Force-controlled motorized spindle output force precision test tool, test device and test method

Abstract

The invention discloses a force control motorized spindle output force precision test tool, a test device and a test method, and relates to the technical field of electromechanical tests.The test tool comprises a tested piece mounting seat, a mounting seat rotating mechanism and a stroke adjusting module, the tested piece mounting seat is arranged on the mounting seat rotating mechanism, and the stroke adjusting module is arranged on the mounting seat rotating mechanism; the stroke adjusting module is arranged on the tested piece mounting seat, a force sensor is arranged on the stroke adjusting module, and the electric spindle is fixedly connected with the force sensor; the testing device comprises a testing tool and a testing system. The testing system comprises a PLC control module, a rotation mechanism driving module, a stroke adjusting module driving module, a signal transmitter and a computer. According to the testing method, the posture, the load stroke and the output force of the force-controlled motorized spindle are controlled through the PLC control module, and testing of all postures, all load strokes and all sections of output force of the whole force-controlled motorized spindle is achieved. According to the invention, the accuracy and reliability of force-controlled motorized spindle product testing are effectively improved.

Description

Technical Field

[0001] This application relates to the field of electromechanical testing technology, specifically to a tooling, testing device, and testing method for testing the output force accuracy of a force-controlled electric spindle. Background Technology

[0002] For the force-controlled electric spindle assembly as a whole, its output accuracy is related to the structure of the force control device, the installation position of the electric spindle, and the influence of the load on the frictional force of the force control device. Currently, the testing of the processing accuracy of the force control device usually involves separating the force-controlled electric spindle into two parts: the electric spindle and the force control device. Only the output accuracy of the force control device itself is tested, which affects the accuracy and reliability of the output accuracy test of the force-controlled electric spindle product. Summary of the Invention

[0003] The main purpose of this application is to provide a tooling, testing device and testing method for testing the output force accuracy of a force-controlled electric spindle, which aims to solve the problem of insufficient accuracy and reliability in the output force accuracy testing of traditional force-controlled electric spindle products.

[0004] The technical solution adopted in this application is as follows: A tooling for testing the output force accuracy of a force-controlled electric spindle, comprising: Test component mounting base, the test component mounting base is used to fix the force-controlled electric spindle assembly to be tested, wherein the force-controlled electric spindle assembly to be tested includes an electric spindle and a force control device; Mounting base rotation mechanism, wherein the test component mounting base is disposed on the mounting base rotation mechanism, and the mounting base rotation mechanism is used to cause the test force-controlled electric spindle assembly to rotate; A stroke adjustment module is mounted on the test piece mounting base, and a force sensor is mounted on the stroke adjustment module. The electric spindle is fixedly connected to the force sensor.

[0005] Optionally, the mounting base rotation mechanism includes: A base, on which a slewing support is provided; A rotary connection end cover is mounted on the rotary support via a bearing, and the rotary connection end cover is provided with a first bolt hole for mounting the test piece mounting base; A rotary motor, the output end of which is fixedly connected to the rotary end cover.

[0006] Optionally, the test piece mounting base includes a right-angle mounting base plate integrally formed from a horizontal base plate and a vertical base plate. The vertical base plate is provided with a second bolt hole for connecting the mounting base rotation mechanism and a third bolt hole for installing the stroke adjustment module. The horizontal base plate is provided with a fourth bolt hole for installing the force-controlled electric spindle assembly to be tested.

[0007] Optionally, the horizontal seat plate and the vertical seat plate are provided with a number of weight-reducing holes.

[0008] Optionally, the stroke adjustment module includes a linear guide mechanism, which includes a slide rail and a slider. The slide rail is slidably mounted on the slide rail, and the force sensor is fixedly mounted on the slider.

[0009] Optionally, the force control device is fixed to the test piece mounting base via a flange connecting plate.

[0010] Optionally, the electric spindle is connected to the force sensor via a flange end cap.

[0011] The second aspect: A force-controlled electric spindle output force accuracy testing device includes the aforementioned force-controlled electric spindle output force accuracy testing fixture and testing system, wherein the testing system includes: The PLC control module is used to issue commands. A slewing mechanism drive module, which is electrically connected to the PLC control module, is used to receive instructions from the PLC control module and control the slewing motion of the mounting base slewing mechanism; A stroke adjustment module drive module is electrically connected to the PLC control module and is used to receive instructions from the PLC control module and control the linear motion of the stroke adjustment module. A signal transmitter, connected to the force sensor, is used to convert force data signals into digital signals; A computer, connected to the signal transmitter, is used to summarize the digital signals and output display force data.

[0012] Third aspect: A testing method for the force-controlled electric spindle output force accuracy testing device described above includes: Assemble the force-controlled electric spindle assembly under test onto the testing device; Initialize the mounting base rotation mechanism and stroke adjustment module and return them to the zero position, and keep the electric spindle in a vertical position with the tool end of the electric spindle extending to the farthest point of the stroke; The mounting base rotation mechanism rotates the test force-controlled electric spindle assembly clockwise multiple times to the maximum preset rotation angle. Each time the stroke adjustment module rotates, it pushes the electric spindle back multiple times to the maximum preset back distance. After each back push of the electric spindle, the test force-controlled electric spindle assembly outputs tension and pressure to the force sensor at preset force values ​​until the force applied to the force sensor reaches the maximum test output force, at which point the test ends.

[0013] Optionally, the maximum preset rotation angle = n times the preset rotation angle, the maximum preset push-back distance = n times the preset push-back distance, and the maximum test output force = n times the preset force value, where n is a positive integer.

[0014] Compared with the prior art, the beneficial effects of this application are: This application proposes a force-controlled electric spindle output force accuracy testing fixture. The fixture clamps and fixes the entire force-controlled electric spindle assembly under test. Throughout the testing process, the electric spindle and the force control device remain in an assembled state, accurately reflecting the output force state of the integrated electric spindle assembly. A PLC control module controls the attitude, load stroke, and output force of the force-controlled electric spindle, enabling testing of various attitudes, load strokes, and output forces of the entire force-controlled electric spindle. This improves the efficiency of overall output force testing, significantly shortens the testing cycle, and enhances the accuracy and reliability of force-controlled electric spindle product testing. Attached Figure Description

[0015] Figure 1 A schematic diagram of the force-controlled electric spindle output force accuracy testing fixture provided in an embodiment of this application, viewed from one angle. Figure 2 An exploded view of the force-controlled electric spindle output force accuracy testing fixture provided in this application embodiment; Figure 3 This is a schematic diagram of the testing system in the force-controlled electric spindle output force accuracy testing device provided in the embodiments of this application.

[0016] Figure 4 This is a schematic diagram of the control logic principle of a test method for a force-controlled electric spindle output force accuracy testing device provided in an embodiment of this application.

[0017] Explanation of the labels in the attached drawings: 1-Mounting base rotation mechanism, 2-Stroke adjustment module, 3-Force control electric spindle assembly to be tested, 31-Electric spindle, 32-Force control device, 4-Measured part mounting base, 5-Force sensor, 6-Flange connecting plate, 7-Flange end cover. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] Example 1 See attached document Figures 1 to 2 As shown in the figure, this application embodiment provides a tooling for testing the output force accuracy of a force-controlled electric spindle, including a test piece mounting base 4, a mounting base rotation mechanism 1, and a stroke adjustment module 2. The test piece mounting base 4 is used to fix the force-controlled electric spindle assembly 3 to be tested, wherein the force-controlled electric spindle assembly 3 to be tested includes an electric spindle 31 and a force control device 32; the test piece mounting base 4 is disposed on the mounting base rotation mechanism 1, and the mounting base rotation mechanism 1 is used to make the force-controlled electric spindle assembly 3 to be tested rotate; the stroke adjustment module 2 is disposed on the test piece mounting base 4, and a force sensor 5 is disposed on the stroke adjustment module 2, and the electric spindle 31 is fixedly connected to the force sensor 5.

[0023] As a current technology, the force-controlled electric spindle assembly is an electric spindle 31 system that integrates high-precision force control technology and is widely used in modern CNC machine tools and precision machining fields. Its core mainly includes the electric spindle 31 and the force control device 32 (i.e., the force control module). The electric spindle 31 usually integrates the motor directly into the spindle and typically includes a high-speed motor, precision bearings (such as ceramic ball bearings, magnetic levitation or air bearings), a cooling system (water cooling / oil cooling), and a tool interface. The force control device 32 mainly monitors the machining force in real time through a force sensor 5 (such as piezoelectric or strain gauge type) and dynamically adjusts the output of the electric spindle 31 in combination with a feedback system (such as a PID controller).

[0024] Currently, the testing of the processing accuracy of the force control device 32 usually involves splitting the force control electric spindle assembly into two parts: the electric spindle 31 and the force control device 32. Only the output accuracy of the force control device 32 itself is tested. In this approach, traditional testing separates the electric spindle 31 and the force control device 32, and only tests the output accuracy of the force control device 32 under static or simplified loads. It does not consider the impact of the dynamic characteristics of the electric spindle 31 after actual integration (such as high-speed rotational vibration, temperature rise deformation) on the force control device 32. Moreover, the friction of the force control device 32 is coupled with the installation position of the electric spindle 31 (such as the design of the floating mechanism) and the dynamic changes of the load. For example, a floating spindle device driven by a servo electric cylinder needs to be controlled independently in the horizontal and vertical directions. If the test is split, it is impossible to evaluate the changes in friction when floating in multiple directions. Therefore, traditional split testing cannot guarantee the accuracy and reliability of the test results.

[0025] To address the issue that traditional disassembly testing cannot guarantee the accuracy and reliability of test results, this embodiment tests the force-controlled electric spindle assembly 3 in its assembled state. This ensures that the force-controlled electric spindle assembly 3 is actually outputting force under normal operating conditions during the test. It fully considers factors related to the output force of the force-controlled electric spindle assembly 3 during operation, such as the structure of the force control device 32, the installation position of the electric spindle 31, and the frictional force of the load on the force control device 32. Therefore, it can accurately reflect the true output force state of the force-controlled electric spindle assembly 3.

[0026] In one embodiment, such as Figure 1 and Figure 2 As shown, the mounting base rotation mechanism 1 includes a base, a rotation connecting end cover, and a rotation motor. A rotation support is provided on the base, and a bearing seat is provided through the rotation support in the horizontal direction. The rotation connecting end cover is assembled in the bearing seat through the bearing, so that the rotation connecting end cover can rotate on the rotation support. The rotation motor is fixedly installed on one side of the back of the rotation support, and the output end of the rotation motor is fixedly connected to the rotation connecting end cover. Several first bolt holes for mounting the test piece mounting base 4 are provided circumferentially on the front side of the rotation end cover.

[0027] In the above embodiment, the base can be a rectangular counterweight plate structure or other shapes. The base can maintain the stability of the entire test fixture. The test piece mounting seat 4 is suspended in the air by the rotary bracket, providing sufficient three-dimensional space for the rotational movement of the test force-controlled electric spindle assembly 3 during the test. At the same time, the test piece mounting seat 4 is bolted to the rotary end cover. The rotation of the rotary motor can drive the test piece mounting seat 4 to rotate, so that the test force-controlled electric spindle assembly 3 can be installed on the test piece mounting seat 4 during the test, so that the test force-controlled electric spindle assembly 3 can complete the rotational movement.

[0028] In one embodiment, such as Figure 1 and Figure 2 As shown, the test piece mounting base 4 includes a right-angle mounting base plate integrally formed from a horizontal base plate and a vertical base plate. The vertical base plate is provided with a second bolt hole for connecting the mounting base rotation mechanism 1 and a third bolt hole for installing the stroke adjustment module 2. The horizontal base plate is provided with a fourth bolt hole for installing the force-controlled electric spindle assembly 3 to be tested.

[0029] In the above embodiment, by utilizing the second bolt hole provided on the vertical plate, when the test piece mounting base 4 is installed on the mounting base rotation mechanism 1, the second bolt hole and the first bolt hole are kept in one-to-one correspondence. Then, bolts are screwed into the second bolt hole and the first bolt hole, thereby installing the test piece mounting base 4 onto the mounting base rotation mechanism 1. At the same time, the third bolt hole on the vertical plate and the fourth bolt hole on the horizontal plate provide the position and conditions for the installation of the stroke adjustment module 2 and the force control device 32, thereby facilitating the installation of the force control electric spindle assembly 3 to be tested onto the test piece mounting base 4.

[0030] Of course, in a preferred embodiment, in order to reduce the overall weight of the test component mounting base 4, alleviate the force on the bolts, and extend the service life of the bolts as much as possible, such as... Figure 2 As shown, the horizontal and vertical base plates are provided with several weight-reducing holes. It is easy to imagine that the design of the weight-reducing holes can reduce the overall weight of the test piece mounting base 4, and the gravitational force on the bolts will be reduced to a certain extent.

[0031] In one embodiment, the stroke adjustment module 2 includes a linear guide mechanism. As is conventional, the linear guide mechanism includes a slide rail and a slider, as well as a power assembly. The power assembly is used to enable the slider to move along the slide rail. The slider has an integrally formed support rib, and the force sensor 5 is mounted on the support rib so that it moves with the slider.

[0032] In this embodiment, a connecting lug is provided on the slide rail, and a fifth bolt hole is provided on the connecting lug, which corresponds one-to-one with the third bolt hole. The bolt is screwed into the third bolt hole and the fifth bolt hole to install the stroke adjustment module 2 onto the test piece mounting base, and the force sensor 5 is installed on the slider so that the force sensor 5 moves together with the slider.

[0033] In one embodiment, the force control device 32 is fixed to the cross plate of the test piece mounting base 4 via the flange connecting plate 6, and the electric spindle 31 is connected to the force sensor 5 via the flange end cover 7.

[0034] In this embodiment, the force control device 32 is installed on the cross plate of the test piece mounting base 4 using the flange connecting plate 6, and the force sensor 5 is connected to the electric spindle 31 using the flange end cover 7, which has the advantage of convenient disassembly and assembly.

[0035] Example 2: See Figure 3 As shown in the illustration, this application also provides a force-controlled electric spindle output force accuracy testing device. In addition to the force-controlled electric spindle output force accuracy testing fixture described in Embodiment 1, it also includes a testing system. The testing system includes a PLC control module, a rotary mechanism drive module, a stroke adjustment module drive module, a signal transmitter, and a computer. The PLC control module controls the rotary mechanism drive module, the stroke adjustment module drive module, and the control cabinet built into the force control device. The rotary mechanism drive module receives the rotation angle signal from the PLC control module and sends a rotation action signal to the rotary mechanism of the mounting base. The stroke adjustment module drive module... The block receives the displacement signal from the PLC control module and sends a displacement action signal to the stroke adjustment module; the force-controlled electric spindle completes its action synchronously with the mounting base rotation mechanism and the stroke adjustment module; after receiving the output force signal from the PLC control module, the control cabinet of the force control device calculates the output force control signal based on the angle and displacement signals fed back by the force-controlled electric spindle and sends an output force control signal to the force-controlled electric spindle; the magnitude of the output force is captured by the force sensor, which transmits the contact force signal to the signal transmitter, which converts the contact force signal into a digital signal and transmits it to the computer for aggregation, and the computer outputs and displays the actual output force data.

[0036] In this embodiment, the PLC control module is used to control the posture, load stroke and output force of the force-controlled electric spindle, so as to test the overall posture, load stroke and output force of the force-controlled electric spindle. This improves the efficiency of the overall output force test of the force-controlled electric spindle, greatly shortens the test cycle and improves the accuracy and reliability of the force-controlled electric spindle product test.

[0037] Example 3 This application provides a method for testing the output force accuracy of a force-controlled electric spindle, which is based on the force-controlled electric spindle output force accuracy testing device described in Embodiment 2, and includes the following steps: S1: Assemble the force-controlled electric spindle assembly to be tested onto the testing device; S2: Initialize the mounting base rotation mechanism and stroke adjustment module and return them to the zero position, and keep the electric spindle in a vertical position with the tool end of the electric spindle extending to the farthest point of the stroke; S3: Rotate the mounting base rotation mechanism clockwise multiple times to the maximum preset rotation angle of the force-controlled electric spindle assembly under test. For each rotation, push the electric spindle back multiple times to the maximum preset push distance according to the preset push distance. After each push back of the electric spindle, control the force-controlled electric spindle assembly under test to output tension and pressure to the force sensor at preset force values ​​until the force applied to the force sensor reaches the maximum test output force, and then the test ends.

[0038] In the above embodiments, a variable-angle, adjustable-stroke installation environment is provided for the force-controlled electric spindle under test. At the same time, the angle, stroke, and output force of the tooling are controlled. Finally, the pressure / tension values ​​of the force sensor during the test are collected. This enables automated testing of the full range of output force accuracy of the force-controlled electric spindle under different angle postures, different load specifications, and different floating displacement states, and can automatically generate test reports. This has great practical value for improving the convenience and efficiency of force-controlled electric spindle accuracy testing.

[0039] In the above embodiments, the maximum preset rotation angle = n times the preset rotation angle, the maximum preset push distance = n times the preset push distance, and the maximum test output force = n times the preset force value, where n is a positive integer.

[0040] It is not difficult to understand that by using the following numerical relationship, the entire adjustment process can be made to be an integer multiple relationship, a linear adjustment process, which facilitates the adjustment and control of displacement and rotation angle during the test.

[0041] To illustrate the method for testing the output force accuracy of a force-controlled electric spindle provided in this application, the steps are explained in detail below: Step 1: Equipment Assembly In this embodiment, a force control device with a maximum output of 500N is selected for testing. First, the electric spindle and the force control device with a maximum output of 500N are assembled into a single unit to form the force control electric spindle assembly to be tested. Then, the force control device is assembled onto the horizontal seat plate of the mounting base of the part under test through the flange connecting plate. At the same time, the electric spindle is connected to the force sensor through the flange end cover to complete the installation of the part under test.

[0042] Step 2: Electrical Preparation Initialize the mounting base rotation mechanism and stroke adjustment module and return them to the zero position. Connect the air pipe and communication cable to the force control device to complete the connection with the PLC control module of the test system.

[0043] Step 3: Automated Testing Select the 500N force-controlled electric spindle test program in the PLC control module. The system will automatically test according to the following procedure: 1) Keep the mounting base rotation mechanism stationary so that the force-controlled electric spindle assembly is in a vertical position; 2) The stroke adjustment module pushes the electric spindle back 10mm from the remote end; 3) The force control device outputs pressure and tension in increments of 10N each time to the force sensor until the output force reaches 500N, and outputs pressure and tension each time during the process; 4) Push the stroke adjustment module back to 10mm stroke again, and then repeat steps 2) to 3) until the total back stroke reaches 30mm at the end of the test; 5) After the mounting base rotation mechanism rotates 30° clockwise, repeat steps 2) to 5) until the angle with the initial state is 180°, and the test is completed.

[0044] 6) The computer generates a table that lists the specifications, attitude angle, stroke position, set force, and actual output of the power-controlled electric spindle.

[0045] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tooling for testing the output force accuracy of a force-controlled electric spindle, characterized in that, include: Test component mounting base, the test component mounting base is used to fix the force-controlled electric spindle assembly to be tested; wherein, the force-controlled electric spindle assembly to be tested includes an electric spindle and a force control device; Mounting base rotation mechanism, wherein the test component mounting base is disposed on the mounting base rotation mechanism, and the mounting base rotation mechanism is used to cause the test force-controlled electric spindle assembly to rotate; A stroke adjustment module is mounted on the test piece mounting base, and a force sensor is mounted on the stroke adjustment module. The electric spindle is fixedly connected to the force sensor.

2. The force-controlled electric spindle output force accuracy testing fixture according to claim 1, characterized in that, The mounting base rotation mechanism includes: A base, on which a slewing support is provided; A rotary connection end cover is mounted on the rotary support via a bearing, and the rotary connection end cover is provided with a first bolt hole for mounting the test piece mounting base; A rotary motor, the output end of which is fixedly connected to the rotary end cover.

3. The force-controlled electric spindle output force accuracy testing fixture according to claim 1, characterized in that, The test piece mounting base includes a right-angle mounting base plate integrally formed from a horizontal base plate and a vertical base plate. The vertical base plate is provided with a second bolt hole for connecting the mounting base rotation mechanism and a third bolt hole for installing the stroke adjustment module. The horizontal base plate is provided with a fourth bolt hole for installing the force-controlled electric spindle assembly to be tested.

4. The force-controlled electric spindle output force accuracy testing fixture according to claim 3, characterized in that, The horizontal and vertical seat plates are provided with a number of weight-reducing holes.

5. The force-controlled electric spindle output force accuracy testing fixture according to claim 1, characterized in that, The stroke adjustment module includes a linear guide mechanism, which includes a slide rail and a slider. The slider is slidably mounted on the slide rail, and the force sensor is fixedly mounted on the slider.

6. The force-controlled electric spindle output force accuracy testing fixture according to claim 1, characterized in that, The force control device is fixed to the mounting base of the test piece via a flange connecting plate.

7. The force-controlled electric spindle output force accuracy testing fixture according to claim 1, characterized in that, The electric spindle is connected to the force sensor via a flange end cap.

8. A device for testing the output force accuracy of a force-controlled electric spindle, characterized in that, The tooling for testing the output force accuracy of the force-controlled electric spindle as described in any one of claims 1 to 7 further includes a testing system, the testing system comprising: The PLC control module is used to issue commands. A slewing mechanism drive module, which is electrically connected to the PLC control module, is used to receive instructions from the PLC control module and control the slewing motion of the mounting base slewing mechanism; A stroke adjustment module drive module is electrically connected to the PLC control module and is used to receive instructions from the PLC control module and control the linear motion of the stroke adjustment module. A signal transmitter, connected to the force sensor, is used to convert force data signals into digital signals; A computer, connected to the signal transmitter, is used to summarize the digital signals and output display force data.

9. A testing method for the force-controlled electric spindle output force accuracy testing device according to claim 8, characterized in that, Includes the following steps: Assemble the force-controlled electric spindle assembly under test onto the testing device; Initialize the mounting base rotation mechanism and stroke adjustment module and return them to the zero position, and keep the electric spindle in a vertical position with the tool end of the electric spindle extending to the farthest point of the stroke; The mounting base rotation mechanism rotates the test force-controlled electric spindle assembly clockwise multiple times to the maximum preset rotation angle. Each time the stroke adjustment module rotates, it pushes the electric spindle back multiple times to the maximum preset back distance. After each back push of the electric spindle, the test force-controlled electric spindle assembly outputs tension and pressure to the force sensor at preset force values ​​until the force applied to the force sensor reaches the maximum test output force, at which point the test ends.

10. The testing method of the force-controlled electric spindle output force accuracy testing device according to claim 9, characterized in that, The maximum preset rotation angle is n times the preset rotation angle, the maximum preset push-back distance is n times the preset push-back distance, and the maximum test output force is n times the preset force value, where n is a positive integer.

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