High-precision two-dimensional driving mechanism and assembling, adjusting and testing method thereof

Abstract

The invention provides an assembling and adjusting test method for a high-precision two-dimensional driving mechanism. The assembling and adjusting test method comprises the assembling steps of assembling and adjusting test of output ends of a driven shaft assembly and a driving assembly, assembling and adjusting test of an inner shaft and an outer shaft, assembling and adjusting test of a driving end of the driving assembly and whole machine test. The runout degrees and gaps of all parts of the output ends of the driven shaft assembly and the driving assembly are adjusted to reach required values, an environmental stress screening test is carried out, the component-level assembly precision is assessed, an inner shaft system and an outer shaft system are integrated in the state, a photoelectric autocollimator and a plane mirror are used for measuring the axis inclination angle rotation error and the average axis perpendicularity of the two shafts, and the measurement precision is improved. After an environmental stress screening test is carried out, the combined assembly precision of a shaft system is assessed and the assembly test of a driving end of a driving assembly and a whole machine is completed, the axis inclination rotation error and the average axis perpendicularity of two shafts are measured, the angle measurement precision is measured, the environmental stress screening test is completed, and finally the precision requirement of the high-precision two-dimensional driving mechanism is ensured.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of satellites, in particular to a high-precision two-dimensional driving mechanism and a method for assembling, adjusting and testing the same. BACKGROUND

[0002] After the satellite is put into orbit, the antenna performs communication, search and tracking according to a load target, the two-dimensional driving mechanism provides support and positioning functions for the antenna, when entering a working state, the inner shaft driving assembly drives the antenna to realize azimuth movement through the inner frame, the outer shaft driving assembly drives the inner frame and the antenna to realize elevation movement through the middle frame, and the elevation encoder and the azimuth encoder collect the elevation angle and the azimuth angle of the antenna in real time during the movement.

[0003] With diversification and refinement of model tasks, the antenna precision is gradually improved, and the precision requirement of the two-dimensional driving mechanism is also improved, at present, the angle measurement precision of the two-dimensional driving mechanism of a certain model is required to be better than 20'', and the perpendicularity of the two-axis system is required to be better than 10''. With the increasing precision of the product, more stringent requirements are put forward for the process method, and the existing assembling, adjusting and testing method cannot meet the high-precision requirement of the two-dimensional driving mechanism, therefore, the application provides an assembling, adjusting and testing method for the high-precision two-dimensional driving mechanism. SUMMARY

[0004] The application aims to provide a high-precision two-dimensional driving mechanism and an assembling, adjusting and testing method for the high-precision two-dimensional driving mechanism.

[0005] The application provides a high-precision two-dimensional driving mechanism, which comprises an inner shaft axis system 1 and an outer shaft axis system 2. The outer shaft axis system 2 is supported by a base 5, and a driving assembly 6 of the outer shaft axis system is connected with a driven shaft assembly 3 of the outer shaft axis system through a middle frame 4. The inner shaft axis system 1 is supported by the middle frame 4, and the driving assembly 6 of the inner shaft axis system is connected with the driven shaft assembly 3 of the inner shaft axis system through an inner frame 7. The inner frame 7 is connected with a payload, driving force is provided through the driving assembly, and precise spatial movement and positioning of the payload are realized. The two-dimensional driving mechanism provides support and positioning functions for the antenna, so that the antenna realizes the functions of communication, search and tracking.

[0006] The application further provides an assembling, adjusting and testing method suitable for the high-precision two-dimensional driving mechanism, which comprises the following steps in sequence according to the assembling, adjusting and testing process: Step 1: assembling, adjusting and testing the output ends of the driven shaft assembly 3 and the driving assembly 6 of the outer shaft axis system 2 and the inner shaft axis system 1, which comprises the following steps: adjusting the runout and the gap of each part of the output ends of the driven shaft assembly 3 and the driving assembly 6 to make them reach the required values, and performing an environmental stress screening test on the output end of the driving assembly 6 to check the assembly precision of the components; Step 2: alignment test of the outer shaft system 2 and the inner shaft system 1; including the use of photoelectric autocollimator and plane mirror to measure the axis inclination rotation error and the average axis perpendicularity of two axes, and to perform environmental stress screening test to examine the assembly precision of the shaft system; Step 3: alignment test of the driving end of the driving assembly of the outer shaft system 2 and the inner shaft system 1; the angle measurement is introduced for the two-dimensional driving mechanism and is calibrated; Step 4: whole machine test assembly; including the use of photoelectric autocollimator and plane mirror to measure the axis inclination rotation error and the average axis perpendicularity of two axes, the use of photoelectric autocollimator and 23-face prism to measure the angle precision, and the completion of environmental stress screening test to finally ensure the precision requirement of the high-precision two-dimensional driving mechanism. The two axes of the two-dimensional driving mechanism are orthogonal, and the two-axis orthogonal center point can be used to realize the pitching and azimuth two-direction movement. The angle measurement precision of the whole machine is required to be better than 20", and the two-axis perpendicularity is required to be better than 10".

[0007] According to one embodiment of the present application, step 1 comprises: Step 11: stiffness test is performed to select bearings for the inner shaft system 1 and the outer shaft system 2, the starting friction torque is measured, the selected bearings are assembled to the driven shaft, the starting friction torque is re-measured, and the bearings are installed into the housing of the driven shaft assembly 3; the bearing outer ring of the outer shaft system driven shaft is pressed with an interference of 0.03±0.005 mm, and the bearing outer ring of the inner shaft system driven shaft is pressed with an interference of 0.015±0.005 mm; the bearing pre-tightening force is ensured; Step 12: corresponding bearings are assembled to the output shaft 8 of the driving assembly 6, the starting friction torque is re-measured, and the requirement is met; Step 13: the run-out of the bearings selected in step 11 and the output shaft 8 is measured, the bearings and the output shaft 8 are installed into the housing 9 of the driving assembly, the run-out of the output shaft 8 and the housing 9 is measured, the relative position and gap of the parts are adjusted to control the run-out to be less than 0.003 mm; the end surface run-out t1 of the output shaft 8 is not higher than 0.003 mm under no load and not higher than 0.005 mm under load; Step 14: environmental stress screening test is performed, the starting friction torque is measured before and after the test, the axis inclination rotation error is measured by using the photoelectric autocollimator and the plane mirror, and the requirement is that the error is not more than 3", and the data comparison is qualified; if not, the alignment is re-adjusted according to step 3.

[0008] According to one embodiment of the present application, step 2 comprises: Step 21: With base 5 as support, the drive assembly 6 of the outer shaft system and the driven shaft assembly 3 of the outer shaft system are connected through the middle frame 4, the runout of the driven end and the drive end of the outer shaft is measured, the runout is controlled by adjusting the relative position and gap of the parts, and the runout is less than 0.004mm; Step 22: With the middle frame 4 as support, the drive assembly 6 of the inner shaft system and the driven shaft assembly 3 of the inner shaft system are connected through the inner frame 7, the runout of the driven end and the drive end of the inner shaft is measured, the runout is controlled by adjusting the relative position and gap of the parts, and the runout is less than 0.004mm; Step 23: Install the drive assembly motor, integrate, run-in the outer shaft system 2 and the inner shaft system 1 to eliminate assembly stress; perform environmental stress screening test, measure the axial inclination rotation error and the average axial perpendicularity of the two axes before and after the test using the photoelectric autocollimator and the plane mirror, compare the data, and if it is qualified, then proceed to the next step; if it is not qualified, then reassemble and adjust according to steps 21 and 22.

[0009] Preferably, step 3 includes: installing the photoelectric encoder and the brake on the drive assembly, adjusting the zero position as required, and completing the whole machine assembly such as limit prism.

[0010] Preferably, step 4 includes: after completing the whole assembly of the drive assembly and the whole machine assembly, performing environmental stress screening test, measuring the braking torque before and after the test, and measuring the axial inclination rotation error and the average axial perpendicularity of the two axes using the photoelectric autocollimator and the plane mirror, measuring the angle precision using the photoelectric autocollimator and the 23-face prism, comparing the data, and if it is qualified, then proceed to the next step; if it is not qualified, then reassemble and adjust according to step 3.

[0011] Preferably, the retest and the comparison of the data before and after the test are qualified if the difference between the two test values is less than 50%.

[0012] Preferably, the bearings are screened and matched with the installation positions one by one, and are not interchangeable, after the stiffness test and the starting friction torque test, the excess material should be checked, if there is excess material, use petroleum ether to clean, to prevent the excess material from affecting the precision of the subsequent products.

[0013] Preferably, the runout measurement is measured by using a dial gauge as a measuring tool, and the dial gauge is fixed to the measurement reference through an adapter tool, and the measurement is performed according to the requirements shown in the figure.

[0014] Preferably, the purpose of the environmental stress screening test is to remove assembly stress and test the assembly precision of the previous stage, and the test is a stage examination, and when the test result does not meet the requirements, the stage can be accurately positioned and adjusted, to avoid excessive rework and adjustment of the product.

[0015] Preferably, the driving assembly is assembled in segments, and is installed on the shaft system first when the intermediate measuring passage is reserved, and the runout, tilt rotation error and perpendicularity of the average axis of the two shafts are measured through the measuring passage, and the remaining parts of the driving assembly are assembled in the complete machine state after the accuracy of the shaft system is ensured. The problem that the shaft system accuracy cannot be adjusted after the complete driving assembly is installed on the shaft system due to the absence of the measuring passage is solved.

[0016] Preferably, the adjustment and test method is provided with process test means in each assembly process of the shaft system, so that the assembly process is measurable and controllable, and the adjustment and test link in the overall assembly process is increased, and the problem of high-precision adjustment and test of the high-precision two-dimensional driving mechanism is solved.

[0017] Compared with the prior art, the application has the following beneficial effects: 1. The application adds test experiments in each link of bearing screening, assembly adjustment, shaft system adjustment and overall machine adjustment, and measures one step at a time, so that problems can be found and solved in time, the assembly accuracy of the two-dimensional driving mechanism is ensured, and the cumulative error in the overall assembly process is as small as possible.

[0018] 2. The application ensures the final accuracy by ensuring the shape and position of the product, converts the overall machine angle accuracy index into the runout of each installation surface, ensures the runout to be qualified by controlling the gap, and quantifies the final index into process assembly index, so that the product adjustment and test are facilitated.

[0019] 3. The application adopts segmented assembly in the assembly of the driving assembly, and is installed on the shaft system first when the intermediate measuring passage is reserved, and the runout, tilt rotation error and perpendicularity of the average axis of the two shafts are measured through the measuring passage, and the remaining parts of the driving assembly are assembled in the complete machine state after the accuracy of the shaft system is ensured. The problem that the shaft system accuracy cannot be adjusted after the complete driving assembly is installed on the shaft system due to the absence of the measuring passage is solved.

[0020] The adjustment and test method of the high-precision two-dimensional driving mechanism provided by the application improves the adjustment accuracy, and quantifies the process index, and process test means are set up in each assembly process, so that the assembly process is measurable and controllable. The application solves the problem of adjustment and test of the high-precision two-dimensional driving mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The flow chart of the adjustment and test method of the high-precision two-dimensional driving mechanism of the application; Figure 2 The test schematic diagram of the bearing installed on the output shaft of the driving assembly of the application; Figure 3 The test schematic diagram of the bearing and the output shaft of the driving assembly installed on the housing of the driving assembly of the application; Figure 4 The outer shaft shafting test schematic diagram of the application; Figure 5 The inner shaft shafting test schematic diagram of the application; Marked description in the figure Inner shaft shafting 1, outer shaft shafting 2, driven shaft assembly 3, middle frame 4, base 5, driving assembly 6, inner frame 7, output shaft 8 of the driving assembly, shell 9 of the driving assembly. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the application more clear, the application will be described in detail below with specific examples. The following examples will help the person skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0023] Combined with the attached Figures 1-5 The embodiment of the application is described.

[0024] The application provides a high-precision two-dimensional driving mechanism, as shown in the figure, the high-precision two-dimensional driving mechanism comprises an inner shaft shafting 1 and an outer shaft shafting 2; wherein, Figure 1 The outer shaft shafting 2 is supported by the base 5, and the driving assembly 6 of the outer shaft shafting is connected with the driven shaft assembly 3 of the outer shaft shafting through the middle frame 4; The inner shaft shafting 1 is supported by the middle frame 4, and the driving assembly 6 of the inner shaft shafting is connected with the driven shaft assembly 3 of the inner shaft shafting through the inner frame 7; the inner frame 7 is connected with the payload, and driving force is provided through the driving assembly to realize accurate spatial motion and positioning of the payload. The two-dimensional driving mechanism provides support and positioning function for the antenna, so that it realizes the functions of communication, search and tracking. The outer shaft and the inner shaft of the two-dimensional driving mechanism are orthogonal, which can realize the pitching and azimuth two-direction motion around the orthogonal center point, and the angle measurement accuracy of the whole machine is required to be better than 20", and the perpendicularity of the two shaftings is required to be better than 10". The application provides a high-precision two-dimensional driving mechanism, as shown in the figure, the high-precision two-dimensional driving mechanism comprises an inner shaft shafting 1 and an outer shaft shafting 2; wherein,

[0025] The assembly steps of the method include the driven shaft assembly and driving assembly output end assembly and test, inner and outer shaft assembly and test, driving assembly driving end assembly and test, and whole machine test, Figures 2 to 5 The measurement schematic diagram, according to the assembly and test process, comprises in sequence: Step 1: test the output ends of the driven shaft assembly 3 and the driving assembly 6 of the outer shaft system 2 and the inner shaft system 1; including: adjusting the runout and clearance of each part of the output ends of the driven shaft assembly 3 and the driving assembly 6 to reach the required value, and performing environmental stress screening test on the output end of the driving assembly 6 to examine the assembly precision of the components; Step 2: test the assembly of the outer shaft system 2 and the inner shaft system 1; including: measuring the axial inclination rotation error and the average axial perpendicularity of the two shafts by using the photoelectric autocollimator and the plane mirror, performing environmental stress screening test, and examining the assembly precision of the shaft system; Step 3: test the driving end of the driving assembly of the outer shaft system 2 and the inner shaft system 1; introducing angle measurement and calibration for the two-dimensional driving mechanism; Step 4: test the assembly of the whole machine; including: measuring the axial inclination rotation error and the average axial perpendicularity of the two shafts by using the photoelectric autocollimator and the plane mirror, measuring the angle precision by using the photoelectric autocollimator and the 23-face prism, completing the environmental stress screening test, and finally ensuring the precision requirement of the high-precision two-dimensional driving mechanism.

[0026] According to one embodiment of the present application, Step 1 includes: Step 11: perform stiffness test to select bearings for the inner shaft system 1 and the outer shaft system 2, measure the starting friction torque, assemble the selected bearings to the driven shaft, re-measure the starting friction torque, which should meet the requirement, and install them into the housing of the driven shaft assembly 3; adjust the clearance to make the bearing outer ring of the driven shaft of the outer shaft system tightly press with an interference of 0.03±0.005 mm, and the bearing outer ring of the driven shaft of the inner shaft system tightly press with an interference of 0.015±0.005 mm; ensure the bearing pre-tightening force; Step 12: assemble the corresponding bearings to the output shaft 8 of the driving assembly 6, re-measure the starting friction torque, which should meet the requirement; Step 13: measure the runout of the bearings selected in Step 11 and the output shaft 8, install the bearings and the output shaft 8 into the housing 9 of the driving assembly, measure the runout of the output shaft 8 and the housing 9, and adjust the relative position of the parts and the clearance to control the runout to be less than 0.003 mm; wherein the end surface runout t1 of the output shaft 8 is not higher than 0.003 mm without load and not higher than 0.005 mm with load; Step 14: perform environmental stress screening test, measure the starting friction torque before and after the test, and measure the axial inclination rotation error by using the photoelectric autocollimator and the plane mirror, which should not exceed 3", and the data comparison should be qualified; if not, re-assemble according to Step 3.

[0027] According to one embodiment of the present application, Step 2 includes: Step 21: With the base 5 as support, the drive assembly 6 of the outer shaft system and the driven shaft assembly 3 of the outer shaft system are connected through the middle frame 4, the runout of the driven end and the driving end of the outer shaft is measured, the runout is controlled to be less than 0.004mm by adjusting the relative position and gap of the parts; Step 22: With the middle frame 4 as support, the drive assembly 6 of the inner shaft system and the driven shaft assembly 3 of the inner shaft system are connected through the inner frame 7, the runout of the driven end and the driving end of the inner shaft is measured, the runout is controlled to be less than 0.004mm by adjusting the relative position and gap of the parts; Step 23: Install the drive assembly motor, integrate, run-in the outer shaft system 2 and the inner shaft system 1 to eliminate assembly stress; perform environmental stress screening test, measure the axial inclination rotation error and the average axial perpendicularity of the two shafts by using the photoelectric autocollimator and the plane mirror before and after the test, compare the data to be qualified; if not qualified, reassemble and adjust according to steps 21 and 22.

[0028] According to one embodiment of the present application, step 3 comprises: installing the photoelectric encoder and the brake on the drive assembly, adjusting the zero position as required, and completing the whole machine assembly such as the limit prism.

[0029] According to one embodiment of the present application, step 4 comprises: after completing the whole assembly of the drive assembly and the whole machine assembly, performing environmental stress screening test, measuring the braking torque before and after the test, and measuring the axial inclination rotation error and the average axial perpendicularity of the two shafts by using the photoelectric autocollimator and the plane mirror, measuring the angle precision by using the photoelectric autocollimator and the 23-face prism, comparing the data to be qualified; if not qualified, reassemble and adjust according to step 3.

[0030] According to one embodiment of the present application, the retest qualification and the data comparison before and after the test are qualified standards, and the difference between the two test values is less than 50%.

[0031] According to one embodiment of the present application, the bearings are screened and matched with the installation positions one by one, and are not interchangeable, after the stiffness test and the starting friction torque test, the excess is checked, if there is excess, the petroleum ether is used for cleaning, to prevent the excess from affecting the precision of the subsequent products.

[0032] According to one embodiment of the present application, the runout measurement is measured by using the dial gauge as the measurement tool, and the dial gauge is fixed to the measurement reference through the adapter tool, and the measurement is performed according to the requirements shown in the figure.

[0033] According to one embodiment of the present application, the purpose of the environmental stress screening test is to remove the assembly stress and test the assembly precision in the previous stage, and the stage examination is performed, when the test result does not meet the requirements, the accurate positioning and adjustment stage is positioned, to avoid too much rework and adjustment to the product.

[0034] The driving assembly is segmented assembled, is installed to the shaft system first when the driving assembly is not completely assembled and the intermediate measuring passage is reserved, the runout amount, the inclination rotation error and the perpendicularity of the average axis of the two shafts of the shaft system are measured through the measuring passage, the precision of the shaft system is ensured, and then the remaining parts of the driving assembly are assembled in the complete machine state. The problem that the shaft system precision cannot be assembled and adjusted after the complete driving assembly is installed to the shaft system and there is no measuring passage is solved.

[0035] The assembling and adjusting test method improves the assembling and adjusting precision, quantifies the process indexes, sets up the process test means in each assembling process of the shaft system, ensures that the assembling process is measurable and controllable, increases the adjusting test links in the general assembling process, and solves the problem that the high-precision two-dimensional driving mechanism is difficult to assemble, adjust and test.

[0036] The application provides an assembling and adjusting test method of a high-precision two-dimensional driving mechanism, mainly aims at the assembling of inner shaft and outer shaft of the high-precision two-dimensional driving mechanism, and the assembling and adjusting test of the perpendicularity of the average axis of the two shafts, the inclination rotation error of the axis and the angle measuring precision. The assembling steps include the assembling and adjusting test of the driven shaft assembly and the output end of the driving assembly, the assembling and adjusting test of the inner shaft and the outer shaft, the assembling and adjusting test of the driving end of the driving assembly, and the whole machine test. The runout and the gap of each part of the driven shaft assembly and the output end of the driving assembly are adjusted to reach the required value, the environmental stress screening test is carried out, the assembling precision of the parts is checked, the inner shaft system and the outer shaft system are integrated in this state, the inclination rotation error of the axis and the perpendicularity of the average axis of the two shafts are measured by using the photoelectric autocollimator and the plane mirror, the assembling precision of the shaft system is checked through the environmental stress screening test, the inclination rotation error of the axis and the perpendicularity of the average axis of the two shafts are measured by using the photoelectric autocollimator and the plane mirror after the assembling and test of the driving end of the driving assembly and the whole machine are completed, the angle measuring precision is measured by using the photoelectric autocollimator and the 23-face prism, the environmental stress screening test is completed, and finally the precision requirement of the high-precision two-dimensional driving mechanism is ensured. The process test means is set up in each assembling process of the shaft system, the assembling process is ensured to be measurable and controllable, the adjusting test links in the general assembling process are increased, and the problem that the high-precision two-dimensional driving mechanism is difficult to assemble, adjust and test is solved.

[0037] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A high-precision two-dimensional driving mechanism, characterized in that the high-precision two-dimensional driving mechanism comprises an inner shaft shafting (1) and an outer shaft shafting (2); wherein the outer shaft shafting (2) is supported by a base (5), and a driving assembly (6) of the outer shaft shafting is connected with a driven shaft assembly (3) of the outer shaft shafting through a middle frame (4); the inner shaft shafting (1) is supported by the middle frame (4), and the driving assembly (6) of the inner shaft shafting is connected with the driven shaft assembly (3) of the inner shaft shafting through an inner frame (7); the inner frame (7) is connected with a payload, and driving force is provided by the driving assembly to realize precise spatial movement and positioning of the payload. The installation, adjustment and test procedure successively comprises: Step 1: installation, adjustment and test of the driven shaft assembly (3) and the driving assembly (6) output end of the outer shaft shafting (2) and the inner shaft shafting (1); including: adjusting the runout and gap of each part of the driven shaft assembly (3) and the driving assembly (6) output end to make them reach the required value, and performing environmental stress screening test on the driving assembly (6) output end to check the assembly precision of the components; Step 2: installation, adjustment and test of the outer shaft shafting (2) and the inner shaft shafting (1); including: measuring the shaft line inclination rotation error and the average shaft line perpendicularity of the two shafts by using an optical self-collimating instrument and a plane mirror, performing environmental stress screening test to check the assembly precision of the shafting; 2. A method of adjustment test for the high-precision two-dimensional drive mechanism according to claim 1, characterized in that, Step 3: installation, adjustment and test of the driving end of the driving assembly of the outer shaft shafting (2) and the inner shaft shafting (1), and introducing angle measurement and calibration for the two-dimensional driving mechanism; Step 4: whole machine test assembly; including: measuring the shaft line inclination rotation error and the average shaft line perpendicularity of the two shafts by using an optical self-collimating instrument and a plane mirror, measuring the angle measurement precision by using an optical self-collimating instrument and a 23-face prism, and completing the environmental stress screening test to finally ensure the precision requirement of the high-precision two-dimensional driving mechanism. Step 1 comprises: Step 11: performing stiffness test to select bearings for the inner shaft shafting (1) and the outer shaft shafting (2), measuring the starting friction torque, assembling the selected bearings to the driven shaft, re-measuring the starting friction torque, which should meet the requirement, and installing them into the housing of the driven shaft assembly (3); adjusting the gap to make the bearing outer ring of the outer shaft shafting driven shaft tightly press with an interference of 0.03±0.005 mm, and the bearing outer ring of the inner shaft shafting driven shaft tightly press with an interference of 0.015±0.005 mm; ensuring the bearing pre-tightening force; Step 12: assembling the corresponding bearings to the output shaft (8) of the driving assembly (6), re-measuring the starting friction torque, which should meet the requirement; 3. The set-up test method of claim 2, wherein, Step 13: measuring the runout of the bearings and the output shaft (8) selected in step 11, installing the bearings and the output shaft (8) into the housing (9) of the driving assembly, measuring the runout of the output shaft (8) and the housing (9), adjusting the relative position and gap of the parts to control the runout to be less than 0.003 mm; wherein the end surface runout t1 of the output shaft (8) is not higher than 0.003 mm without load and not higher than 0.005 mm with load. ​ ​ ​ Step 14: Perform environmental stress screening test, measure the starting friction torque before and after the test, and use the photoelectric autocollimator and the plane mirror to measure the axis inclination error, which is required to be less than 3", and the data comparison is qualified; if not, reassemble according to step 3.

4. The set-up test method of claim 3, wherein, Step 2 includes: Step 21: With the base (5) as support, the drive assembly (6) of the outer shaft system is connected with the driven shaft assembly (3) of the outer shaft system through the middle frame (4), the runout of the driven end and the driving end of the outer shaft is measured, and the runout is controlled to be less than 0.004mm by adjusting the relative position and gap of the parts; Step 22: With the middle frame (4) as support, the drive assembly (6) of the inner shaft system is connected with the driven shaft assembly (3) of the inner shaft system through the inner frame (7), the runout of the driven end and the driving end of the inner shaft is measured, and the runout is controlled to be less than 0.004mm by adjusting the relative position and gap of the parts; Step 23: Install the drive assembly motor, integrate, and run-in the outer shaft system (2) and the inner shaft system (1) to eliminate assembly stress; perform environmental stress screening test, and use the photoelectric autocollimator and the plane mirror to measure the axis inclination error and the average axis perpendicularity of the two axes before and after the test, and the data comparison is qualified; if not, reassemble according to steps 21 and 22.

5. The set-up test method of claim 4, wherein, Step 3 includes: install the photoelectric encoder and the brake on the drive assembly, adjust the zero position as required, and complete the whole machine assembly such as limit prism.

6. The set-up test method of claim 5, wherein, Step 4 includes: after completing the assembly of the drive assembly and the whole machine, perform environmental stress screening test, measure the braking torque before and after the test, and use the photoelectric autocollimator and the plane mirror to measure the axis inclination error and the average axis perpendicularity of the two axes, and use the photoelectric autocollimator and the 23-face prism to measure the angle accuracy, and the data comparison is qualified; if not, reassemble according to step 3.

7. The set-up test method of claim 1, wherein The retest qualification and the data comparison before and after the test are qualified standards, which are that the difference between the two test values is less than 50%.

8. The set-up test method of claim 1, wherein, The bearings are screened and matched with the installation positions one by one, and are not interchangeable. After stiffness test and starting friction torque test, excess materials should be checked. If there are excess materials, use petroleum ether to clean them to prevent the excess materials from affecting the precision of subsequent products.

9. The set-up test method of claim 1, wherein, The runout measurement is measured by a dial gauge, which is fixed to the measurement reference by an adapter tool, and is measured according to the requirements shown in the figure.

10. The set-up test method of claim 1, wherein, The purpose of the environmental stress screening test is to remove assembly stress and test the assembly precision of the previous stage, and to perform periodic examination. When the test result does not meet the requirements, the positioning and assembly stage can be accurately positioned to avoid excessive rework and assembly of the product.

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