A running-in device for linear guide pairs based on fixed force loading

Abstract

This invention discloses a running-in device for linear guide rail pairs based on fixed force loading, relating to the fields of robotics and robot-related automation equipment. It mainly consists of a guide rail moving module, a vertical force loading module, a slider fixing module, and a servo control system. The guide rail moving module drives the tested rolling guide rail product to perform reciprocating linear motion, enabling it to run-in at a certain speed. The vertical force loading module applies a certain vertical loading force to the slider on the tested rolling guide rail during the running-in process. The servo control system controls the servo motor of the guide rail moving module and the electric cylinder of the vertical force loading module, and completes information interaction and command issuance through an industrial control computer. This invention adopts a running-in scheme with a fixed slider and a moving guide rail. During the running-in process, there is no need to move the vertical force loading module, resulting in stable loading force and high loading accuracy. Furthermore, the number of running-in cycles and the running-in axial distance can be set, making it suitable for running-in various types of guide rails.

Description

Technical Field

[0001] This invention relates to the field of robots and robot-related automated equipment, and more particularly to the technical field of running-in of linear guide rail pairs in robots, specifically to a running-in device for linear guide rail pairs based on fixed force loading. Background Technology

[0002] Linear guides, as precision linear guiding components, are used to support and guide moving parts to perform reciprocating linear motion in a given direction. Even under load, they can easily and smoothly guide linear motion. Their characteristics include low frictional resistance, making them light and flexible during movement; low wear, maintaining accuracy over a long period of time; and a small difference between dynamic and static friction coefficients, making them less prone to "creeping" at low speeds. Therefore, their movement is uniform and stable, making them an indispensable component in machine tools, semiconductor manufacturing equipment, and robotics-related equipment.

[0003] Running-in is a process before product assembly. Its main purpose is to test-assemble the parts to be assembled, verifying whether their dimensional accuracy, relative position, and fit clearances meet design requirements. Currently, existing linear guide running-in devices do not have a fully enclosed design for the guide rails and linear slides. When used in harsh environments, the surface of the linear slide is prone to adhering to sticky dust and cutting chips, affecting the smoothness and accuracy of the slider's movement, thus requiring improvement. Furthermore, existing linear guide running-in devices often use two sets of auxiliary guide rails for reciprocating running-in. During running-in, the force loading module needs to move with the slider, resulting in inaccurate and unstable force loading. Simultaneously, the auxiliary guide rails bear half of the load, often requiring replacement after several tests, which is cumbersome, resource-intensive, and costly. Therefore, this invention provides a linear guide pair running-in device based on fixed force loading. It employs a high-precision lead screw and a fully enclosed design, exhibiting excellent motion stability and dustproof performance. Furthermore, based on the principle of relativity of motion, the slider and force loading module remain stationary during running-in, eliminating the need for simultaneous running-in of auxiliary guide pairs. This facilitates force loading while resolving the problems of unstable and inaccurate force loading, making it suitable for running-in various guide rail models. Additionally, this invention uses a "ball-plane pair" connection to constrain the slider, limiting its movement along the axis of the measured rolling guide rail without imposing additional pitch or roll constraints, resulting in good motion stability. Simultaneously, the push rod's front end is equipped with a spherical bearing, and the cylindrical pin above the tension / compression sensor engages with the spherical bearing to ensure the slider is always subjected to a vertical loading force. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a linear guide pair running-in device based on fixed force loading. It employs a high-precision lead screw and a fully enclosed design, exhibiting excellent motion stability and dustproof performance. Furthermore, based on the principle of relativity of motion, the slider and force loading module remain stationary during running-in, eliminating the need for simultaneous running-in of auxiliary guide pairs. This facilitates force loading while resolving issues of unstable and inaccurate force loading, making it suitable for running-in various guide rail models. Additionally, this invention uses a "ball-plane pair" connection to constrain the slider, limiting its movement along the axis of the measured rolling guide rail without imposing additional pitch or roll constraints, resulting in good motion stability. Simultaneously, the push rod's front end is equipped with a spherical bearing, and the cylindrical pin above the tension / compression sensor engages with the spherical bearing to ensure the slider is always subjected to a vertical loading force.

[0005] To achieve the above objectives, the present invention employs the following technical solution.

[0006] This invention provides a running-in device for a linear guide rail pair based on fixed force loading, characterized in that it includes a guide rail moving module, a slider fixing module, a vertical force loading module, and a servo control system, wherein:

[0007] The guide rail movement module is used to drive the tested rolling guide rail product to perform reciprocating linear motion, enabling it to run-in at a certain speed. The module consists of a linear slide, a slide support, a test bench base, a guide rail support plate, a lead screw, the tested rolling guide rail, a diaphragm coupling, a servo motor, and a motor support. The linear slide is bolted to the slide support, which in turn is bolted to the test bench base. The guide rail support plate is mounted on the linear slide and engages with the lead screw below. The tested rolling guide rail is bolted to the guide rail support plate. A diaphragm coupling connects the servo motor to the lead screw, and the movement of the linear slide is achieved by the servo motor driving the lead screw. The motor support is bolted to the test bench base, and the servo motor is fixed in a through hole within the motor support.

[0008] The slider fixing module is used to fix the slider on the tested rolling guide during the running-in process. It consists of a slider, a slider transition piece, a bracket, a U-shaped connecting block, and a ball joint. The slider cooperates with the tested rolling guide and can slide along the axial direction of the tested rolling guide. The slider transition piece is fixed above the slider by bolts. The bracket is a U-shaped integral frame that is bolted to the test bench base plate. The U-shaped connecting block is bolted to the inside of the bracket and is flush with the height of the slider transition piece. There is a ball joint on one side of the slider transition piece, which is placed in the U-shaped groove of the U-shaped connecting block to form a "ball-plane pair" connection.

[0009] The vertical force loading module is used to apply a certain vertical loading force to the slider on the tested rolling guide during the running-in process. It consists of an electric cylinder, a push rod, a spherical bearing, a tension / compression sensor, a U-shaped block, and a pin. The electric cylinder is mounted on the top of the bracket, and the push rod is the power output component of the electric cylinder, with a spherical bearing at its front end. The tension / compression sensor is mounted on the slider transition piece by bolts. The U-shaped block is located above the tension / compression sensor and is fixed to the tension / compression sensor by bolts. The pin is mounted on the U-shaped block and can be inserted into the spherical bearing during operation.

[0010] The servo control system is used to control the servo motors of the guide rail moving module and the electric cylinders of the vertical force loading module, and to complete information interaction and command issuance. It consists of a motion controller, an industrial computer, host computer software, servo motor drivers, and an encoder. The motion controller is connected to the industrial computer, and the host computer software runs on the industrial computer. Two servo motor drivers are connected to the motion controller and act on the servo motors and electric cylinders respectively. The encoder acts between the motion controller and the servo motors.

[0011] The linear guide pair running-in device based on fixed force loading is characterized in that: the linear slide is bolted to the slide support, and adopts a high-precision lead screw and a fully enclosed design, which has good motion stability and dustproof performance; the slider can move linearly with high precision along the axis of the linear slide to meet the running-in displacement range requirements of the guide rail; the slide support is bolted to the test bench base plate, and has high rigidity and high strength, which can provide good support for the linear slide.

[0012] The aforementioned linear guide pair running-in device based on fixed force loading is characterized in that: a positioning step is machined on the guide support plate, and its side is a precision-machined positioning surface, which has been pre-adjusted to be parallel to the axis of the linear slide table; therefore, when replacing the rolling guide under test, it is only necessary to align its side with the positioning step surface on the guide support plate to achieve the parallelism between the axis of the rolling guide under test and the axis of the linear slide table, thereby meeting the running-in requirements.

[0013] The aforementioned linear guide pair running-in device based on fixed force loading is characterized in that: the connection between the servo motor and the lead screw adopts a double diaphragm coupling, which has very strong radial compensation capability and good rotational stiffness; the double diaphragm coupling consists of three parts, including two half couplings, an intermediate connection, and a diaphragm; during installation, screws are used to insert and fix the connected parts together, and no axial movement is required during the process.

[0014] The aforementioned linear guide pair running-in device based on fixed force loading is characterized in that: the rolling guide product under test has two sliders, and there are two sets of slider fixing modules and two sets of vertical force loading modules with the same structure. Taking the double slider fixing module and double vertical force loading module as an example, the number and position of the slider fixing module and the vertical force loading module can be adjusted according to the actual loading and running-in requirements of the rolling guide product under test.

[0015] The aforementioned linear guide pair running-in device based on fixed force loading is characterized in that: when the slider and the tested rolling guide undergo relative movement during the running-in process, pitch and roll changes are inevitable; to address this, a spherical connector with a spherical head is bolted to the side of the slider transition piece; on the other hand, a detachable U-shaped connecting block is bolted to the bracket, and its installation position can be adjusted up and down using the elongated hole on the bracket to meet the testing requirements of different tested rolling guides; by inserting the spherical connector into the U-shaped groove of the U-shaped connecting block, a "spherical-plane pair" connection is formed, which can restrict the movement of the slider along the axis of the tested rolling guide without imposing additional pitch and roll constraints on the slider.

[0016] The linear guide pair running-in device based on fixed force loading is characterized in that: according to the principle of relativity of motion, the device adopts a running-in scheme of "fixed slider and moving guide rail" during running-in. During the running-in process, there is no need to move the slider and the vertical force loading module, the loading force is stable and has high loading accuracy. At the same time, the number of running-in cycles and the running-in axial distance can be set through the servo control system.

[0017] The beneficial effects of the technical solution of the present invention are as follows:

[0018] (1) A rolling linear guide pair running-in device is provided, which adopts a high-precision lead screw and a fully enclosed design, and has good motion stability and dustproof performance. This solves the problem that when used in harsh environments, the surface of the linear slide table is prone to adhering to impurities such as sticky dust and cutting chips, which affects the running-in stability and accuracy.

[0019] (2) The linear guide pair running-in device has its slide support installed on the test bench base plate by bolts. It is stable and reliable, with high rigidity and high strength. The slider can move in a high-precision linear motion along the axis of the linear slide table. It does not require the auxiliary guide pair to run-in at the same time, which solves the problem of troublesome and resource-consuming replacement of the auxiliary guide pair.

[0020] (3) The linear guide pair running-in device is equipped with a detachable U-shaped connecting block. Its installation position can be adjusted up and down by means of the elongated hole on the bracket to meet the testing requirements of different rolling guides under test. The ball joint of the slider transition piece can be inserted into the U-shaped connecting block to form a "ball-plane pair" connection, which can restrict the movement of the slider along the axis of the rolling guide under test without imposing additional pitch, roll or other constraints on the slider, thus having good motion stability. At the same time, the front end of the push rod is equipped with a spherical bearing. The cylindrical pin above the tension and pressure sensor cooperates with the spherical bearing, and there is a gap between the pin and the spherical bearing, which allows the pin to move radially within the spherical bearing, ensuring that the slider is always subjected to vertical loading force.

[0021] (4) The linear guide pair running-in device adopts the running-in scheme of "fixed slider and moving guide rail" according to the principle of motion relativity. During the running-in process, there is no need to move the slider and the vertical force loading module. The loading force is stable and has high loading accuracy. At the same time, the running-in cycle number and running-in axial distance can be set through the servo control system.

[0022] (5) The linear guide pair running-in device does not require the auxiliary guide pair to run-in simultaneously during the running-in process, nor does it require the vertical force loading module to be moved. Therefore, the requirements for the span of the support are small, and the test bench base plate does not need to be too wide. As a result, the overall structure is simple, the volume is moderate, and it is easy to implement. Moreover, the slider, support, fixing module and loading module are easy to disassemble, and the number and position of the installation can be adjusted to meet the loading and running-in requirements of different tested rolling guide products. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a linear guide pair running-in device based on fixed force loading according to the present invention.

[0024] Figure 2 This is a schematic diagram of the guide rail moving module structure in this invention;

[0025] Figure 3 This is a schematic diagram of the slider fixing module structure in this invention;

[0026] Figure 4 This is a schematic diagram of the vertical force loading module structure in this invention;

[0027] Figure 5 This is a framework diagram of the servo control module in this invention;

[0028] Figure 6 This is a schematic diagram of the host computer software for the servo control module in this invention;

[0029] The above diagram includes: 1. Linear slide table; 2. Slide table support; 3. Test bench base plate; 4. Guide rail support plate; 5. Lead screw; 6. Rolling guide rail under test; 7. Diaphragm coupling; 8. Servo motor; 9. Motor support; 10. Slider; 11. Slider transition piece; 12. Bracket; 13. U-shaped connecting block; 14. Ball joint; 15. Electric cylinder; 16. Push rod; 17. Spherical bearing; 18. Tension / compression sensor; 19. U-shaped block; 20. Pin; 21. Motion controller; 22. Industrial computer; 23. Host computer software; 24. Servo motor driver; 25. Encoder. Detailed implementation method:

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the implementation of the present invention is not limited thereto.

[0031] Combination Figure 1-6 As shown, this invention proposes a linear guide pair running-in device based on fixed force loading, characterized in that it includes a guide rail moving module, a slider fixing module, a vertical force loading module, and a servo control system, wherein:

[0032] The guide rail movement module is used to drive the tested rolling guide rail product to perform reciprocating linear motion, enabling it to run-in at a certain speed; such as... Figure 2 As shown, the guide rail moving module consists of a linear slide table 1, a slide table support 2, a test bench base plate 3, a guide rail support plate 4, a lead screw 5, a rolling guide rail under test 6, a diaphragm coupling 7, a servo motor 8, and a motor support 9. The linear slide table 1 is bolted to the slide table support 2 and adopts a high-precision lead screw and a fully enclosed design, providing good motion stability and dustproof performance. The slide table support 2 is bolted to the test bench base plate 3 and has high rigidity and high strength, providing good support for the linear slide table 1. The guide rail support plate 4 is mounted on the linear slide table 1 and cooperates with the lead screw 5 below. The guide rail support plate 4 has a positioning step machined on it, and its side is a precision-machined positioning surface, which has been pre-adjusted to be parallel to the axis of the linear slide table 1. The rolling guide rail under test 6 is bolted to the guide rail support plate 4. When replacing the tested rolling guide 6, simply align its side with the positioning step surface on the guide support plate 4 to ensure that the axis of the tested rolling guide 6 is parallel to the axis of the linear slide 1, thus meeting the running-in requirements. A diaphragm coupling 7 is used to connect the servo motor 8 to the lead screw 5, and the movement of the linear slide 1 is achieved by the servo motor 6 driving the lead screw 5. The diaphragm coupling 7 has very strong radial compensation capability and good rotational stiffness. This double diaphragm coupling 7 consists of three parts, including two half couplings, an intermediate connection, and a diaphragm. During installation, screws are used to insert and fix the connected parts together, and no axial movement is required during the process. The motor support 9 is fixed to the test bench base plate 3 with bolts, and the servo motor 8 is fixed by being installed in the through hole of the motor support 9.

[0033] The slider fixing module is used to fix the slider 10 on the tested rolling guide 6 during the running-in process; for example... Figure 3 As shown, the slider fixing module consists of a slider 10, a slider transition piece 11, a bracket 12, a U-shaped connecting block 13, and a ball joint 14. The slider 10 cooperates with the rolling guide rail 6 under test and can move linearly with high precision along the axial direction of the rolling guide rail 6 to meet the running-in displacement range requirements of the guide rail. The slider transition piece 11 is fixed above the slider 10 by bolts. The bracket 12 is a U-shaped integral frame, which is bolted to the test bench base plate 3. The U-shaped connecting block 13 is bolted to the inside of the bracket 12, and its installation position can be determined by using the elongated hole on the bracket 12. The slider can be adjusted up and down to meet the testing requirements of different rolling guides 6 under test; one side of the slider transition piece 11 has a spherical joint 14 with a spherical head, which is placed in the U-shaped groove of the U-shaped connecting block 13 to form a "ball-plane pair" connection; since the slider 10 and the rolling guide 6 under test will inevitably produce pitch and roll attitude changes during the running-in process, the "ball-plane pair" connection can restrict the movement of the slider 10 along the axis of the rolling guide 6 under test without imposing additional pitch and roll constraints on the slider 10.

[0034] The vertical force loading module is used to apply a certain value of vertical loading force to the slider 10 on the tested rolling guide 6 during the running-in process; such as Figure 4 As shown, the vertical force loading module mainly consists of an electric cylinder 15, a push rod 16, a spherical bearing 17, a tension / compression sensor 18, a U-shaped block 19, and a pin 20. The electric cylinder 15 is mounted on the top of the bracket 12, which has an elongated hole to facilitate adjustment of the position of the electric cylinder 15 relative to the bracket 12. The push rod 16 is the power output component of the electric cylinder 15, and its front end is equipped with a spherical bearing 17. The tension / compression sensor 18 is mounted on the slider transition piece 11 by bolts. The U-shaped block 19 is located above the tension / compression sensor 18 and is fixed to the tension / compression sensor 18 by bolts. The pin 20 is mounted on the U-shaped block 19. During operation, the pin 20 can be inserted into the spherical bearing 17 to transmit the vertical force applied by the electric cylinder 15 to the slider 10. When the pin 20 is pulled out, the electric cylinder 15 can be easily separated from the tension / compression sensor 18, and the slider 10 is no longer subjected to vertical force.

[0035] The servo control system controls the servo motor 8 of the guide rail movement module and the electric cylinder 15 of the vertical force loading module, and completes information interaction and command issuance; such as Figure 5-6As shown, the servo control system mainly consists of a motion controller 21, an industrial computer 22, host computer software 23, servo motor drivers 24, and an encoder 25. The motion controller 21 is connected to the industrial computer 22, and the real-time performance of motion control and force control is guaranteed by the embedded real-time multi-tasking operating system and high-speed DSP processor inside the controller. The host computer software 23 runs on the industrial computer 22, and the measurement and control and data processing programs run in the host computer software 23. It communicates with the motion controller 21 to complete information interaction and command issuance. The motion controller 21 sends relevant digital and analog signals to the servo motor drivers 24 according to the commands. The two servo motor drivers 24 are connected to the motion controller 21 and act on the servo motor 8 and the electric cylinder 15. The servo motor drivers 24 obtain the rotor speed, rotor position, and mechanical position of the motor through the encoder 25, thereby completing the closed-loop control of the motor's current, speed, and position, and the motor drive.

[0036] This invention discloses a linear guide pair running-in device based on fixed force loading. According to the principle of relativity of motion, the running-in scheme adopts "fixed slider and moving guide rail" during the running-in process. There is no need to move the slider and vertical force loading module during the running-in process, the loading force is stable and has high loading accuracy. At the same time, the number of running-in cycles and the running-in axial distance can be set through the servo control system.

[0037] The break-in process of this invention includes the following steps:

[0038] Step 1: Set up the test bench for the running-in device and level the entire test bench;

[0039] Step 2: Connect one end of the lead screw 5 to the output shaft of the servo motor 8 through the diaphragm coupling 7. The guide rail support plate 4 cooperates with the lead screw 5, and the rolling guide rail 6 and slider 10 to be tested are installed.

[0040] Step 3: The operator executes the measurement and control and data processing program on the industrial control computer 22 to perform self-tests on the servo motor 8 and electric cylinder 15; after the self-test passes, the running-in conditions are set, including: running-in cycle number, running-in axial distance, running-in speed, vertical force load, etc.

[0041] Step 4: Start the servo motor 8, and drive the lead screw 5 through the servo motor 8, thereby driving the rolling guide 6 under test to move, so as to adjust the running-in start end of the rolling guide 6 under test, and determine the running-in stroke and running-in limit position.

[0042] Step 5: Start the running-in of the tested rolling guide 6 according to the set running-in speed, stroke, and load;

[0043] Step 6: After the running-in is completed, check the running-in results of the tested rolling guide 6 and draw a running-in conclusion.

[0044] This invention is not limited to the specific embodiments described above. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principles of this invention, and these improvements and substitutions should also be considered within the scope of protection of this invention.

Claims

1. A running-in device for a linear guide rail pair based on fixed force loading, comprising a guide rail moving module, a slider fixing module, a vertical force loading module, and a servo control system, wherein: The guide rail movement module is used to drive the tested rolling guide rail product to perform reciprocating linear motion, enabling it to run-in at a certain speed. The guide rail movement module consists of a linear slide, a slide support, a test bench base, a guide rail support plate, a lead screw, the tested rolling guide rail, a diaphragm coupling, a servo motor, and a motor support. The linear slide is bolted to the slide support, which in turn is bolted to the test bench base. The guide rail support plate is mounted on the linear slide and engages with the lead screw below. The tested rolling guide rail is bolted to the guide rail support plate. The machined surface features a positioning step with a precision-machined positioning surface on its side, pre-adjusted to be parallel to the axis of the linear slide. Therefore, when replacing the rolling guide rail under test, simply align its side with the positioning step surface on the guide rail support plate to achieve parallelism between the axis of the rolling guide rail under test and the axis of the linear slide, thus meeting the running-in requirements. A double diaphragm coupling connects the servo motor and the lead screw, and the movement of the linear slide is achieved by the servo motor driving the lead screw. The motor support is fixed to the test bench base plate with bolts, and the servo motor is installed in the through hole of the motor support for fixation. The slider fixing module is used to fix the slider on the tested rolling guide during the running-in process. It consists of a slider, a slider transition piece, a bracket, a U-shaped connecting block, and a ball joint. The slider mates with the tested rolling guide and can slide along the axial direction of the tested rolling guide. The slider transition piece is fixed above the slider by bolts. The bracket is a U-shaped integral frame, which is bolted to the test bench base plate. The U-shaped connecting block is bolted to the inside of the bracket, and its height is flush with the slider transition piece. A ball joint is located on one side of the slider transition piece, and the ball joint is placed in the U-shaped groove of the U-shaped connecting block to form a "ball-plane pair" connection. The slider and the tested rolling guide... When relative motion occurs during the running-in process, pitch and roll changes are inevitable. To address this, a spherical connector with a round head is bolted to the side of the slider transition piece. On the other hand, a detachable U-shaped connecting block is bolted to the bracket, and its installation position can be adjusted up and down using the elongated hole on the bracket to meet the testing requirements of different rolling guides. By inserting the spherical connector into the U-shaped groove of the U-shaped connecting block, a "spherical-plane pair" connection is formed to restrict the slider, which can restrict the movement of the slider along the axis of the rolling guide under test without imposing additional pitch and roll constraints on the slider. The vertical force loading module is used to apply a certain vertical loading force to the slider on the tested rolling guide during the running-in process. It consists of an electric cylinder, a push rod, a spherical bearing, a tension / compression sensor, a U-shaped block, and a pin. The electric cylinder is mounted on the top of the bracket, and the push rod is the power output component of the electric cylinder, with a spherical bearing at its front end. The tension / compression sensor is bolted to the slider transition piece. The U-shaped block is located above the tension / compression sensor and is fixed to the tension / compression sensor by bolts. The pin is mounted above the U-shaped block and can be inserted into the spherical bearing during operation. The servo control system is used to control the servo motors of the guide rail moving module and the electric cylinders of the vertical force loading module, and to complete information interaction and command issuance. It consists of a motion controller, an industrial computer, host computer software, servo motor drivers, and an encoder. The motion controller is connected to the industrial computer, and the host computer software runs on the industrial computer. Two servo motor drivers are connected to the motion controller and act on the servo motors and electric cylinders respectively. The encoder acts between the motion controller and the servo motors.

2. The linear guide pair running-in device based on fixed force loading according to claim 1, characterized in that: The linear slide is bolted to the slide support and adopts a high-precision lead screw and a fully enclosed design, which has good motion stability and dustproof performance; the slider can move linearly with high precision along the axis of the linear slide, meeting the displacement range requirements of the guide rail running-in. The slide support is bolted to the base plate of the test bench and has high rigidity and strength, providing good support for the linear slide.

3. The linear guide pair running-in device based on fixed force loading according to claim 1, characterized in that: The servo motor is connected to the lead screw using a double diaphragm coupling, which has a very strong radial compensation capability and good rotational stiffness. The double diaphragm coupling consists of three parts, including two half couplings, an intermediate connection, and a diaphragm. During installation, screws are used to insert and fix the connected parts together, and no axial movement is required during the process.

4. The linear guide pair running-in device based on fixed force loading according to claim 1, characterized in that: The rolling guide product under test has two sliders. There are two sets of slider fixing modules and two sets of vertical force loading modules, and they have the same structure. This device takes the double slider fixing module and double vertical force loading module as an example. The number and position of the slider fixing module and vertical force loading module can be adjusted according to the actual loading and running-in requirements of the rolling guide product under test.

5. The linear guide pair running-in device based on fixed force loading according to claim 1, characterized in that: Based on the principle of relativity of motion, the device adopts a "fixed slider, moving guide rail" running-in scheme. During the running-in process, there is no need to move the slider and the vertical force loading module, the loading force is stable and has high loading accuracy. At the same time, the number of running-in cycles and the running-in axial distance can be set through the servo control system.

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