quantitative analysis pretightning force, operation difficulty is larger.
Set forth herein a kind of measurement methods, establish the device of a set of on-line measurement pretightning force.It is passed by using Hall current
Sensor monitors the electric current of the servo motor of ball screw assembly, and by studying electric current, moment of friction, the relationship of pretightning force is come real
The real-time pretightning force of existing real-time monitoring ball screw assembly,.This method can not only quantitative analysis ball screw assembly, pretightning force, and
Operation is simple.Numerically-controlled machine tool is widely used in currently based on the method for Hall current sensor measurement driving current
In monitoring, its reliability is high, and sensitivity is good, therefore is using the driving current of Hall current sensor measurement ball screw assembly,
It is feasible.And it is had no precedent in ball screw assembly, field using this method measurement pretightning force, with certain novelty.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the present invention relates to a kind of on-line determination ball screw assembly, pretightning forces
Experimental rig, for studying under ball screw assembly, working condition, electric current, moment of friction, relationship between pretightning force three are used to
The wearing character of ball screw assembly, is studied, and realizes monitoring to it.
The technical solution adopted by the present invention is a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current, when
Ball screw assembly, at the uniform velocity unloaded operation when, by monitor ball screw assembly, driving motor driving current virtual value electricity is calculated
Machine is used for the Ball Screw Pair Friction Moment for keeping overcoming needed for ball screw assembly, uniform motion, according to ball screw assembly, friction
The relationship of torque and pretightning force is, it can be achieved that monitor the variation tendency of ball screw assembly, pretightning force based on driving motor electric current.
Do not destroy and influence actual operating conditions of the ball screw assembly, in machinery equipment (such as numerically-controlled machine tool), Jin Jinding
Phase by monitoring ball screw assembly, under egulation rotating speed at the uniform velocity unloaded rotation when driving motor driving current, according to driving electricity
The changing rule of stream can be realized to ball screw assembly, abrasion and the assessment and prediction of Pre strained state.
The experimental rig for realizing this method includes that bearing is sat up straight, marble pedestal, workbench, cylindrical nut, gasket, determined
Position pin, flange nut, sliding block, ball-screw, linear guide, shaft coupling, servo motor and Hall current sensor.
The axis of ball-screw and servo motor is rigidly connected by shaft coupling, while feed screw nut and ball screw assembly,
Be it is rigidly connected, linear guide plays a supportive role at the both ends of workbench, while can guarantee the displacement accuracy of workbench.
Cylindrical nut and flange nut are reversely spun on above feed screw nut, interference fit, are squeezed two nuts by gasket and are generated initially
Pretightning force guarantees that play does not occur for gasket using positioning pin.
Workbench is by ball-screw and flange nut cooperating.Under the rotation of ball-screw, flange nut will be turned round
Conversion of motion is in line movement, and workbench is enable to move back and forth.And ball-screw is connect by shaft coupling with servo motor,
To obtain the source of power.Linear guide is fixed on marble pedestal, the sliding block above workbench, in linear guide
Linear motion makes the pressure above marble pedestal carrying workbench.
Opposite direction rotating cylindrical nut, flange nut press respectively, while using gasket and positioning pin to cylinder spiral shell
Female, flange nut is fixed.The gap of gasket, makes double nut generate pretightning force, and positioning pin ensure that the opposite of two nuts
Position.
Bearing sit up straight and shaft coupling in there is angular contact bearing to act on ball-screw, be used to ball-screw position,
Prevent ball-screw in device for elimination of axial-and radial-play simultaneously.
Hall current sensor passes through wherein one of servo motor power supply line, for measuring the driving electricity of servo motor
Stream.
Compared with prior art, the beneficial effects of the present invention are:
1) the device of the invention is by Hall current vortex sensor, and real-time measurement servo motor loading current passes through
Loading current Fast Fourier Transform (FFT) acquires revolving speed, and then acquires moment of friction, by the relationship of moment of friction and pretightning force,
Obtain pretightning force size.And since the active force between ball and raceway is difficult directly to measure, it may be implemented using this method to rolling
The quantitative analysis of ballscrew pair pretightning force.Easy to operate in measurement process, without shutting down, effect is high, can monitor rolling
Bead mill damage is without dismounting.
2) this invention is that the ball screw assembly, to be traveled at the uniform speed based on zero load is carried out, since ball screw assembly, is in this shape
Without additional impact and additional load under state, compared with conventional lead screw pretightning force prognostic experiment platform, more close to pretightning force with rub
The relationship for wiping torque, is that calculated pretightning force is truer, therefore ball screw assembly, pretightning force may be implemented in the method in this way
On-line prediction.
Detailed description of the invention
Fig. 1 is main view of the invention；
The position Fig. 2 top view of the invention；
Fig. 3 is the working drawing of Hall current sensor in experimental rig of the present invention.
Specific embodiment
The introduction as follows of the measurement method of the device of the measurement pretightning force:
Further, to achieve the goals above, of the present invention is a kind of on-line determination ball screw assembly, pretightning force
Device, the experimental rig include: bearing sit up straight, marble pedestal, workbench, cylindrical nut, gasket, positioning pin, flange spiral shell
Female (7), sliding block (8), ball-screw (9), linear guide (10), shaft coupling (11), servo motor (12), Hall current sensing
Device (13).
Further, opposite direction rotating cylindrical nut (4), flange nut (7) press respectively, while using gasket (5)
Cylindrical nut (4), flange nut (7) are fixed with positioning pin (6).Structural initial pre stress is generated by using gasket, to double
Nut is pre-tightened.
Further, movement is transferred to ball-screw (9) through shaft coupling (11), at this moment by using servo motor (12)
Ball-screw (9) starts to rotate.At this moment cylindrical nut (4), flange nut (7) will generate under the action of ball-screw (9)
Linear motion, guarantees higher transmission efficiency.
Further, Hall current sensor (13) passes through wherein one of servo motor (12) power supply line, watched for measuring
The driving current of motor (12) is taken, to calculate the revolving speed of servo motor (12), power.Hall current sensor (13) is adopted
The signal of collection is acquired by capture card, and by servo motor driving current, the relationship of moment of friction and pretightning force is solved
Pretightning force out, for realizing the monitoring of pretightning force.
Further, the current value I measured by Hall current sensor (13)N, it is one group and is surveyed with sample frequency for 6400
The array obtained.It is calculated by fast Fourier, and array of indexes maximum value, obtains the Frequency point f of maximum amplitudea.At this time: watching
Take the revolving speed n=f of motora60/p, p are motor number of pole-pairs；The power of lead screw pairWherein U is to watch
The operating voltage of motor is taken,For current effective value,It is equal to 0.85 for power factor；Resultant moment T=9550P/n；It rubs
Wipe torque Tp=η T, η are conversion ratio；Pretightning forcePhFor lead, β is lead angle.Thus
To the relational expression of electric current and ball screw assembly, pretightning force:
Pretightning force:。
Claims (5)
1. a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current, realizes that the experimental rig of this method includes bearing
Sit up straight, marble pedestal, workbench, cylindrical nut, gasket, positioning pin, flange nut, sliding block, ball-screw, linear guide,
Shaft coupling, servo motor and Hall current sensor；
The axis of ball-screw and servo motor is rigidly connected by shaft coupling, while feed screw nut and ball screw assembly, are rigidity
Connection, linear guide plays a supportive role at the both ends of workbench, while can guarantee the displacement accuracy of workbench；Cylindrical nut
It is reversely spun on above feed screw nut, is interference fitted with flange nut, two nuts are squeezed by gasket and generate initial pretightening force, are made
Guarantee that play does not occur for gasket with positioning pin；
It is characterized by: when ball screw assembly, at the uniform velocity unloaded operation, by monitoring ball screw assembly, driving motor driving current
The Ball Screw Pair Friction Moment that motor is used to keep overcoming needed for ball screw assembly, uniform motion is calculated in virtual value, according to
The relationship of Ball Screw Pair Friction Moment and pretightning force is, it can be achieved that monitor ball screw assembly, pretightning force based on driving motor electric current
Variation tendency；
Workbench is by ball-screw and flange nut cooperating；Under the rotation of ball-screw, flange nut is by rotary motion
It is converted to linear motion, workbench is enable to move back and forth；And ball-screw is connect by shaft coupling with servo motor, thus
To the source of power；Linear guide is fixed on marble pedestal, the sliding block above workbench, and straight line is transported in linear guide
It is dynamic, make the pressure above marble pedestal carrying workbench.
2. a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current according to claim 1, feature exist
In: opposite direction rotating cylindrical nut, flange nut press respectively, while using gasket and positioning pin to cylindrical nut, method
Blue nut is fixed；The gap of gasket, makes double nut generate pretightning force, and positioning pin ensure that the relative position of two nuts.
3. a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current according to claim 1, feature exist
In: bearing sit up straight and shaft coupling in there is angular contact bearing to act on ball-screw, be used to position ball-screw, prevent simultaneously
Only ball-screw is in device for elimination of axial-and radial-play.
4. a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current according to claim 1, feature exist
In: Hall current sensor (13) passes through wherein one of servo motor (12) power supply line, for measuring servo motor (12)
Driving current, to calculate the revolving speed of servo motor (12), power；The signal of Hall current sensor (13) acquisition is by adopting
Truck acquisition, and by servo motor driving current, the relationship of moment of friction and pretightning force solves pretightning force, is used to real
The monitoring of existing pretightning force.
5. a kind of ball screw assembly, pretightning force on-line monitoring method based on electric current according to claim 1, feature exist
In: the current value I measured by Hall current sensor (13)N, be one group with sample frequency be 6400 arrays measured；Pass through
Fast Fourier calculates, and array of indexes maximum value, obtains the Frequency point f of maximum amplitudea；At this time: the revolving speed n=of servo motor
fa60/p, p are motor number of pole-pairs；The power of lead screw pairWherein U is the work electricity of servo motor
Pressure,For current effective value,It is equal to 0.85 for power factor；Resultant moment T=9550P/n；Moment of friction Tp=η T, η
For conversion ratio；Pretightning forcePhFor lead, β is lead angle；Thus electric current and ball-screw are obtained
The relational expression of secondary pretightning force:
Pretightning force:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811490353.9A CN109556778B (en) | 2018-12-06 | 2018-12-06 | Current-based ball screw pair pretightening force on-line monitoring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811490353.9A CN109556778B (en) | 2018-12-06 | 2018-12-06 | Current-based ball screw pair pretightening force on-line monitoring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109556778A true CN109556778A (en) | 2019-04-02 |
| CN109556778B CN109556778B (en) | 2021-03-16 |
Family
ID=65869363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811490353.9A Active CN109556778B (en) | 2018-12-06 | 2018-12-06 | Current-based ball screw pair pretightening force on-line monitoring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109556778B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842644A (en) * | 2019-11-09 | 2020-02-28 | 北京工业大学 | Method for monitoring contact stiffness degradation rate of machine tool moving part based on numerical control load information |
| CN111735626A (en) * | 2020-07-10 | 2020-10-02 | 南京理工大学 | Comprehensive evaluation method for precision retentivity test of ball screw pair |
| CN111982380A (en) * | 2020-07-16 | 2020-11-24 | 南京理工大学 | Ball screw pair pretightening force detection method and system based on characteristic frequency |
| CN114545228A (en) * | 2022-01-26 | 2022-05-27 | 图湃(北京)医疗科技有限公司 | OCT system ball screw wear state monitoring method based on motor current feedback |
| CN114965489A (en) * | 2022-04-20 | 2022-08-30 | 江苏品德机电科技有限公司 | Conveying line with surface defect detection function for machining ball screw pair |
| CN115041714A (en) * | 2022-06-19 | 2022-09-13 | 南京中科煜宸激光技术有限公司 | Rotating shaft health monitoring device and method for powder-laying type metal additive manufacturing equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU759885A1 (en) * | 1979-01-26 | 1980-08-30 | Otdel Kompleks Proekt Bakuv | Device for static testing of building structures |
| CN103926875A (en) * | 2014-04-18 | 2014-07-16 | 东南大学 | Method for friction compensation of ball screw feeding system |
| CN204269365U (en) * | 2014-12-08 | 2015-04-15 | 西安交通大学 | A kind of pretension adjustable rolling ball screw pair moment of friction dynamic measurement device |
| CN106404254A (en) * | 2016-11-17 | 2017-02-15 | 哈尔滨理工大学 | Working platform for measuring rolling friction force |
| CN106706346A (en) * | 2016-12-30 | 2017-05-24 | 南昌大学 | Steering-by-wire system test bench |
| CN108645616A (en) * | 2018-06-26 | 2018-10-12 | 北京工业大学 | The random abrasion test method of ball screw assembly, based on preload with feeding rotating speed |
-
2018
- 2018-12-06 CN CN201811490353.9A patent/CN109556778B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU759885A1 (en) * | 1979-01-26 | 1980-08-30 | Otdel Kompleks Proekt Bakuv | Device for static testing of building structures |
| CN103926875A (en) * | 2014-04-18 | 2014-07-16 | 东南大学 | Method for friction compensation of ball screw feeding system |
| CN204269365U (en) * | 2014-12-08 | 2015-04-15 | 西安交通大学 | A kind of pretension adjustable rolling ball screw pair moment of friction dynamic measurement device |
| CN106404254A (en) * | 2016-11-17 | 2017-02-15 | 哈尔滨理工大学 | Working platform for measuring rolling friction force |
| CN106706346A (en) * | 2016-12-30 | 2017-05-24 | 南昌大学 | Steering-by-wire system test bench |
| CN108645616A (en) * | 2018-06-26 | 2018-10-12 | 北京工业大学 | The random abrasion test method of ball screw assembly, based on preload with feeding rotating speed |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842644A (en) * | 2019-11-09 | 2020-02-28 | 北京工业大学 | Method for monitoring contact stiffness degradation rate of machine tool moving part based on numerical control load information |
| CN110842644B (en) * | 2019-11-09 | 2021-02-02 | 北京工业大学 | Method for monitoring contact stiffness degradation rate of machine tool moving part based on numerical control load information |
| CN111735626A (en) * | 2020-07-10 | 2020-10-02 | 南京理工大学 | Comprehensive evaluation method for precision retentivity test of ball screw pair |
| CN111982380A (en) * | 2020-07-16 | 2020-11-24 | 南京理工大学 | Ball screw pair pretightening force detection method and system based on characteristic frequency |
| CN111982380B (en) * | 2020-07-16 | 2022-04-19 | 南京理工大学 | Ball screw pair pretightening force detection method and system based on characteristic frequency |
| CN114545228A (en) * | 2022-01-26 | 2022-05-27 | 图湃(北京)医疗科技有限公司 | OCT system ball screw wear state monitoring method based on motor current feedback |
| CN114545228B (en) * | 2022-01-26 | 2022-11-22 | 图湃(北京)医疗科技有限公司 | OCT system ball screw wear state monitoring method based on motor current feedback |
| CN114965489A (en) * | 2022-04-20 | 2022-08-30 | 江苏品德机电科技有限公司 | Conveying line with surface defect detection function for machining ball screw pair |
| CN114965489B (en) * | 2022-04-20 | 2023-11-14 | 江苏品德机电科技有限公司 | Conveying line with surface defect detection for ball screw pair machining |
| CN115041714A (en) * | 2022-06-19 | 2022-09-13 | 南京中科煜宸激光技术有限公司 | Rotating shaft health monitoring device and method for powder-laying type metal additive manufacturing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109556778B (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109556778A (en) | A kind of ball screw assembly, pretightning force on-line monitoring method based on electric current | |
| CN103018104B (en) | Horizontal measuring device for axial static rigidity of ball screw pair and method thereof | |
| Zhou et al. | Correlation between preload and no-load drag torque of ball screws | |
| CN103926077B (en) | A kind of ball-screw Static and dynamic stiffness comprehensive measurement device | |
| CN203231962U (en) | End twist friction and abrasion tester for dynamically observing friction interface in real time | |
| CN102944472B (en) | Device and method for measuring axial static rigidity of ball screw pair | |
| CN201364215Y (en) | Friction moment measuring device of bearing under different axial loads and rotating speed | |
| CN109282726B (en) | Detection device for autonomously measuring inner diameter of deep hole | |
| CN110095217B (en) | Device and method for measuring friction torque of rolling bearing | |
| CN200986478Y (en) | Ball guide-screw pair frictional moment measuring apparatus | |
| CN203656087U (en) | Double-nut ball screw pair capable of accurately adjusting pre-tightening force | |
| CN107677415B (en) | Torque wrench calibrating device | |
| CN106525424B (en) | The comprehensive measurement device and measurement method of bearing rigidity and starting friction torque | |
| CN103592192A (en) | End face friction and abrasion tester | |
| CN203011772U (en) | Axial static stiffness horizontal measuring device of ball lead screw pair | |
| CN108645616A (en) | The random abrasion test method of ball screw assembly, based on preload with feeding rotating speed | |
| CN106950137A (en) | Tangential fretting abrasion test device and test method | |
| CN109612864A (en) | A kind of sliding friction fatigue experimental device for rotary bending fatigue machine | |
| CN207423149U (en) | A kind of internal thread effectively screws depth detection apparatus | |
| CN206440215U (en) | Hole diameter detection apparatus for manufacturing the desk-top cage of high accuracy | |
| CN110567718B (en) | Rolling bearing radial dynamic stiffness testing device based on piezoelectric actuator | |
| CN202255307U (en) | Roller contour error on-line measurement device for roller | |
| CN207923339U (en) | Automatic adjusting arm moment properties automatic detecting table | |
| CN114776575B (en) | Indirect measurement method for oil film thickness of flow distribution pair of axial plunger pump | |
| CN208091695U (en) | Lead screw transmission loads the rolling bearing fatigue life experimental rig of radially alternating load |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |