CN203572643U - Electromechanical servo mechanism rigidity testing device - Google Patents

Electromechanical servo mechanism rigidity testing device Download PDF

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Publication number
CN203572643U
CN203572643U CN201320681334.0U CN201320681334U CN203572643U CN 203572643 U CN203572643 U CN 203572643U CN 201320681334 U CN201320681334 U CN 201320681334U CN 203572643 U CN203572643 U CN 203572643U
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China
Prior art keywords
electromechanical coupling
bearing
tested
testing
rigidity
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CN201320681334.0U
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Chinese (zh)
Inventor
崔佩娟
周海平
郑再平
黄玉平
郑继贵
王春明
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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Abstract

The utility model belongs to the field of rigidity testing, and particularly relates to an electromechanical servo mechanism rigidity testing device which aims to accurately measure the rigidity of a linear electromechanical servo mechanism in the prior art. The device includes a bench (10), a first support base (1) and a third support base (9) fixed at the two ends of the bench (10), and a second support base (7) fixed in the middle of the bench (10), an electromechanical servo mechanism to be tested (8) is arranged between the second support base (7) and the third support base (9), a loading device and a testing device are arranged between the first support base (1) and the second support base (7), the testing device includes a force transducer (5) and a dial gauge, and the force transducer (5) is arranged between the loading device and the free end of the electromechanical servo mechanism to be tested (8), and a dial gauge head (12) is arranged on the end face of the free end of the electromechanical servo mechanism to be tested (8). The testing device has the advantages of simple operation, high measuring precision, wide testing range, and good zero and stroke adaptability.

Description

A kind of electromechanical coupling system device for testing stiffness
Technical field
The utility model belongs to rigidity test field, is specifically related to a kind of electromechanical coupling system device for testing stiffness, especially a kind of possess test machine electric servo containing reversing, tension and compression are at the device of interior integral stiffness.
Background technology
Electromechanical coupling system is as a ring most important, the most complicated in servo loop, the mechanical properties such as its rigidity, gap are the main target of optimization of dynamic characteristics of servo system, be most important parameter in electromechanical servo system performance simulation model, the accuracy of its numerical value has greatly affected the result accuracy of simulation model.Electromechanical coupling system has the problems such as practical structures complexity, transmission link are many, is conventionally difficult to the rigidity of electromechanical coupling system to carry out accurate theoretical calculating, thereby, be necessary to adopt means of testing, design test device, draws actual value, supports servo system models and carrys out anticipation scheme feasibility.
Summary of the invention
The utility model object is the rigidity for the existing orthoscopic electromechanical coupling system of Measurement accuracy, and a kind of electromechanical coupling system device for testing stiffness is provided.
The technical scheme that the utility model adopts is:
An electromechanical coupling system device for testing stiffness, comprises stand, is fixed on the first bearing and the 3rd bearing at stand two ends, and the second bearing that is fixed on stand middle part; Between the second bearing and the 3rd bearing, be equipped with tested electromechanical coupling system; Between the first bearing and the second bearing, be equipped with charger and proving installation; Described proving installation comprises power sensor and clock gauge, and power installation of sensors is between charger and tested electromechanical coupling system free end, and clock gauge gauge outfit is arranged on the free-ended end face of tested electromechanical coupling system.
A kind of electromechanical coupling system device for testing stiffness as above, wherein: described charger comprises successively connected dextrorotation leading screw, Double-ended nut and left-handed leading screw, dextrorotation leading screw is connected with the first bearing; Left-handed leading screw is connected with power sensor, and power sensor is connected with tested electromechanical coupling system free end by connector.
A kind of electromechanical coupling system device for testing stiffness as above, wherein: the input end of described tested electromechanical coupling system is servo motor rotor axle.
A kind of electromechanical coupling system device for testing stiffness as above, wherein: for the output terminal of tested electromechanical coupling system, the slide block of precise linear guide is connected with the output terminal list journal stirrup of tested electromechanical coupling system.
The beneficial effects of the utility model are:
1. charger adopts the fixedly mechanical self-latching load mode of double lead-screw axial rotation, single nut manual drives double lead-screw traveling priority, a direction loads, both direction trace is mobile, the electrodeless adjustment of the large I of loading force, and which is simple in structure, operability good.
2. be electromechanical coupling system working condition that is virtually reality like reality, the input end of electromechanical coupling system is servo motor rotor axle, rotor axis of electric adopts and revolves change position closed loop, rotary transformer Real-time Collection motor shaft electrical angle signal, and by feedback algorithm, rotor axis of electric angle is positioned to control, to reach the fixing object of rotor axis of electric angle, overall process monitoring is revolved displacement and is put, the rigidity which records is containing tension and compression rigidity all in electromechanical coupling system and reverse conversion to the rigidity of tension and compression direction, and data validity is high;
3. the slide block of precise linear guide is connected with the output terminal list journal stirrup of tested electromechanical coupling system, make output terminal along the rectilinear direction distortion at precise linear guide place, which operation is simple and easy, measuring accuracy is high, test specification is wide, zero-bit and stroke adaptability good.
4. because the variation with outer load and impulse stroke of the rigidity of electromechanical coupling system changes, based on this feature, designed the device for testing stiffness of orthoscopic electromechanical coupling system, this proving installation zero position of testing is adjustable, can meet the rigidity test demand of existing orthoscopic electromechanical coupling system.
Accompanying drawing explanation
The front view of a kind of electromechanical coupling system device for testing stiffness that Fig. 1 provides for the utility model;
The vertical view of a kind of electromechanical coupling system device for testing stiffness that Fig. 2 provides for the utility model;
In figure: 1. the first bearing; 2. dextrorotation leading screw; 3. Double-ended nut; 4. left-handed leading screw; 5. power sensor; 6. connector; 7. the second bearing; 8. tested electromechanical coupling system; 9. the 3rd bearing; 10. stand; 11. universal magnetic gauge stands; 12. clock gauge gauge outfits; 13. precise linear guides.
Embodiment
A kind of electromechanical coupling system device for testing stiffness the utility model being provided below in conjunction with drawings and Examples is introduced:
As shown in Figure 1, 2, a kind of electromechanical coupling system device for testing stiffness, comprises stand 10, is fixed on the first bearing 1 and the 3rd bearing 9 at stand 10 two ends, and the second bearing 7 that is fixed on stand 10 middle parts; Between the second bearing 7 and the 3rd bearing 9, be equipped with tested electromechanical coupling system 8; Between the first bearing 1 and the second bearing 7, be equipped with charger and proving installation; Proving installation comprises power sensor 5 and clock gauge, and power sensor 5 is arranged between charger and tested electromechanical coupling system 8 free ends, and clock gauge gauge outfit 12 is arranged on the free-ended end face of tested electromechanical coupling system 8; Dial indicators rack is fixed on the base of stand 10, and clock gauge is used for measuring the total deformation of detected element, and which is good to the zero-bit of tested electromechanical coupling system and stroke adaptability.
Can adopt universal magnetic gauge stand 11 that clock gauge gauge outfit 12 is installed.
Wherein, charger comprises successively connected dextrorotation leading screw 2, Double-ended nut 3 and left-handed leading screw 4, and dextrorotation leading screw 2 is connected with the first bearing 1; Left-handed leading screw 4 is connected with power sensor 5, and power sensor 5 is connected with tested electromechanical coupling system 8 free ends by connector 6.Utilize tool wrench limit the rotation vertically of left-handed double lead-screw 4 and manually pull Double-ended nut 3 by another tool wrench, thereby make that charger straight line trace is mobile to be loaded.
For electromechanical coupling system working condition that is virtually reality like reality, the input end of tested electromechanical coupling system 8 is servo motor rotor axle, rotor axis of electric adopts and revolves change position closed loop, rotary transformer Real-time Collection motor shaft electrical angle signal, and by feedback algorithm, rotor axis of electric angle is positioned to control, to reach the fixing object of rotor axis of electric angle, overall process monitoring is revolved displacement and is put, the rigidity which records is containing tension and compression rigidity all in electromechanical coupling system and reverse conversion to the rigidity of tension and compression direction, data validity is high, test shows which can retrain the rotation of rotor axis of electric preferably.
For the output terminal of tested electromechanical coupling system 8, the slide block of precise linear guide 13 is connected with the output terminal list journal stirrup of tested electromechanical coupling system 8, make output terminal along the rectilinear direction distortion at precise linear guide 13 places.
The principle of work that this device carries out rigidity test is:
Servo drive controller positions control to the motor shaft position ring of servo control mechanism, guarantees that motor shaft is motionless; Precise linear guide can meet the stiffness measurement needs to orthoscopic electromechanical coupling system total travel; Utilize force loading device to apply pulling force and pressure to orthoscopic ball-screw servo control mechanism, and the power sensor of utilization record this power F i; By the axial deflection of clock gauge/dial gauge measuring mechanism, be designated as Δ L i; During servo control mechanism pressurized, F iby 0N, be increased to 6000N and be reduced to 0N again, step-length 300N, draws F-Δ L rigidity loop curve, and on the basis of loop curve, draws its mean value straight line, and this straight slope is pressured state rigidity value, is designated as k p; During servo control mechanism tension, same pressurized, obtains rigidity value and is designated as k d.

Claims (4)

1. an electromechanical coupling system device for testing stiffness, comprises stand (10), is fixed on the first bearing (1) and the 3rd bearing (9) at stand (10) two ends, and the second bearing (7) that is fixed on stand (10) middle part; Between the second bearing (7) and the 3rd bearing (9), be equipped with tested electromechanical coupling system (8); Between the first bearing (1) and the second bearing (7), be equipped with charger and proving installation; Described proving installation comprises power sensor (5) and clock gauge, and power sensor (5) is arranged between charger and tested electromechanical coupling system (8) free end, and clock gauge gauge outfit (12) is arranged on the free-ended end face of tested electromechanical coupling system (8).
2. a kind of electromechanical coupling system device for testing stiffness as claimed in claim 1, it is characterized in that: described charger comprises successively connected dextrorotation leading screw (2), Double-ended nut (3) and left-handed leading screw (4), dextrorotation leading screw (2) is connected with the first bearing (1); Left-handed leading screw (4) is connected with power sensor (5), and power sensor (5) is connected with tested electromechanical coupling system (8) free end by connector (6).
3. a kind of electromechanical coupling system device for testing stiffness as claimed in claim 2, is characterized in that: the input end of described tested electromechanical coupling system (8) is servo motor rotor axle.
4. a kind of electromechanical coupling system device for testing stiffness as claimed in claim 3, it is characterized in that: for the output terminal of tested electromechanical coupling system (8), the slide block of precise linear guide (13) is connected with the output terminal list journal stirrup of tested electromechanical coupling system (8).
CN201320681334.0U 2013-10-31 2013-10-31 Electromechanical servo mechanism rigidity testing device Active CN203572643U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320681334.0U CN203572643U (en) 2013-10-31 2013-10-31 Electromechanical servo mechanism rigidity testing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320681334.0U CN203572643U (en) 2013-10-31 2013-10-31 Electromechanical servo mechanism rigidity testing device

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CN203572643U true CN203572643U (en) 2014-04-30

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105241621A (en) * 2015-11-13 2016-01-13 西北工业大学 Device and method of rigidity measurement of flapping wing ribs
CN105699075A (en) * 2016-04-11 2016-06-22 四川志方科技有限公司 Moment rigidity testing device for RV reducer
CN106404363A (en) * 2016-08-19 2017-02-15 北京实验工厂 Servo mechanism mechanical environment test installation device and test method
CN109668700A (en) * 2017-10-16 2019-04-23 北京精密机电控制设备研究所 A kind of servo valve armature component integral stiffness measuring device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105241621A (en) * 2015-11-13 2016-01-13 西北工业大学 Device and method of rigidity measurement of flapping wing ribs
CN105241621B (en) * 2015-11-13 2016-09-28 西北工业大学 Flutter thriving rib stiffness measurement device and stiffness measurement method
CN105699075A (en) * 2016-04-11 2016-06-22 四川志方科技有限公司 Moment rigidity testing device for RV reducer
CN106404363A (en) * 2016-08-19 2017-02-15 北京实验工厂 Servo mechanism mechanical environment test installation device and test method
CN106404363B (en) * 2016-08-19 2018-10-09 北京实验工厂 A kind of servo mechanism dynamic environmental test mounting device and test method
CN109668700A (en) * 2017-10-16 2019-04-23 北京精密机电控制设备研究所 A kind of servo valve armature component integral stiffness measuring device
CN109668700B (en) * 2017-10-16 2020-08-21 北京精密机电控制设备研究所 Comprehensive rigidity measuring device for armature component of servo valve

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