Calculation method and measurement device for inclination static stiffness of ball spline pair

Abstract

The invention discloses a ball spline pair inclination static stiffness calculation method and a measuring device, and belongs to the technical field of ball spline pair bearing performance testing. According to the calculation method for the inclination static stiffness of the ball spline pair, the Hertz contact theory is combined, according to the stress deformation principle, a contact stress functional expression at the contact position is obtained by analyzing a space function of a contact ellipse, and the blank of related theories is filled; meanwhile, based on the Hertz contact theory, a macro-level ball spline pair deformation model is constructed by considering the pretightening force condition, the ball raceway contact condition of the ball spline pair facing the SCARA robot is described more accurately, and the bearing capacity of the ball spline pair can be predicted more accurately. The device for measuring the inclination static rigidity of the ball spline pair is simple in structure and easy to operate, the inclination static rigidity of the ball spline pair can be tested, and a method for detecting the torsional rigidity of the ball spline pair is provided and used for testing the inclination static rigidity of the ball spline pairs of various specifications.

Description

Technical Field

[0001] The invention relates to the technical field of ball spline pair bearing performance testing, and more particularly to a ball spline pair tilt static stiffness calculation method and a measuring device. Background Art

[0002] The ball spline pair is mainly composed of balls, retainers, ball spline shafts and ball spline outer cylinders. As a new type of high-precision rolling functional component, the ball spline pair is widely used in the SCARA robot industry, mainly used to achieve smooth transmission of the robot in all directions.

[0003] In view of the huge role of ball spline pairs in the SCARA robot industry, and the matching relationship between the ball spline shaft and the ball spline outer cylinder is based on the rolling of the ball. During the movement, the ball spline can withstand large radial loads and torques. Therefore, the tilt static stiffness of the ball spline pair has also become one of the key indicators in the design and evaluation process. The tilt static stiffness reflects the ability of the system to resist deformation when subjected to the tilt torque, which is crucial to ensure the stability and accuracy of mechanical equipment in a dynamic working environment. At present, the research on ball spline pairs in China is still incomplete, and related measurement devices are also very lacking, which cannot guarantee the accuracy of the calculation of its tilt static stiffness.

[0004] Therefore, how to propose a calculation method and measurement device for the tilt static stiffness of a ball spline pair to improve the accuracy of stiffness calculation when the ball spline pair is subjected to torque is an urgent problem that needs to be solved by technical personnel in this field. Summary of the invention

[0005] In view of this, the present invention provides a calculation method and a measuring device for the tilt static stiffness of a ball spline pair. Based on the Hertz contact theory, a macro-level deformation model of a ball spline pair is constructed considering the preload condition. The contact condition of the ball raceway of the ball spline pair for the SCARA robot is described more accurately, and the load-bearing capacity of the ball spline pair can be predicted more accurately.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] On the one hand, the present invention discloses a method for calculating the tilt static stiffness of a ball spline pair, comprising the following steps:

[0008] Analyze the contact characteristics between the ball and the raceway to obtain the contact stress and contact load at the contact point;

[0009] Based on Hertz contact theory, the ball-raceway contact deformation model is constructed;

[0010] The ball-raceway contact deformation model combines the deformation coordination equation, the physical equation and the static equilibrium equation to establish a ball spline pair tilt static stiffness model;

[0011] The ball spline pair tilt static stiffness model is optimized based on the preload condition to obtain a ball spline pair tilt static stiffness calculation model;

[0012] The ball spline pair tilt static stiffness calculation model is used to calculate the ball spline pair tilt static stiffness.

[0013] Preferably, the ball-raceway contact deformation model is as follows:

[0014]

[0015] In the formula, Q n is the normal contact force, δ n is the normal displacement, μ is the Hertz contact coefficient, E1 and E2 represent the elastic moduli of the two contacting parties, υ1 and υ2 represent the Poisson's ratio of the two contacting parties, and Σρ is the curvature and of the contact surface.

[0016] Preferably, the ball-raceway contact deformation model combines the deformation coordination equation, the physical equation and the static equilibrium equation to establish a ball spline pair tilt static stiffness model, including:

[0017] Calculate the raceway groove center distance A and the tilting moment M under the initial state respectively z The center distance S of the raceway groove after the action p ;

[0018] Combining the physical equations and static equilibrium equations, the inclination static stiffness model of the ball spline pair is established as follows:

[0019]

[0020] Where Z is the number of balls in each row of the ball spline nut, l p K is the force arm of the contact load between the ball and the raceway to the rotation center. n is the contact stiffness of the p-th row raceway joint, Q p is the contact load at the junction of the p-th row raceways, δ p is the normal displacement of the p-th row raceway junction.

[0021] Preferably, the formula for the center distance A of the raceway groove ratio in the initial state is as follows:

[0022] A=(f cb +f rb -1)·D b

[0023] In the formula, f cb 、f rb They are the overlap between the ball spline shaft raceway and the ball, and between the ball spline nut raceway and the ball, D b is the ball diameter;

[0024] The tilting moment M z The center distance S of the raceway groove after the action p The formula is as follows:

[0025]

[0026] Where, L p is the distance from the rotation center to the center of the ball spline female groove, θ z is the tilting moment M of the ball spline pair z The rotational angular displacement after the action, β 0p is the initial working angle, φ p For OB p Angle with the Y axis.

[0027] Preferably, the ball spline pair tilt static stiffness model is optimized based on the preload condition to obtain a ball spline pair tilt static stiffness calculation model, including:

[0028] Under the preload condition, each row of balls bears the same load and force, so the deformation variable δ' of each row of balls under the preload condition is:

[0029] δ'=δ0+δ n ;

[0030] At this time, the tilting moment M' under preload z The calculation formula is as follows:

[0031]

[0032] That is M' z =3·Z·k m K n ·(δ0+δ n ) 1.5 ·l p ;

[0033] In the formula, k m is the deformation correction coefficient of the ball spline nut, δ0 is the initial contact deformation, Q' n is the normal contact force under preload;

[0034] The calculation model expression of the tilted static stiffness of the ball spline pair is as follows:

[0035] K θz =dM' z / dθ'z ;

[0036] In the formula, K θz is the static stiffness of the ball spline pair, θ' z is the tilting moment M' of the ball spline pair z The rotational angular displacement produced after the action.

[0037] Preferably, under preload condition, the normal displacement δ n The calculation formula is as follows:

[0038] δ n =δ0+S p -A.

[0039] On the other hand, the present invention also provides a device for measuring the tilt static stiffness of a ball spline pair, the device comprising an upper table, a ball spline shaft fixture component, a tilt moment loading ball spline nut fixture component, a loading pressure plate, a ball spline pair to be measured, and a displacement sensor component;

[0040] The ball spline shaft fixture component is integrally formed and includes a bottom plate and flanges at both ends of the bottom plate; the bottom plate is mounted on the upper table;

[0041] The displacement sensor component is symmetrically installed on both sides of the bottom of the tilting moment loading ball spline nut fixture component; the ball spline pair to be tested passes through the tilting moment loading ball spline nut fixture component, and the two ends of the ball spline pair to be tested are respectively connected to the two flanges of the ball spline shaft fixture component;

[0042] The loading pressure plate is installed above the tilting moment loading ball spline nut fixture component.

[0043] Preferably, the top of the tilting moment loading ball spline nut fixture component is a T-shaped component; the bottom of the loading pressure plate is connected to the top of the tilting moment loading ball spline nut fixture component through a T-shaped groove;

[0044] Notch grooves are respectively arranged at the two T-shaped corners of the T-shaped groove, and a top groove is arranged at the top of the T-shaped component; a small force-bearing cylinder is placed in the notch groove, and a large force-bearing cylinder is placed in the top groove.

[0045] It can be seen from the above technical solutions that the present invention discloses a method for calculating the inclination static stiffness of a ball spline pair and a measuring device, which has the following beneficial effects compared with the prior art:

[0046] The inclined static stiffness calculation method of the ball spline pair proposed in the present invention is combined with the Hertz contact theory. According to the force-deformation principle, the contact stress function formula at the contact point is obtained by analyzing the spatial function of the contact ellipse, which fills the relevant theoretical gaps. At the same time, based on the Hertz contact theory, a macro-level ball spline pair deformation model is constructed considering the preload condition, which more accurately describes the contact condition of the ball raceway of the ball spline pair for the SCARA robot and can more accurately predict the load-bearing capacity of the ball spline pair.

[0047] The device for measuring the tilt static stiffness of a ball spline pair proposed by the present invention is driven by a servo motor, which drives the pressure sensor and the loading platen to move up and down, applies a precisely controllable loading force to the ball spline pair, and the load application line has an eccentric distance from the axial symmetry center of the ball spline pair, thereby generating a tilt torque. The device has a simple structure and is easy to operate, and can test the tilt static stiffness of a ball spline pair, providing a method for detecting the torsional stiffness of a ball spline pair, and is used for the tilt static stiffness test of ball spline pairs of various specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 A flow chart of a method for calculating the tilt static stiffness of a ball spline pair provided by the present invention.

[0050] Figure 2 This is a diagram of the local force model of the ball of the ball spline pair of the present invention.

[0051] Figure 3 It is a comparison diagram of the theoretical and experimental curves of the inclined static stiffness of the ball spline pair of the present invention.

[0052] Figure 4 The figure is a diagram of the overall structural components of the device for measuring the inclination static stiffness of a ball spline pair according to the present invention.

[0053] Figure 5 The figure is a top view of the overall structure of the device for measuring the inclination static stiffness of a ball spline pair according to the present invention.

[0054] Figure 6 This is a diagram of the ball spline nut fixture components for loading the tilt torque of the ball spline pair tilt static stiffness measuring device of the present invention.

[0055] Figure 7 This is a diagram of the displacement sensor components of the ball spline pair tilt static stiffness measuring device of the present invention.

[0056] Figure 8 This is an enlarged view of point A of the device for measuring the inclination static stiffness of a ball spline pair of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] On the one hand, the embodiment of the present invention discloses a method for calculating the tilt static stiffness of a ball spline pair, such as Figure 1 As shown, the method comprises the following steps:

[0059] S1. Analyze the contact characteristics between the ball and the raceway to obtain the contact stress and contact load at the contact point.

[0060] The contact characteristics of the ball and the raceway are analyzed, specifically including: taking a single ball, a ball spline nut, and a ball spline shaft as the research objects, after the slider is subjected to the external load Q, elastic deformation occurs in the ball-raceway contact area, and the contact point between the ball and the raceway is regarded as the contact ellipse contact of the two contact bodies, and the contact stress at the contact point is calculated according to the contact ellipse distribution. The contact stress and contact load at the contact point are expressed as:

[0061]

[0062] Q=K·δ 3 / 2

[0063] Among them, p(x,y) is the contact stress variation function on the contact ellipse, p max is the maximum contact stress, a is the length of the major semi-axis of the contact ellipse, and b is the length of the minor semi-axis of the contact ellipse; x and y are the ordinate and abscissa of the rectangular coordinate system of the contact ellipse, respectively, Q is the contact load at the contact point, K is the contact stiffness coefficient between the ball spline nut and the ball, and δ is the elastic approach of the ball spline nut to the ball.

[0064] S2. Based on the Hertz contact theory, a ball-raceway contact deformation model is constructed.

[0065] In this embodiment, according to Hertz's theory, the normal load is proportional to the 3 / 2 power of the deformation, and the relationship between the contact force and elastic deformation of the ball spline pair in S2 is as follows:

[0066]

[0067] In short:

[0068]

[0069] The curvature of the contact surface in step S2 is:

[0070]

[0071] Among them, Q n is the normal contact force, δ n is the normal displacement, μ is the Hertz contact coefficient, E1, E2, υ1, υ2 represent the elastic modulus and Poisson’s ratio of the two contacting parties respectively, Σρ is the curvature of the contact surface, f r It is the fit between the ball spline shaft raceway and the ball.

[0072] S3. The ball-raceway contact deformation model combines the deformation coordination equation, physical equation and static equilibrium equation to establish the ball spline pair tilt static stiffness model, including:

[0073] S31. Calculate the raceway groove center distance A and the tilting moment M under the initial state respectively. z The center distance of the raceway groove after the action is S p .

[0074] Furthermore, the formula for the center distance A of the raceway groove ratio in the initial state is as follows:

[0075] A=(f cb +f rb -1)·D b

[0076] In the formula, f cb 、f rb They are the overlap between the ball spline shaft raceway and the ball, and between the ball spline nut raceway and the ball, D b is the ball diameter;

[0077] The tilting moment M z The center distance of the raceway groove after the action is S p The formula is as follows:

[0078]

[0079]

[0080] Where, L p is the distance from the rotation center to the center of the ball spline female groove, θ z is the tilting moment M of the ball spline pair z The rotational angular displacement after the action, β 0p is the initial working contact angle, φp For OB p Angle with Y axis, β p is the working contact angle after loading.

[0081] S32. Combining the physical equations and the static equilibrium equations, the inclination static stiffness model of the ball spline pair is established as follows:

[0082]

[0083]

[0084] Where Z is the number of balls in each row of the ball spline nut, l p K is the force arm of the contact load between the ball and the raceway to the rotation center. n is the stiffness of the p-th row raceway joint, Q p is the normal contact load at the p-th row raceway junction, δ p is the normal displacement of the p-th row raceway joint, For OB p The angle with the Y-axis is measured by the actual installation of the lead screw.

[0085] In the specific implementation process, the matching relationship between the ball spline shaft and the ball spline outer cylinder is realized based on the rolling of the ball. Therefore, during the movement, the ball spline is subjected to a large torque. When the ball spline pair system is subjected to a tilting moment M z After the action, the outer cylinder of the ball spline will produce a rotational angular displacement θ relative to the ball spline shaft z In this embodiment, the third raceway of the ball spline nut and the ball spline shaft are taken as the research objects, and the local force model diagram can be referred to Figure 2 , which shows that in M z The deformation of its joint under the action.

[0086] S4. Based on the preload condition, the ball spline pair tilt static stiffness model is optimized to obtain the ball spline pair tilt static stiffness calculation model, and the ball spline pair tilt static stiffness is calculated using the ball spline pair tilt static stiffness calculation model.

[0087] Under the preload condition, each row of balls bears the same load and force, so the deformation variable δ' of each row of balls under the preload condition is:

[0088] δ=δ0+δ n ;

[0089] Among them, δ n =δ0+S p -A.

[0090] At this time, the tilting moment M' under preload z The calculation formula is as follows:

[0091]

[0092] That is M' z =3·Z·k m K n ·(δ0+δ n ) 1.5 ·l p ;

[0093] In the formula, k m is the deformation correction coefficient of the ball spline nut. In this embodiment, k m =0.6, δ0 is the initial contact deformation, Q' n is the normal contact force under preload;

[0094] The calculation model expression of the tilted static stiffness of the ball spline pair is as follows:

[0095] K θz =dM' z / dθ' z ;

[0096] In the formula, K θz is the static stiffness of the ball spline pair, θ' z is the tilting moment M' of the ball spline pair z The rotational angular displacement produced after the action.

[0097] according to Figure 3 The comparison between the theoretical and experimental results shows that the calculation method for the inclined static stiffness of the ball spline pair proposed in the present invention has high accuracy.

[0098] On the other hand, the present invention also provides a device for measuring the inclination static stiffness of a ball spline pair, such as Figure 4-8 As shown, the device includes an upper table 1, a ball spline shaft fixture component 2, a tilting moment loading ball spline nut fixture component 3, a loading pressure plate 4, a ball spline pair to be tested 5 and a displacement sensor component 6;

[0099] The ball spline shaft fixture component 2 is integrally formed, including a bottom plate and flanges at both ends of the bottom plate; the bottom plate is mounted on the upper table 1;

[0100] The displacement sensor component 6 is symmetrically installed on both sides of the bottom of the tilting moment loading ball spline nut fixture component 3; the ball spline pair 5 to be tested passes through the tilting moment loading ball spline nut fixture component 3, and at the same time, the two ends of the ball spline pair 5 to be tested are respectively connected to the two flanges of the ball spline shaft fixture component 2;

[0101] One end of the loading platen 4 is installed above the tilting moment loading ball spline nut fixture component 3, and the other end is connected to the pressure sensor.

[0102] The top of the tilting moment loading ball spline nut fixture component 3 is a T-shaped component; the bottom of the loading pressure plate 4 is connected to the top of the tilting moment loading ball spline nut fixture component 3 through a T-shaped groove;

[0103] Notch grooves are respectively arranged at the two T-shaped corners of the T-shaped groove, and a top groove is arranged at the top of the T-shaped component; a small force-bearing cylinder 3.2 is placed in the notch groove, and a large force-bearing cylinder 3.3 is placed in the top groove.

[0104] Specifically, the ball spline shaft fixture component 2 includes a ball spline shaft fixture 2.1 and a tapered pin 2.2. Pin holes are processed at the flange tops at both ends of the ball spline shaft fixture 2.1 and at the corresponding positions of the ball spline shaft ends of the ball spline pair 5 to be tested. The tapered pin 2.2 is knocked into the pin hole with a copper rod, and the ball spline shaft of the ball spline pair 5 to be tested is fixed on the ball spline shaft fixture 2.1.

[0105] The tilting moment loading ball spline nut clamp component 3 includes a tilting moment loading ball spline nut clamp 3.1, a small force cylinder 3.2 and a large force cylinder 3.3; the large force cylinder is placed in the top groove of the tilting moment loading ball spline nut clamp 3.1, and the two small force cylinders 3.2 are symmetrically placed in the two notch grooves at the notch below the loading pressure plate 4.

[0106] The displacement sensor component 6 includes a sensor fixture 6.1 and a displacement sensor 6.2. Four sensor fixtures 6.1 are fixed on both sides of the tilting moment loading ball spline nut fixture 3.1 by bolts and are symmetrically distributed; the displacement sensor 6.2 is placed in the reserved hole of the sensor fixture 6.1 and is clamped by bolts.

[0107] The ball screw part of the ball spline pair 5 to be tested is installed on the ball spline shaft fixture 2.1, and the tilting moment loading ball spline nut fixture 3.1 is fixed to the ball spline nut of the ball spline pair 5 to be tested by bolts. One end of the loading platen 4 is fixed to the pressure sensor, and the other end is in contact with the tilting moment loading ball spline nut fixture 3.1. Among them, the measuring device is driven by a servo motor, which drives the pressure sensor and the loading platen 4 to move up and down to apply a precisely controllable loading force to the ball spline pair 5 to be tested. The load application line has an eccentric distance from the axial symmetry center of the ball spline pair, thereby generating a tilting moment.

[0108] When conducting the tilt static stiffness test, all components are correctly installed on the upper table 1, and a suitable load is selected as the maximum loading load of the static stiffness test process, and a suitable load is selected as the preload of the static stiffness test. The sample is preloaded at least 3 times to eliminate the gaps between the components; after preloading, it is unloaded, and the sensor indication is cleared to zero; the static stiffness test is performed using a continuous loading method. During the test, the load is uniformly loaded from zero at a certain speed until the preset maximum load value. During the loading process, the measurement and control system automatically and synchronously collects the measurement values ​​of the loading force sensor and the four displacement sensors; when loaded to the preset maximum load, unloading begins, and the above method is also used to collect data during unloading to obtain the tilt static stiffness curve of the ball spline pair to be tested.

[0109] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0110] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for calculating the tilted static stiffness of a ball spline pair, characterized in that: The following steps are involved: Analyze the contact characteristics between the ball and the raceway to obtain the contact stress and contact load at the contact point; Based on Hertz contact theory, the ball-raceway contact deformation model is constructed; The ball-raceway contact deformation model combines the deformation coordination equation, the physical equation and the static equilibrium equation to establish a ball spline pair tilt static stiffness model; The ball spline pair tilt static stiffness model is optimized based on the preload condition to obtain a ball spline pair tilt static stiffness calculation model; The ball spline pair tilt static stiffness calculation model is used to calculate the ball spline pair tilt static stiffness.

2. A method for calculating the inclination static stiffness of a ball spline pair according to claim 1, characterized in that: The ball-raceway contact deformation model is as follows: In the formula, Q n is the normal contact force, δ n is the normal displacement, μ is the Hertz contact coefficient, E1 and E2 represent the elastic moduli of the two contacting parties, v1 and v2 represent the Poisson's ratio of the two contacting parties, and ∑ρ is the curvature and of the contact surface.

3. A method for calculating the tilted static stiffness of a ball spline pair according to claim 2, characterized in that: The ball-raceway contact deformation model combines the deformation coordination equation, the physical equation and the static equilibrium equation to establish a ball spline pair tilt static stiffness model, including: Calculate the raceway groove center distance A and the tilting moment M under the initial state respectively z The center distance S of the raceway groove after the action p ; Combining the physical equations and static equilibrium equations, the inclination static stiffness model of the ball spline pair is established as follows: Where Z is the number of balls in each row of the ball spline nut, l p K is the force arm of the contact load between the ball and the raceway to the rotation center. n is the contact stiffness of the p-th row of balls, Q p is the contact load of the p-th row of balls, δ p is the normal displacement of the p-th row of ball joints.

4. A method for calculating the tilted static stiffness of a ball spline pair according to claim 3, characterized in that: The formula for the raceway groove center distance A in the initial state is as follows: A=(f cb +f rb -1)·D b In the formula, f cb 、f rb They are the overlap between the ball spline shaft raceway and the ball, and between the ball spline nut raceway and the ball, D b is the ball diameter; Subject to tilting moment M z The center distance S of the raceway groove after the action p The formula is as follows: Where, L p is the distance from the rotation center to the center of the ball spline female groove, θ z is the tilting moment M of the ball spline pair z The rotational angular displacement after the action, β 0p is the initial working angle, φ p For OB p Angle with the Y axis.

5. A method for calculating the inclination static stiffness of a ball spline pair according to claim 3, characterized in that: The ball spline pair tilt static stiffness model is optimized based on the preload condition to obtain a ball spline pair tilt static stiffness calculation model, including: Under the preload condition, each row of balls bears the same load and force, so the deformation variable δ' of each row of balls under the preload condition is: δ′=δ0+δ n ; At this time, the tilting moment M' under preload z The calculation formula is as follows: i.e., M' z = 3·Z·k m K n ·(δ0 + δ n ) 1.5 ·l p ; In the formula, k m is the deformation correction coefficient of the ball spline nut, δ0 is the initial contact deformation, Q′ n is the normal contact force under preload; The calculation model expression of the tilted static stiffness of the ball spline pair is as follows: K θz =dM′ z / dθ′ z ; In the formula, k θz is the static stiffness of the ball spline pair, θ' z is the tilting moment M' of the ball spline pair z The rotational angular displacement produced after the action.

6. A method for calculating the tilted static stiffness of a ball spline pair according to claim 5, characterized in that: Under preload condition, normal displacement δ n The calculation formula is as follows: d n =δ0+S p -A.

7. A device for measuring the inclination static stiffness of a ball spline pair, characterized in that: The device comprises an upper table (1), a ball spline shaft fixture component (2), a tilting moment loading ball spline nut fixture component (3), a loading pressure plate (4), a ball spline pair to be tested (5) and a displacement sensor component (6); The ball spline shaft fixture component (2) is integrally formed and comprises a base plate and flanges at both ends of the base plate; The bottom plate is mounted on the upper table (1); The displacement sensor component (6) is symmetrically mounted on two sides of the bottom of the tilting moment loading ball spline nut fixture component (3); the ball spline pair (5) to be tested passes through the tilting moment loading ball spline nut fixture component (3), and at the same time, the two ends of the ball spline pair (5) to be tested are respectively connected to the two flanges of the ball spline shaft fixture component (2); The loading pressure plate (4) is installed above the tilting moment loading ball spline nut clamp component (3).

8. A device for measuring the inclination static stiffness of a ball spline pair according to claim 7, characterized in that: The top of the tilting moment loading ball spline nut clamp component (3) is a T-shaped component; the bottom of the loading pressure plate (4) is connected to the top of the tilting moment loading ball spline nut clamp component (3) via a T-shaped groove; Notch grooves are respectively arranged at the two T-shaped corners of the T-shaped groove, and a top groove is arranged at the top of the T-shaped component; a small force-bearing cylinder (3.2) is placed in the notch groove, and a large force-bearing cylinder (3.3) is placed in the top groove.

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