CN108254204A - A kind of electric cylinder real-timely testing performance system of dynamically changeable load - Google Patents
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Abstract
一种动态可变负载的电动缸性能实时测试系统，属于测试系统技术领域。解决了现有技术中电动缸性能测试系统测试项单一，不能实时测量且不能在线测试不同负载情况下的性能指标的问题。该测试系统，包括电机驱动器、电机、减速箱、直线位移机构、弹簧、加载力装置、位移传感器、连接装置、电动缸、编码器、上位机、控制采集系统和电动缸驱动器，可以测量电动缸的多项静态指标，包括输出推力、输出拉力，定位误差，重复定位精度，反向间隙，允许速度，加速度，刚度，有效行程和在不同负载下的动态性能指标，适用于各类电动缸性能指标测量，具有广泛的通用性。
The utility model relates to a dynamic and variable load electric cylinder performance real-time test system, which belongs to the technical field of test systems. It solves the problem that the electric cylinder performance test system in the prior art has single test items, cannot measure in real time, and cannot test performance indexes under different load conditions on-line. The test system, including motor driver, motor, gearbox, linear displacement mechanism, spring, loading force device, displacement sensor, connection device, electric cylinder, encoder, upper computer, control acquisition system and electric cylinder driver, can measure the electric cylinder A number of static indicators, including output thrust, output pull, positioning error, repeat positioning accuracy, backlash, allowable speed, acceleration, stiffness, effective stroke and dynamic performance indicators under different loads, are suitable for various types of electric cylinder performance Indicator measurement has wide versatility.
Description
技术领域technical field
本发明属于测试系统技术领域，具体涉及一种动态可变负载的电动缸性能实时测试系统。The invention belongs to the technical field of test systems, and in particular relates to a real-time test system for the performance of an electric cylinder with a dynamically variable load.
背景技术Background technique
电动缸为电机与直线位移传动机构的紧凑结合体。电机分为内置电机和外置电机，直线位移机构分为滚珠丝杠和滚柱丝杠位移传动机构，电机与直线位移结构的连接方式分为皮带、联轴节及其他方式。The electric cylinder is a compact combination of a motor and a linear displacement transmission mechanism. Motors are divided into built-in motors and external motors, linear displacement mechanisms are divided into ball screw and roller screw displacement transmission mechanisms, and the connection methods between motors and linear displacement structures are divided into belts, couplings and other methods.
不同电动缸的性能不一。电动缸静态指标包括输出推力、输出拉力、定位误差、重复定位精度、反向间隙、允许速度、加速度、刚度、有效行程等。而实际工作中，电动缸一般是在不同负载下动态运行，因此测量电动缸在可变负载下的动态指标尤为重要，如变负载下的相应速度，加速度，位置精度。The performance of different electric cylinders varies. Static indicators of electric cylinders include output thrust, output pull, positioning error, repeat positioning accuracy, backlash, allowable speed, acceleration, stiffness, effective stroke, etc. In actual work, electric cylinders generally operate dynamically under different loads, so it is particularly important to measure the dynamic indicators of electric cylinders under variable loads, such as the corresponding speed, acceleration, and position accuracy under variable loads.
现有技术中，电动缸的性能测试系统，主要采用恒定负载力的方式，如在电动缸上固定确定重量的重力块，然后在该恒定负载下，进行电动缸的性能测试，这些测试系统主要有以下几项缺点：In the prior art, the performance test system of the electric cylinder mainly adopts the method of constant load force, such as fixing a gravity block with a certain weight on the electric cylinder, and then performing the performance test of the electric cylinder under the constant load. These test systems mainly There are several disadvantages:
1、测试项单一，只是单独对某一项指标推拉力，持久性进行检测；1. The test item is single, and only the push-pull force and durability of a certain indicator are tested separately;
2、负载不能动态改变，只能通过手动拆卸更换，改变负载重量；2. The load cannot be changed dynamically, it can only be disassembled and replaced manually to change the load weight;
3、无法在线测试不同加载情况下的动态精度指标。3. The dynamic accuracy index under different loading conditions cannot be tested online.
发明内容Contents of the invention
本发明的目的在于设计一种动态可变负载的电动缸性能实时测试系统，以解决现有技术中电动缸性能测试系统测试项单一，不能实时测量且不能在线测试不同负载情况下的性能指标的问题。The purpose of the present invention is to design a dynamic variable load electric cylinder performance real-time testing system to solve the problem that the electric cylinder performance testing system in the prior art has a single test item, cannot measure in real time and cannot test performance indicators under different load conditions online question.
本发明采用以下技术方案来解决上述问题。The present invention adopts the following technical solutions to solve the above problems.
一种动态可变负载的电动缸性能实时测试系统，包括电机驱动器、电机、减速箱、直线位移机构、弹簧、加载力装置、位移传感器、连接装置、电动缸、编码器、上位机、控制采集系统和电动缸驱动器；A real-time test system for dynamic variable load electric cylinder performance, including motor driver, motor, gearbox, linear displacement mechanism, spring, loading force device, displacement sensor, connection device, electric cylinder, encoder, upper computer, control acquisition system and electric cylinder drives;
所述连接装置连接加载力装置与电动缸，及位移传感器与电动缸；The connecting device connects the loading force device and the electric cylinder, and the displacement sensor and the electric cylinder;
所述加载力装置的量程不小于电动缸的量程，所述滚珠丝杠的行程不小于电动缸的行程，所述位移传感器的形成不小于电动缸的行程；The range of the loading force device is not less than the range of the electric cylinder, the stroke of the ball screw is not less than the stroke of the electric cylinder, and the formation of the displacement sensor is not less than the stroke of the electric cylinder;
所述上位机发送实时工作指令给电机驱动器和控制采集系统，电机驱动器驱动电机转动，电机的转动力矩经过减速箱减速后，驱动滚珠丝杠，滚珠丝杠将电机的转动力矩转换为滚珠丝杠的直线位移，弹簧将滚珠丝杠的直线位移转换为加载力，加载力装置将加载力输出到电动缸的输出轴上并测量加载力大小，位移传感器测量电动缸的轴向运动位移，控制采集系统采集加载力装置加载在电动缸的输出轴上的加载力和位移传感器测量的电动缸的轴向运动位移并传输至上位机中；The upper computer sends real-time work instructions to the motor driver and the control acquisition system, the motor driver drives the motor to rotate, the motor torque is decelerated by the reduction box, and then drives the ball screw, and the ball screw converts the motor torque into a ball screw The linear displacement of the ball screw, the spring converts the linear displacement of the ball screw into the loading force, the loading force device outputs the loading force to the output shaft of the electric cylinder and measures the magnitude of the loading force, the displacement sensor measures the axial movement displacement of the electric cylinder, and controls the acquisition The system collects the loading force loaded on the output shaft of the electric cylinder by the loading force device and the axial movement displacement of the electric cylinder measured by the displacement sensor and transmits it to the host computer;
控制采集系统根据上位机的工作指令，控制电动缸驱动器驱动电动缸，编码器测量电动缸的位置数据，并将电动缸的位置数据反馈回电动缸驱动器，电动缸驱动器将电动缸的位置数据传输至控制采集系统，控制采集系统接收电动缸驱动器传输的位置数据并传输至上位机中；The control acquisition system controls the electric cylinder driver to drive the electric cylinder according to the work instructions of the host computer, the encoder measures the position data of the electric cylinder, and feeds back the position data of the electric cylinder to the electric cylinder driver, and the electric cylinder driver transmits the position data of the electric cylinder To the control acquisition system, the control acquisition system receives the position data transmitted by the electric cylinder driver and transmits it to the host computer;
上位机接收控制采集系统传输的加载力的数据、位移数据和位置数据，根据加载力的数据、位移数据和位置数据计算电动缸的性能指标。The upper computer receives the loading force data, displacement data and position data transmitted by the control acquisition system, and calculates the performance index of the electric cylinder according to the loading force data, displacement data and position data.
进一步的，所述性能指标为输出推力、输出拉力、定位精度、允许速度、加速度、刚度、有效行程和不同负载下的定位精度。Further, the performance indicators are output thrust, output pull, positioning accuracy, allowable speed, acceleration, stiffness, effective stroke, and positioning accuracy under different loads.
进一步的，所述加载力装置为LoadCell。Further, the loading force device is LoadCell.
进一步的，所述位移传感器为接触式位移传感器。Further, the displacement sensor is a contact displacement sensor.
与现有技术相比，本发明的有益效果为：Compared with prior art, the beneficial effect of the present invention is:
1、本发明的电动缸测试系统可以测量电动缸的多项静态指标，包括输出推力、输出拉力，定位误差，重复定位精度，反向间隙，允许速度，加速度，刚度，有效行程。1. The electric cylinder test system of the present invention can measure multiple static indicators of the electric cylinder, including output thrust, output pull, positioning error, repeat positioning accuracy, backlash, allowable speed, acceleration, stiffness, and effective stroke.
2、本发明的电动缸测试系统通过同时改变负载力及电动缸位移，可以测量电动缸的在不同负载下的动态性能指标。2. The electric cylinder test system of the present invention can measure the dynamic performance index of the electric cylinder under different loads by simultaneously changing the load force and the displacement of the electric cylinder.
3、本发明的电动缸测试系统可对电动缸施加负载力和电动缸位移进行实时监测。3. The electric cylinder testing system of the present invention can monitor the load force applied to the electric cylinder and the displacement of the electric cylinder in real time.
4、本发明的电动缸测试系统可通过上位机动态改变施加负载力和电动缸位移。4. The electric cylinder testing system of the present invention can dynamically change the applied load force and electric cylinder displacement through the host computer.
5、本发明的电动缸测试系统适用于各类电动缸性能指标测量，具有广泛的通用性。5. The electric cylinder test system of the present invention is suitable for measuring various electric cylinder performance indicators, and has wide versatility.
附图说明Description of drawings
图1为本发明的动态可变负载的电动缸性能实时测试系统组成图；Fig. 1 is the composition diagram of the electric cylinder performance real-time testing system of dynamic variable load of the present invention;
图中，1、电动缸，2、连接装置，3、加载力装置，4、位移传感器，5、电机，6、减速箱，7、滚珠丝杠，8、弹簧，9、控制采集系统，10、电机驱动器，11、上位机，12、电动缸驱动器，13、编码器。In the figure, 1. Electric cylinder, 2. Connecting device, 3. Loading force device, 4. Displacement sensor, 5. Motor, 6. Gear box, 7. Ball screw, 8. Spring, 9. Control acquisition system, 10 , Motor driver, 11, upper computer, 12, electric cylinder driver, 13, encoder.
具体实施方式Detailed ways
为了更将本发明的技术方案及优点介绍的更加清楚，以下结合附图对本发明进行进一步详细说明。In order to introduce the technical solutions and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings.
如图1所示，一种动态可变负载的电动缸性能实时测试系统，包括电机驱动器10、电机5、减速箱6、直线位移机构7、弹簧8、加载力装置3、位移传感器4、连接装置2、电动缸1、编码器13、上位机11、控制采集系统9和电动缸驱动器12。As shown in Figure 1, a dynamic variable load electric cylinder performance real-time testing system includes a motor driver 10, a motor 5, a reduction box 6, a linear displacement mechanism 7, a spring 8, a loading force device 3, a displacement sensor 4, a connection Device 2 , electric cylinder 1 , encoder 13 , host computer 11 , control acquisition system 9 and electric cylinder driver 12 .
加载力装置3和位移传感器4安装在电动缸1的输出端，均通过连接装置与电动缸1连接。加载力装置3测量加载到电动缸1的输出推拉力，位移传感器4测量电动1的运动位移，加载力装置3选用S型的推拉力传感器，通常为LoadCell 3，传感器有个零点，在被压缩的时候为压力，在被拉伸的时候为推力。位移传感器4通常为接触式直线位移传感器，如接触式绝对式长度计。为实现全量程测量，加载力装置3量程要不小于电动缸1的量程，位移传感器4的量程要不小于电动缸1的行程。连接装置的结构没有特殊限制，可以实现上述连接即可，本领域技术人员可以根据需要设计。The loading force device 3 and the displacement sensor 4 are installed at the output end of the electric cylinder 1, and both are connected with the electric cylinder 1 through a connecting device. The loading force device 3 measures the output push-pull force loaded on the electric cylinder 1, and the displacement sensor 4 measures the motion displacement of the electric cylinder 1. The loading force device 3 uses an S-type push-pull force sensor, usually LoadCell 3. The sensor has a zero point, which is compressed It is pressure when it is stretched, and it is thrust when it is stretched. The displacement sensor 4 is usually a contact linear displacement sensor, such as a contact absolute length gauge. In order to realize full-scale measurement, the range of the loading force device 3 should be no less than the range of the electric cylinder 1, and the range of the displacement sensor 4 should be no less than the stroke of the electric cylinder 1. The structure of the connecting device is not particularly limited, as long as the above connection can be realized, those skilled in the art can design it according to needs.
上位机13发送实时指令控制电机5和电动缸驱动器12工作。输出推拉力可以通过电机5的运动而改变，电动缸1的位移可以通过控制电动缸12运动测量。The host computer 13 sends real-time instructions to control the motor 5 and the electric cylinder driver 12 to work. The output push-pull force can be changed by the movement of the motor 5 , and the displacement of the electric cylinder 1 can be measured by controlling the movement of the electric cylinder 12 .
电机驱动器10、电机5、减速箱6、滚珠丝杠7、弹簧8、加载力装置3依次连接，电机驱动器10驱动电机5转动，电机5选用步进电机，电机5的转动力矩经过减速箱6减速后，驱动滚珠丝杠7，减速箱6的作用为增加电机的输出能力，可以在选用较小输出驱动能力电机的实现大驱动力输出，同时可以增加直线位移的输出分辨力；滚珠丝杠7将电机5的转动力矩转换为滚珠丝杠7的直线位移，滚珠丝杠7的行程要不小于电动缸1的行程，弹簧8将滚珠丝杠7的直线位移转换为加载力，加载力装置3将加载力输出到电动缸1的输出轴上并检测输出力的大小。The motor driver 10, the motor 5, the reduction box 6, the ball screw 7, the spring 8, and the loading force device 3 are connected in sequence, the motor driver 10 drives the motor 5 to rotate, the motor 5 is a stepping motor, and the torque of the motor 5 passes through the reduction box 6 After deceleration, the ball screw 7 is driven, and the function of the reduction box 6 is to increase the output capacity of the motor, which can realize a large driving force output with a motor with a small output drive capacity, and can increase the output resolution of linear displacement at the same time; the ball screw 7. Convert the rotational torque of the motor 5 into the linear displacement of the ball screw 7. The stroke of the ball screw 7 is not less than the stroke of the electric cylinder 1. The spring 8 converts the linear displacement of the ball screw 7 into a loading force. The loading force device 3 Output the loading force to the output shaft of the electric cylinder 1 and detect the magnitude of the output force.
设电机5运动角度为ω，电机的最小输出角度为ωmin减速箱的减速比为A,滚珠丝杠7的螺距为l0，弹簧8的刚度为K，输出力装置3的输出力为Fload，最大输出力为Fmload，电动缸1的最大承载力为Fmax，最小输出位移为xdmin。则当步进电机5的输出角度为ω时，LoadCell 3上的输出力为如式(1)：Assume that the motor 5 moves at ω, the minimum output angle of the motor is ω min , the reduction ratio of the reduction box is A, the pitch of the ball screw 7 is l 0 , the stiffness of the spring 8 is K, and the output force of the output force device 3 is F load , the maximum output force is F mload , the maximum bearing capacity of the electric cylinder 1 is F max , and the minimum output displacement is x dmin . Then when the output angle of the stepping motor 5 is ω, the output force on the LoadCell 3 is as formula (1):
Fload＝K(ω/2πA)l0 (1)F load ＝K(ω/2πA)l 0 (1)
同时要满足输出力Fload≤Fmload和Fmload≤Fmax。At the same time, the output force F load ≤ F mload and F mload ≤ F max must be satisfied.
由此可知改变电机5的运动角度便可以实现增加在电动缸1上的负载力。上位机11发送电机5控制角度和角速度的实时工作指令即可。It can be seen that changing the movement angle of the motor 5 can increase the load force on the electric cylinder 1 . The host computer 11 only needs to send the real-time work instructions of the motor 5 to control the angle and angular velocity.
电动缸驱动器12驱动电动缸1工作，带动电动缸1内部的滚柱丝杠结构实现电动缸位移运动，编码器13测量电动缸1的位置数据，并将电动缸1的位置数据传输至电动缸驱动器12，控制采集系统9接收电动缸驱动器12传输的位置数据，实现对电动缸1内置电机的闭环控制。电动缸驱动器12可以采用永磁同步电机驱动器，包括位置环，速度环，电流环，通过控制采集模块9可以对电动缸驱动器12三环控制方式进行实时切换。电动缸驱动器12可以采用永磁同步电机驱动器，包括位置环，速度环，电流环，通过控制采集模块9可以对电动缸驱动器12三环控制方式进行实时切换。The electric cylinder driver 12 drives the electric cylinder 1 to work, drives the roller screw structure inside the electric cylinder 1 to realize the displacement movement of the electric cylinder, the encoder 13 measures the position data of the electric cylinder 1, and transmits the position data of the electric cylinder 1 to the electric cylinder The driver 12 controls the acquisition system 9 to receive the position data transmitted by the electric cylinder driver 12 to realize the closed-loop control of the built-in motor of the electric cylinder 1 . The electric cylinder driver 12 can be a permanent magnet synchronous motor driver, including a position loop, a speed loop, and a current loop. The three-loop control mode of the electric cylinder driver 12 can be switched in real time through the control acquisition module 9 . The electric cylinder driver 12 can be a permanent magnet synchronous motor driver, including a position loop, a speed loop, and a current loop. The three-loop control mode of the electric cylinder driver 12 can be switched in real time through the control acquisition module 9 .
控制采集系统9采集加载力装置3加载在电动缸1的输出轴上的加载力和位移传感器4测量的电动缸1的轴向运动位移，传输至上位机11中，并接收电动缸驱动器12传输的位置数据。The control collection system 9 collects the loading force loaded by the loading force device 3 on the output shaft of the electric cylinder 1 and the axial movement displacement of the electric cylinder 1 measured by the displacement sensor 4, transmits it to the upper computer 11, and receives the transmission from the electric cylinder driver 12 location data.
控制采集系统9选用高精度24bit的A/D采集模块，可以保证采集的位置值和输出力值得分辨率及精度。设位移传感器4的量程为xmax，则位移传感器4和加载力装置3的采集分辨率为如式(2)：The control acquisition system 9 selects a high-precision 24bit A/D acquisition module, which can ensure the resolution and accuracy of the acquired position value and output force value. Assuming that the measuring range of the displacement sensor 4 is x max , the acquisition resolution of the displacement sensor 4 and the loading force device 3 is as follows:
xmin＝xmax/(224)x min = x max /(2 24 )
Fminload＝Fmload/224 (2)F minload = F mload /2 24 (2)
同时满足Fminload≤K(ωmin/2πA)l0和xmin＝xdmax，以保证能分辨出输出的最小分辨率和最小分辨位移。Satisfy F minload ≤ K(ω min /2πA)l 0 and x min =x dmax at the same time, so as to ensure that the output minimum resolution and minimum resolution displacement can be distinguished.
上位机1接收控制采集系统9传输的加载力的数据、位移数据和位置数据，根据加载力的数据、位移数据和位置数据计算电动缸1的性能指标，如输出推力、输出拉力、定位精度、允许速度、加速度、刚度、有效行程和不同负载下的定位精度，实现指令发送及实时监测作用。The upper computer 1 receives the loading force data, displacement data and position data transmitted by the control acquisition system 9, and calculates the performance indicators of the electric cylinder 1 according to the loading force data, displacement data and position data, such as output thrust, output pull, positioning accuracy, It allows speed, acceleration, stiffness, effective stroke and positioning accuracy under different loads to realize command sending and real-time monitoring.
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