Multi-dimensional force and torque loading device and loading method

Abstract

The application discloses a multi-dimensional force and torque loading device and a loading method. The multi-dimensional force and torque loading device comprises a machine body, a loading platform, a rotating part, a plurality of force loading assemblies and a torque loading assembly. The rotating part is rotationally connected to the loading platform. The plurality of force loading assemblies are connected between the loading platform and the machine body. The force loading assemblies are used for exerting force on the rotating part through the loading platform and limiting the rotation of the loading platform relative to the machine body. The directions of the forces exerted on the rotating part by any two force loading assemblies have an included angle. The torque loading assembly is connected with the rotating part to exert torque on the rotating part. The embodiment of the application can simulate the force state of a tool holder under a more real working condition, and the reliability of test data is higher, so that the quality of a numerical control machine tool can be better tested and evaluated in reliability.

Description

Technical Field

[0001] This invention belongs to the field of reliability testing technology for CNC machine tools, specifically relating to a multi-dimensional force and torque loading device and loading method. Background Technology

[0002] The reliability of CNC machine tools is a key indicator of the quality of CNC machine tool products. The machine tool spindle is the core moving part of the CNC machine tool, and the reliability of spindle operation accounts for a large proportion of the overall reliability index of the CNC machine tool.

[0003] Related technologies employ on-site statistical methods for reliability testing and evaluation of CNC machine tools. However, these methods are difficult to implement due to long data acquisition cycles and challenges in data collection. Other technologies utilize reliability simulation loading tests to simulate actual machining conditions. However, the spindle experiences complex forces (X, Y, and Z axes forces during machining) and requires torque output, making it difficult to simulate the actual machining conditions and resulting in low reliability of the simulation data. Summary of the Invention

[0004] This invention is based on the inventor's discoveries and understanding of the following facts and problems:

[0005] The inventors recognized that loading devices in related technologies can only perform unidirectional static and dynamic force loading or static multidimensional force loading. Moreover, due to space constraints, it is difficult to simultaneously perform force loading and torque loading. Devices that can simultaneously perform force loading and torque loading are basically based on eddy current torque loading. Eddy current torque loading has problems with installation and heat dissipation. Furthermore, static and dynamic force loading mostly uses piezoelectric ceramic vibrators as the dynamic force loading source. Due to the nonlinear force control characteristics of piezoelectric ceramic vibrators, it is difficult to achieve complex force control. Therefore, most loading devices that use piezoelectric ceramic vibrators as the dynamic force loading source can only output sinusoidal dynamic force and cannot output complex waveforms.

[0006] The present invention aims to at least partially solve one of the technical problems in the related art.

[0007] Therefore, embodiments of the present invention propose a multidimensional force and torque loading device capable of loading forces and torques in multiple directions.

[0008] An embodiment of the present invention also proposes a multidimensional force and torque loading method.

[0009] The multidimensional force and torque loading device of this invention includes: Body and loading platform, A rotating component, which is rotatably connected to the loading platform; Multiple force loading components are connected between the loading platform and the machine body. The force loading components are used to apply a force to the rotating component through the loading platform and restrict the rotation of the loading platform relative to the machine body. The directions of the forces applied by any two force loading components to the rotating component have an included angle. A torque loading assembly is connected to the rotating component to apply torque to the rotating component.

[0010] The multi-dimensional force and torque loading device of this invention can apply forces to the loading platform in multiple directions through multiple force loading components and transmit them to the rotating parts. This can better simulate the stress conditions of the rotating parts under real working conditions. Simultaneously, the multiple force loading components can support the loading platform, ensuring that it does not rotate relative to the machine body during the test, thus improving stability. The torque loading component can apply torque to the rotating parts to simulate the stress conditions of the tool holder during cutting. This invention can simulate the stress state of the tool holder more closely resembles that under real working conditions, and the reliability of the test data is higher, enabling better reliability testing and evaluation of CNC machine tool quality.

[0011] In some embodiments, the plurality of force-loading components include: A first force loading component is used to apply a force along a first direction to the rotating component through the loading platform; The second force loading component is used to apply a force along a second direction to the rotating component through the loading platform; A third force loading component is used to apply a force along a third direction to the rotating component through the loading platform; The first direction, the second direction, and the third direction are orthogonal to each other, and the third direction is parallel to the axial direction of the rotating component.

[0012] In some embodiments, both the first force loading component and the second force loading component include: A first support base is connected to the machine body, and a first sliding part is provided on the first support base; A first driving component is connected to the first support base; A first sliding stage is slidably disposed on the first sliding part. The first end of the first sliding stage is connected to the driving end of the first driving component, and the second end of the first sliding stage is connected to the loading platform. The first driving component drives the first sliding stage to move along the extension direction of the first sliding part to apply a force to the loading platform.

[0013] In some embodiments, both the first force loading component and the second force loading component include a first detection component, which is disposed between the first sliding stage and the loading platform, or between the first sliding stage and the drive end of the first driving component. And / or, the body is provided with a second sliding part, and the first support seat is adjustablely connected to the second sliding part; And / or, the first driving component is a voice coil motor.

[0014] In some embodiments, the first detection component has a first end and a second end, the first end of the first detection component is connected to the first sliding stage via a spherical bearing, and the second end of the first detection component is connected to the loading platform via a spherical bearing. And / or, both the first force loading component and the second force loading component include a joint bearing bracket, the joint bearing bracket is connected to the loading platform by fasteners, the joint bearing bracket is provided with multiple sets of first connecting ears, the first sliding stage is provided with multiple sets of second connecting ears, and the first detection component is rotatably connected between the corresponding first connecting ears and second connecting ears.

[0015] In some embodiments, the third force loading assembly includes a plurality of spring loading components, which are arranged in parallel and side-by-side between the loading platform and the machine body. Each spring loading component includes: The second support base is connected to the body. The telescopic rod includes a fixed rod and a movable rod, the free end of the fixed rod is connected to the second support base, and the free end of the movable rod is connected to the loading platform; A spring is sleeved on the telescopic rod, and the spring can extend and retract as the telescopic rod extends and retracts.

[0016] In some embodiments, the spring loading component includes a second detection component connected to the free end of the movable rod, the second detection component being connected to the loading platform via a spherical bearing, and the first end of the spring abutting against the second detection component; And / or, the spring loading component further includes an adjusting member, the adjusting member being adjustablely disposed on the fixed rod, and the second end of the spring abutting against the adjusting member; And / or, the free end of the fixed rod is connected to a spherical bearing, and the spherical bearing is rotatably connected to the second support seat; And / or, the inner wall surface of the fixed rod is provided with a first limiting part, and the movable rod is provided with a second limiting part, the first limiting part and the second limiting part cooperate to prevent the movable rod from coming out of the fixed rod; And / or, the spring-loaded component further includes a bushing that is interference-fitted with the inner cavity of the fixed rod, the bushing being located between the inner wall of the fixed rod and the outer wall of the movable rod; And / or, the body is provided with a third sliding part, and the second support seat is adjustablely located at the third sliding part.

[0017] In some embodiments, the torque loading assembly includes a brake and a reducer, the reducer having a first connecting portion and a second connecting portion, the brake being drively connected to the first connecting portion of the reducer, and the second connecting portion of the reducer being connected to the rotating component via a universal joint coupling; And / or, the torque loading assembly includes a third support base, the body is provided with a fourth sliding part, and the third support base is adjustablely disposed at the fourth sliding part; And / or, it also includes a commutator connected between the rotating component and the torque loading assembly.

[0018] In some embodiments, the axial direction of the rotating component is parallel to the vertical direction; And / or, the rotating component includes a simulated loading tool holder, and a connecting component is provided between the simulated loading tool holder and the loading platform. The connecting component includes a rotating bearing, a bearing end cap, a first fixing ring, and a second fixing ring. The outer wall surface of the outer ring of the rotating bearing is interference-fitted with the inner wall surface of the through hole on the loading platform. The inner wall surface of the inner ring of the rotating bearing is interference-fitted with the outer wall surface of the simulated loading tool holder. One axial end of the outer ring abuts against the loading platform. The bearing end cap is connected to the loading platform, and the other axial end of the outer ring abuts against the bearing end cap. The first fixing ring is provided between one axial end of the inner ring and the simulated loading tool holder. The second fixing ring is threadedly connected to the simulated loading tool holder, and the second fixing ring abuts against the other axial end of the inner ring. And / or, it also includes a control system, the control system comprising an industrial computer, a data acquisition component, and a control component, the data acquisition component being used to acquire data from the force loading component and the torque loading component and feed it back to the industrial computer, the control component being used to control the action of the force loading component and the torque loading component based on the instructions of the industrial computer.

[0019] The multidimensional force and torque loading method of this invention includes: Obtain torque information and force information in multiple directions on the spindle under actual working conditions; The torque information and the force information are preprocessed; Based on the preprocessed torque information and force information, the adjustment of multiple force loading components and torque loading components in the multidimensional force and torque loading device described in any of the above embodiments is performed; Perform loading tests and multiple cyclic tests; Obtain experimental data and information. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a multidimensional force and torque loading device according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the first force loading component or the second force loading component according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram showing the connection of the loading platform, rotating component, and commutator in an embodiment of the present invention.

[0023] Figure 4 This is a three-dimensional schematic diagram of the loading platform, rotating component, and commutator according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the spring-loaded component according to an embodiment of the present invention.

[0025] Figure 6 This is a cross-sectional schematic diagram of the spring-loaded component according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the control system according to an embodiment of the present invention.

[0027] Figure label: 100. Multidimensional force and torque loading device; 1. Organism; 2. Load the platform; 31. First force loading assembly; 311. First support base; 312. First drive component; 313. First sliding stage; 314. First detection component; 315. Spherical bearing; 316. Spherical bearing bracket; 317. First connecting ear; 318. Second connecting ear; 32. Second force loading assembly; 33. Third force loading assembly; 331. Second support base; 332. Telescopic rod; 3321. Fixed rod; 3322. Movable rod; 333. Spring; 334. Second detection component; 335. Adjusting component; 336. First limiting part; 337. Second limiting part; 338. Bushing; 339. Third connecting ear; 4. Torque loading assembly; 41. Brake; 42. Reducer; 43. Diaphragm coupling; 44. Universal joint coupling; 45. Third support base; 5. Rotating parts; 6. Connecting component; 61. Rotary bearing; 611. Outer ring; 612. Inner ring; 62. Bearing end cap; 63. First retaining ring; 64. Second retaining ring; 7. Commutator. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] See Figures 1 to 7 The multidimensional force and torque loading device 100 of this invention includes a body 1, a loading platform 2, a rotating component 5, multiple force loading components, and a torque loading component 4. The rotating component 5 is rotatably connected to the loading platform 2. The body 1 serves as a worktable. The multiple force loading components are connected between the loading platform 2 and the body 1. The torque loading component 4 is connected to the rotating component 5 to apply torque to the rotating component 5. The force loading component is used to apply force to the rotating component 5 through the loading platform 2 and restrict the rotation of the loading platform 2 relative to the body 1. The directions of the forces applied by any two force loading components to the rotating component 5 are at an angle, so that multiple force loading components can apply forces to the loading platform 2 and the rotating component 5 in multiple directions to achieve multi-dimensional force loading.

[0030] The rotating component 5 can be a simulated loading tool holder, which is used to connect to the spindle. Thus, the force loading component and torque loading component 4 can be used to simulate the force conditions under real working conditions.

[0031] The multi-dimensional force and torque loading device 100 of this invention can apply forces to the loading platform 2 in multiple directions through multiple force loading components and transmit them to the rotating component 5. This can better simulate the force situation of the rotating component 5 under real working conditions. At the same time, the loading platform 2 can be supported by multiple force loading components to ensure that it does not rotate relative to the machine body 1 during the test, thus improving stability. The torque loading component 4 can apply torque to the rotating component 5 to simulate the force situation of the tool holder during the cutting process. This invention can simulate the force state of the tool holder more closely to real working conditions, and the reliability of the test data is higher, which can better test and evaluate the reliability of CNC machine tools.

[0032] See Figure 1In some embodiments, the multiple force loading components include a first force loading component 31, a second force loading component 32, and a third force loading component 33. The first force loading component 31 is used to apply a force along a first direction to the rotating component 5 through the loading platform 2; the second force loading component 32 is used to apply a force along a second direction to the rotating component 5 through the loading platform 2; and the third force loading component 33 is used to apply a force along a third direction to the rotating component 5 through the loading platform 2.

[0033] The first, second, and third directions are orthogonal to each other, with the third direction parallel to the axis of the rotating component 5. The first direction can be parallel to the X-axis, the second direction can be parallel to the Y-axis, and the third direction can be parallel to the Z-axis. The third force loading component 33 can simulate the axial force on the tool holder, while the first force loading component 31 and the second force loading component 32 can simulate the radial force on the tool holder. Thus, the force on the rotating component 5 under more realistic working conditions can be simulated using these three force loading components.

[0034] In this embodiment, the first direction is the left-right direction as shown in the figure, the second direction is the front-back direction as shown in the figure, and the third direction is the up-down direction as shown in the figure. In this embodiment, the first force loading component 31 is located on the left or right side of the loading platform 2, the second force loading component 32 can be located on the front or rear side of the loading platform 2, and the third force loading component 33 can be located on the lower side of the loading platform 2.

[0035] See also, 1 and Figure 2 In some embodiments, the first force loading component 31 and the second force loading component 32 have largely the same structure and both include a first support base 311, a first driving component 312 and a first sliding stage 313.

[0036] The first support base 311 is connected to the body 1. The first support base 311 is provided with a first sliding part. The first sliding table 313 is slidably disposed on the first sliding part. The first end of the first sliding table 313 is connected to the driving end of the first driving component 312, and the second end of the first sliding table 313 is connected to the loading platform 2.

[0037] The first sliding part can be a slide rail, and a slider is slidably mounted on the slide rail. The first sliding table 313 is connected to the slider and can be slidably mounted on the slide rail, thereby ensuring that the first sliding table 313 moves in a directional direction (left and right direction).

[0038] The first support base 311 can be fixedly connected to the body 1 by fasteners. In order to facilitate the position adjustment of the first force loading component 31 and the second force loading component 32, a second sliding part can be provided on the body 1. The first support base 311 is adjustablely connected to the second sliding part. The second sliding part can be a sliding slot opened on the body 1. The first support base 311 can be slidably set in the sliding slot. The sliding slot can be an inverted T-shaped slot. When adjusted to the correct position, the first support base 311 and the body 1 can be fixed together by bolts or other connecting parts.

[0039] The first driving component 312 is connected to the first support base 311. The first driving component 312 and the first support base 311 can be fixedly connected together by fasteners such as bolts. The first support base 311 can serve as a mounting base for the first driving component 312.

[0040] In this embodiment, the first driving component 312 can be a voice coil motor. The voice coil motor is used to drive the first sliding stage 313 to move along the extension direction of the first sliding part to apply a force to the loading platform 2.

[0041] Voice coil motors are characterized by high precision, fast response, and easy control. In loading tests, they can simulate various dynamic loads. As a loading actuator, they can apply loads to the test object and simulate more complex dynamic loads. This makes the force applied to the simulated loading tool holder more consistent with real working conditions, improving the reliability of test data and the accuracy of testing and evaluating the spindle of CNC machine tools.

[0042] In the first force loading component 31 and the second force loading component 32 of this invention, the voice coil motor applies static and dynamic force to the X and Y axes of the spindle. The response speed and dynamic force control are superior to the static and dynamic force loading schemes in related technologies, and complex waveform outputs can be achieved, making the analog data more reliable.

[0043] See Figure 1 and Figure 2 Furthermore, both the first force loading component 31 and the second force loading component 32 include a first detection component 314, which is located between the first sliding stage 313 and the loading platform 2, or between the first sliding stage 313 and the drive end of the first driving component 312.

[0044] The first detection component 314 can be a pressure sensor. The pressure sensor is used to detect the magnitude of the force exerted by the voice coil motor on the first sliding stage 313, thereby providing better feedback on the magnitude of the loading force, making the loading test more controllable, easier to adjust, and providing better feedback on the data information in the loading test.

[0045] Preferably, in this embodiment, the first detection component 314 is disposed between the first sliding stage 313 and the loading platform 2. The first detection component 314 has a first end and a second end. The first end of the first detection component 314 is connected to the first sliding stage 313 via a spherical bearing 315, and the second end of the first detection component 314 is connected to the loading platform 2 via a spherical bearing 315. The arrangement of the spherical bearings 315 improves the force transmission effect and avoids interference between the forces loaded in different directions due to rigid connections, thus preventing damage to the components. Since the loading platform 2 is subjected to forces in the vertical, horizontal, and front-back directions, even if the loading platform 2 undergoes a small displacement in one direction, it will not affect the loading of forces in other directions, thus improving practicality.

[0046] See Figure 1 and Figure 2 In some embodiments, both the first force loading component 31 and the second force loading component 32 include a joint bearing bracket 316. The joint bearing bracket 316 is connected to the loading platform 2 by fasteners. The joint bearing bracket 316 is provided with multiple sets of first connecting ears 317, and the first sliding stage 313 is provided with multiple sets of second connecting ears 318. The first detection component 314 is rotatably connected between the corresponding first connecting ears 317 and second connecting ears 318.

[0047] In this embodiment, there are two first connecting ears 317 and two connecting ears 318 on the spherical bearing bracket 316. Correspondingly, there are two first detection components 314 in the first force loading assembly 31, that is, two first pressure sensors. Similarly, there are two first detection components 314 in the second force loading assembly 32, that is, two first pressure sensors.

[0048] See Figure 1 and Figure 2In the application, two voice coil motors are arranged in the first and second directions, respectively responsible for loading the force in the first direction (i.e., the X-axis) and the second direction (i.e., the Y-axis). The voice coil motors are connected to the threaded holes of the corresponding first support 311 and the threaded holes of the first sliding stage 313 by screws. The first sliding stage 313 is mounted on the slider on the slide rail of the first support 311 by screws, so that the first sliding stage 313 can move linearly along the first or second direction. The first support 311 is mounted on the machine body 1 by screws and T-nuts. A semi-threaded screw connected to the second connecting lug 318 on the first sliding stage 313 can serve as the fixed shaft of the spherical bearing 315. The semi-threaded screw is interference-fitted to the spherical bearing 315 and connected to the second connecting lug 318 via a nut. Simultaneously, one end of the spherical bearing 315 is connected to one end of the first pressure sensor via a screw, and the other end of the first pressure sensor is connected to another spherical bearing 315 via a screw. This spherical bearing 315 is connected to the first connecting lug 317 on the spherical bearing bracket 316 via a semi-threaded screw and a nut. The spherical bearing bracket 316 is connected to the loading platform 2 via screws. Furthermore, the two sets of second connecting lugs 318 on the spherical bearing bracket 316 and the two sets of first connecting lugs 317 on the first sliding stage 313 are arranged in a one-to-one correspondence. A first pressure sensor is provided between each corresponding first connecting lug 317 and second connecting lug 318 via the spherical bearing 315. In other words, both the first force loading assembly 31 and the second force loading assembly 32 are equipped with two first pressure sensors. At the same time, the output of the voice coil motor can apply force to the loading platform 2 through the first sliding stage 313, the spherical bearing 315, the first pressure sensor and the spherical bearing bracket 316, which improves the stability of force transmission and reduces the impact of positional changes on the loading platform 2.

[0049] In this embodiment, the first pressure sensor and the joint bearings 315 located at both ends constitute a linkage with omnidirectional movement at both ends. The first force loading assembly 31 and the second force loading assembly 32 each include two omnidirectional linkages forming a parallelogram mechanism. The parallelogram mechanism and the slide rail and slider below the first sliding stage 313 can jointly restrict the rotation of the loading platform 2 without affecting the movement of the XYZ axes of the loading platform 2. Moreover, the tension and pressure of the voice coil motor can be rigidly transmitted to the spindle.

[0050] See Figure 1 , Figure 5 and Figure 6In some embodiments, the third force loading component 33 includes multiple spring loading components 333, which are arranged parallel and side-by-side between the loading platform 2 and the body 1. Each spring loading component 333 includes a second support 331, a telescopic rod 332, and a spring 333. The second support 331 is connected to the body 1. The telescopic rod 332 includes a fixed rod 3321 and a movable rod 3322. The free end of the fixed rod 3321 is connected to the second support 331, and the free end of the movable rod 3322 is connected to the loading platform 2. The spring 333 is sleeved on the telescopic rod 332, and the spring 333 can extend and retract with the extension and retraction of the telescopic rod 332.

[0051] In this embodiment, the axial direction of the elastic loading component is parallel to the third direction, thereby supporting the loading platform 2 in the vertical direction through multiple springs 333 loading components. By adjusting the compression of the springs 333, the force applied to the loading platform 2 in the vertical direction can be adjusted.

[0052] To better adjust the compression of spring 333, the loading component of spring 333 also includes an adjusting member 335. The adjusting member 335 is adjustablely positioned on the fixed rod 3321, and the lower end of spring 333 abuts against the adjusting member 335. The fixed rod 3321 is provided with an external thread section, and the adjusting member 335 may have a nut connected to the external thread section. The lower end of spring 333 abuts against the nut. When the adjusting nut moves on the fixed rod 3321, the compression of spring 333 can be adjusted.

[0053] The number of spring 333 loading components can be three, four, five, etc. Preferably, the number of spring 333 loading components is four, and the four spring 333 loading components are arranged in a rectangular array. Thus, two spring 333 components can form a parallelogram mechanism to constrain the loading platform 2. In this embodiment, multiple spring 333 loading components, the first force loading component 31, and the second force loading component 32 can jointly constrain the loading platform 2 to limit the rotation of the loading platform 2, while not affecting the small-amplitude movement of the loading platform 2 in the XYZ axes.

[0054] The second support base 331 can be fixedly connected to the body 1 by fasteners. In order to facilitate the position adjustment of each spring 333 loading component, a third sliding part can be provided on the body 1. The second support base 331 is tunably connected to the third sliding part. The third sliding part can be a sliding slot opened on the body 1. The second support base 331 can be slidably set in the sliding slot. The sliding slot can be an inverted T-shaped slot. When adjusted to the correct position, the second support base 331 and the body 1 can be fixed together by bolts or other connecting parts.

[0055] See Figure 1 , Figure 5and Figure 6 Furthermore, the free end of the fixed rod 3321 is connected to a spherical bearing 315, which is rotatably connected to the second support base 331. The free end of the movable rod 3322 is also connected to a spherical bearing 315, which is rotatably connected to the third connecting lug 339 on the loading platform 2. This allows for better force transmission between the spring 333 loading component and the loading platform 2.

[0056] See Figure 1 , Figure 5 and Figure 6 In some embodiments, the spring 333 loading component includes a second detection component 334, which is connected to the free end of the movable rod 3322. The second detection component 334 is connected to the loading platform 2 via a spherical bearing 315, and the first end of the spring 333 abuts against the second detection component 334.

[0057] The second detection component 334 can be a second pressure sensor. In this embodiment, each of the four spring 333 loading components is equipped with a second pressure sensor. The second pressure sensor can be connected to the free end of the movable rod 3322, and the upper end of the spring 333 can abut against the second pressure sensor. Thus, the free end of the movable rod 3322 can be connected to the loading platform 2 through the second pressure sensor and the spherical bearing 315, realizing connection and force transmission. The second pressure sensor can detect the force exerted on the loading platform 2 by the spring 333 after compression.

[0058] In this embodiment, the inner wall surface of the fixed rod 3321 is provided with a first limiting part 336, and the movable rod 3322 is provided with a second limiting part 337. The first limiting part 336 and the second limiting part 337 cooperate to prevent the movable rod 3322 from coming out of the fixed rod 3321. The first limiting part 336 can be an inner boss provided on the inner wall surface of the fixed rod 3321, and the second limiting part 337 can be an end plate provided on the end of the movable rod 3322 away from its free end. The end plate and the inner boss partially overlap in the vertical direction, thereby restricting the end plate from moving from the lower side of the inner boss to the upper side of the inner boss, thereby restricting the movable rod 3322 from coming out of the fixed rod 3321.

[0059] The loading component of spring 333 also includes bushing 338, which is interference-fitted with the inner cavity of fixed rod 3321. Bushing 338 can be made of a material with a low coefficient of friction, such as copper. Bushing 338 is located between the inner wall of fixed rod 3321 and the outer wall of movable rod 3322. Bushing 338 serves as a guide and also provides wear resistance, improving the telescopic performance of movable rod 3322 and fixed rod 3321 and avoiding problems such as wear or jamming.

[0060] See Figure 1, Figure 5 and Figure 6 In the application, a third connecting ear 339 is provided at the lower part of the loading platform 2. There are four spring 333 loading components. The second support seat 331 in the spring 333 loading component is installed on the machine body 1 by screws and T-nuts. The fixed rod 3321 is connected to the spherical bearing 315 by double-headed screws. The spherical bearing 315 is connected to the second support seat 331 by a connecting shaft. The movable rod 3322 is sleeved in the fixed rod 3321. The movable rod 3322 and the fixed rod 3321 are limited by the boss and the end plate to prevent the movable rod 3322 from falling out of the fixed rod 3321. At the same time, the bottom of the movable rod 3322 is provided with an opening to connect the different chambers between the fixed rod 3321 and the movable rod 3322, so as to prevent the internal air from being compressed during extension and retraction. In this embodiment, there are two bushings 338. One bushing 338 is connected to the upper end of the inner cavity of the fixed rod 3321 by an interference fit, and the other bushing 338 is connected to the position of the inner cavity of the fixed rod 3321 near the first limiting part 336 by an interference fit. The two bushings 338 are used to limit the movable rod 3322 and reduce frictional resistance. The movable rod 3322 is connected to the second pressure sensor by a thread. The spring 333 is sleeved on the outside of the movable rod 3322 and the fixed rod 3321. The nut used to adjust the preload is threaded on the outside of the fixed rod 3321. The spring 333 pushes the nut and the second pressure sensor. The second pressure sensor is connected to the spherical bearing 315 by a thread. The spherical bearing 315 is connected to the third connecting lug 339 on the loading platform 2 by a connecting shaft.

[0061] See Figure 1 In some embodiments, the torque loading assembly 4 includes a brake 41 and a reducer 42. The reducer 42 has a first connecting part and a second connecting part. The brake 41 is drivenly connected to the first connecting part of the reducer 42, and the second connecting part of the reducer 42 is connected to the rotating component 5 through a universal joint coupling 44.

[0062] The torque loading assembly 4 includes a third support base 45 and a fourth sliding part on the body 1. The third support base 45 is adjustablely positioned at the fourth sliding part. The third support base 45 can be fixedly connected to the body 1 by fasteners. To facilitate the adjustment of the positions of each spring 333 loading component, a fourth sliding part can be provided on the body 1. The third support base 45 is adjustablely connected to the fourth sliding part. The fourth sliding part can be a sliding groove opened on the body 1. The third support base 45 can be slidably positioned in the sliding groove. The sliding groove can be an inverted T-shaped groove. After adjustment, the third support base 45 and the body 1 can be fixed together by bolts or other connecting parts.

[0063] The brake 41 can be a magnetic powder brake 41. The brake 41 and the reducer 42 can be supported on the third support base 45. The brake 41 and the reducer 42 are connected by a diaphragm coupling 43. A commutator 7 is provided between the reducer 42 and the rotating component 5. The commutator 7 is connected to the rotating component 5, and the reducer 42 and the commutator 7 are connected by a universal joint coupling 44.

[0064] In this embodiment, the direction of force transmission can be adjusted by the commutator 7, which facilitates the arrangement of the brake 41 and the reducer 42 and improves space utilization. By setting the universal joint coupling 44, the force transmission can be kept stable when the loading platform 2 floats within a small range.

[0065] In this embodiment, the spring 333 loading component is installed below the loading platform 2, which can apply axial force to the spindle. Four spring 333 loading components are installed at the four corners of the loading platform 2, leaving space for the commutator 7. The two ends of the spring 333 loading component are spherical bearings 315, which allows the two ends of the spring 333 loading component to move in all directions without affecting the movement of the XYZ axis of the loading platform 2.

[0066] A commutator 7 is installed below the loading platform 2 to change the direction of the spindle torque. The torque is output from the side of the loading platform 2 to the universal joint, which then transmits the torque to the reducer 42 and the magnetic powder brake 41, so that force loading and torque loading can be performed simultaneously in a limited space.

[0067] In some embodiments, the axis of the rotating component 5 is parallel to the vertical direction. The rotating component 5 rotates about an axis parallel to the vertical direction. A main shaft may be connected to the upper end of the rotating component 5.

[0068] See Figure 4 and Figure 5 In some embodiments, the rotating component 5 of this embodiment includes a simulated loading tool holder. A connecting component 6 is provided between the simulated loading tool holder and the loading platform 2. The connecting component 6 includes a rotating bearing 61, a bearing end cap 62, a first fixing ring 63, and a second fixing ring 64. The outer wall surface of the outer ring 611 of the rotating bearing 61 is press-fitted with the inner wall surface of the through hole on the loading platform 2. The inner wall surface of the inner ring 612 of the rotating bearing 61 is press-fitted with the outer wall surface of the simulated loading tool holder. One axial end of the outer ring 611 abuts against the loading platform 2. The bearing end cap 62 is connected to the loading platform 2, and the other axial end of the outer ring 611 abuts against the bearing end cap 62. A first fixing ring 63 is provided between one axial end of the inner ring 612 and the simulated loading tool holder. The second fixing ring 64 is threadedly connected to the simulated loading tool holder, and the second fixing ring 64 abuts against the other axial end of the inner ring 612. This ensures a stable connection between the loading platform 2 and the simulated loading tool holder, as well as the transmission of forces in different directions, so that the forces acting on the loading platform 2 can be stably transmitted to the simulated loading tool holder.

[0069] In this embodiment, the rotating bearing 61 can be a double-row angular contact ball bearing, which has good load-bearing performance and good structural stability.

[0070] See Figure 7 In some embodiments, a control system is also included, which includes an industrial computer, a data acquisition component, and a control component. The data acquisition component is used to acquire data from the force loading component and the torque loading component 4 and feed it back to the industrial computer. The control component is used to control the operation of the force loading component and the torque loading component 4 based on the instructions of the industrial computer.

[0071] The embodiments of the present invention can simultaneously apply on-machine torque and XYZ axis forces to the spindle of a vertical machining center. At the same time, the loading forces on the X and Y axes can realize complex waveform static and dynamic forces, which are closer to the stress conditions in real working conditions, and the accuracy and effectiveness of the test and evaluation results are higher.

[0072] The embodiments of the present invention utilize eight pressure sensors to better obtain the magnitude of the loading force, thereby facilitating the adjustment and recording of the loading force, resulting in higher data reliability and better controllability.

[0073] The multidimensional force and torque loading method of this invention includes: S101. Obtain torque information and force information in multiple directions on the spindle under actual working conditions.

[0074] S102. Preprocess the torque and force information. In steps S101 and S102, a vertical machining center can be used to perform actual cutting under the working conditions. A force gauge is installed below the workpiece to measure the force in the XYZ axis directions. At the same time, a smart tool holder is used to measure the spindle torque. The XYZ axis forces and torques are recorded and a load spectrum is compiled. During the preprocessing process, since the voice coil motor can be complexly controlled, the magnetic powder brake 41 is difficult to control in a complex way, and the pressure of the spring 333 loading component is difficult to adjust, the load spectrum will retain detailed information on the XY axis forces, but not the torque and Z axis forces. The torque and Z axis force information will be equivalent to constant values.

[0075] S103. Based on the preprocessed torque information and force information, adjust the multiple force loading components and torque loading components 4 in the multidimensional force and torque loading device 100 of any of the above embodiments.

[0076] S104. Conduct a loading test and perform multiple cyclic tests.

[0077] S105. Obtain test data information.

[0078] In steps S103 to S105, the multi-dimensional force and torque loading device 100 is installed, and the wiring is connected as follows: Figure 7 As shown, the signal lines of four first pressure sensors and four second pressure sensors are connected to the data acquisition unit. The data acquisition unit is connected to the industrial control computer via a network port, transmitting the pressure data to the industrial control computer. The height of the vertical machining center spindle is adjusted to control the spring 333 loading component to the required pressure. The adjusting part 335 (i.e., the nut) of the spring 333 loading component is adjusted to adjust the pressure of the four springs 333 to a single value. The voice coil motor is connected to the control unit (i.e., the voice coil motor driver). The industrial control computer, acting as the host computer, can communicate with the voice coil motor driver via RS232, sending the XY axis force data of the load spectrum to the voice coil motor driver, causing the voice coil motor to apply force according to the load spectrum data. Simultaneously, the torque on the controller of the magnetic powder brake 41 is set to the torque value of the load spectrum. During the loading test, the load spectrum is cycled multiple times to simulate the real working conditions, and the pressure sensor data is recorded on the industrial control computer.

[0079] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0082] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multidimensional force and torque loading device, characterized in that, include: Body and loading platform, A rotating component, which is rotatably connected to the loading platform; Multiple force loading components are connected between the loading platform and the machine body. The force loading components are used to apply a force to the rotating component through the loading platform and restrict the rotation of the loading platform relative to the machine body. The directions of the forces applied by any two force loading components to the rotating component have an included angle. A torque loading assembly is connected to the rotating component to apply torque to the rotating component.

2. The multidimensional force and torque loading device according to claim 1, characterized in that, The plurality of force loading components include: A first force loading component is used to apply a force along a first direction to the rotating component through the loading platform; The second force loading component is used to apply a force along a second direction to the rotating component through the loading platform; A third force loading component is used to apply a force along a third direction to the rotating component through the loading platform; The first direction, the second direction, and the third direction are orthogonal to each other, and the third direction is parallel to the axial direction of the rotating component.

3. The multidimensional force and torque loading device according to claim 2, characterized in that, Both the first force loading component and the second force loading component include: A first support base is connected to the machine body, and a first sliding part is provided on the first support base; A first driving component is connected to the first support base; A first sliding stage is slidably disposed on the first sliding part. The first end of the first sliding stage is connected to the driving end of the first driving component, and the second end of the first sliding stage is connected to the loading platform. The first driving component drives the first sliding stage to move along the extension direction of the first sliding part to apply a force to the loading platform.

4. The multidimensional force and torque loading device according to claim 3, characterized in that, Both the first force loading component and the second force loading component include a first detection component, which is disposed between the first sliding stage and the loading platform, or between the first sliding stage and the drive end of the first driving component. And / or, the body is provided with a second sliding part, and the first support seat is adjustablely connected to the second sliding part; And / or, the first driving component is a voice coil motor.

5. The multidimensional force and torque loading device according to claim 4, characterized in that, The first detection component has a first end and a second end. The first end of the first detection component is connected to the first sliding stage via a spherical bearing, and the second end of the first detection component is connected to the loading platform via a spherical bearing. And / or, both the first force loading component and the second force loading component include a joint bearing bracket, the joint bearing bracket is connected to the loading platform by fasteners, the joint bearing bracket is provided with multiple sets of first connecting ears, the first sliding stage is provided with multiple sets of second connecting ears, and the first detection component is rotatably connected between the corresponding first connecting ears and second connecting ears.

6. The multidimensional force and torque loading device according to claim 2, characterized in that, The third force loading component includes multiple spring loading components, which are arranged in parallel and side-by-side between the loading platform and the machine body. Each spring loading component includes: The second support base is connected to the body. The telescopic rod includes a fixed rod and a movable rod, the free end of the fixed rod is connected to the second support base, and the free end of the movable rod is connected to the loading platform; A spring is sleeved on the telescopic rod, and the spring can extend and retract as the telescopic rod extends and retracts.

7. The multidimensional force and torque loading device according to claim 6, characterized in that, The spring loading component includes a second detection component, which is connected to the free end of the movable rod. The second detection component is connected to the loading platform via a spherical bearing, and the first end of the spring abuts against the second detection component. And / or, the spring loading component further includes an adjusting member, the adjusting member being adjustablely disposed on the fixed rod, and the second end of the spring abutting against the adjusting member; And / or, the free end of the fixed rod is connected to a spherical bearing, and the spherical bearing is rotatably connected to the second support seat; And / or, the inner wall surface of the fixed rod is provided with a first limiting part, and the movable rod is provided with a second limiting part, the first limiting part and the second limiting part cooperate to prevent the movable rod from coming out of the fixed rod; And / or, the spring-loaded component further includes a bushing that is interference-fitted with the inner cavity of the fixed rod, the bushing being located between the inner wall of the fixed rod and the outer wall of the movable rod; And / or, the body is provided with a third sliding part, and the second support seat is adjustablely located at the third sliding part.

8. The multidimensional force and torque loading device according to any one of claims 1 to 7, characterized in that, The torque loading assembly includes a brake and a reducer. The reducer has a first connecting part and a second connecting part. The brake is drivenly connected to the first connecting part of the reducer, and the second connecting part of the reducer is connected to the rotating component through a universal joint coupling. And / or, the torque loading assembly includes a third support base, the body is provided with a fourth sliding part, and the third support base is adjustablely disposed at the fourth sliding part; And / or, it also includes a commutator connected between the rotating component and the torque loading assembly.

9. The multidimensional force and torque loading device according to any one of claims 1 to 7, characterized in that, The axis of the rotating component is parallel to the vertical direction; And / or, the rotating component includes a simulated loading tool holder, and a connecting component is provided between the simulated loading tool holder and the loading platform. The connecting component includes a rotating bearing, a bearing end cap, a first fixing ring, and a second fixing ring. The outer wall surface of the outer ring of the rotating bearing is interference-fitted with the inner wall surface of the through hole on the loading platform. The inner wall surface of the inner ring of the rotating bearing is interference-fitted with the outer wall surface of the simulated loading tool holder. One axial end of the outer ring abuts against the loading platform. The bearing end cap is connected to the loading platform, and the other axial end of the outer ring abuts against the bearing end cap. The first fixing ring is provided between one axial end of the inner ring and the simulated loading tool holder. The second fixing ring is threadedly connected to the simulated loading tool holder, and the second fixing ring abuts against the other axial end of the inner ring. And / or, it also includes a control system, the control system comprising an industrial computer, a data acquisition component, and a control component, the data acquisition component being used to acquire data from the force loading component and the torque loading component and feed it back to the industrial computer, the control component being used to control the action of the force loading component and the torque loading component based on the instructions of the industrial computer.

10. A multidimensional force and torque loading method, characterized in that, include: Obtain torque information and force information in multiple directions on the spindle under actual working conditions; The torque information and the force information are preprocessed; Based on the preprocessed torque information and force information, the adjustment of multiple force loading components and torque loading components in the multidimensional force and torque loading device according to any one of claims 1 to 9 is performed; Perform loading tests and multiple cyclic tests; Obtain experimental data and information.

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