CN110243524A - A three-axis force performance test device for a large-thrust superconducting linear motor - Google Patents

Abstract

A three-axis force performance test device for a large-thrust superconducting linear motor, the horizontal movement test platform and the vertical movement test platform are installed on the main frame. The horizontal moving test bench is composed of two groups of servo motors and ball screws in the horizontal and vertical directions. The horizontal plate is installed on it, and the primary linear motor is fixed on the horizontal plate. The structure of the vertical moving test bench is: the servo motor and the ball screw are installed vertically. , two groups of linear modules are vertically fixed on the left and right sides of the main frame, the rectangular frame is fixed on the sliding blocks of the four linear modules, and the four three-axis force sensors are fixed on the bottom surface of the rectangular frame and the lower plate Between, the secondary of the linear motor is fixed on the bottom surface of the lower plate. Linear displacement sensors are installed near the three ball screws, and the signals of the three-axis force sensor are sent to the industrial computer through the amplifier and the multi-channel data acquisition card. This device is currently used for the verification of the theoretical research results of large-thrust, large-gap superconducting linear motors in the laboratory. It has a compact structure and is easy to install, and is suitable for various experimental environments.

Description

A three-axis force performance test device for a large-thrust superconducting linear motor

technical field

The patent of the present invention relates to a performance test device of a three-axis force output device, specifically, a three-axis force test device for a large-thrust large-gap superconducting linear motor.

Background technique

As a typical three-axis force output device, the linear motor can convert electric energy into linear motion without any intermediate conversion structure, and output three-axis force with the secondary as the output end. Compared with the traditional method, the primary and secondary There can be no mechanical connection at all.

In the current machinery manufacturing industry, linear motors have been widely used in manufacturing equipment such as high-speed milling machines, laser processing machine tools, grinding machines, and machining centers. The promotion and use of linear motors is also an important development direction of CNC machine tools. In military applications, there are electromagnetic guns, submarines and other equipment, and some components of satellites and spacecraft are also driven by linear motors. Linear motors mainly use the thrust of linear motors in the application of machine tools, electromagnetic guns and other working conditions, and the position between the primary and secondary of linear motors is fixed. At present, some of the performance test methods of this type of motor refer to the test methods of rotating motors, and some design specific test methods for linear motors, but there has been no unified standard and method. Pair dragging is commonly used in the performance test of this type of linear motor, but this method is not universal for linear motors of various specifications, and can only be used to study linear motors with fixed relative positions between the primary and secondary.

In the application of the rail transit field, the linear traction system of the maglev train is a main application object of the linear motor. In the application of maglev train traction drive, the three-dimensional relative position of the primary and secondary of the linear motor changes within a certain range, and the output characteristics of the linear motor change with the change of the three-dimensional relative position. At present, there is no experimental platform and test method for performance testing of this type of linear motor.

Generally speaking, the performance test of linear motor includes static performance test and dynamic performance test. Due to the diversity of working conditions, it is currently impossible to formulate a unified standard to test the performance of linear motors.

Contents of the invention

The purpose of the present invention is to provide a three-axis force performance test device for large-thrust superconducting linear motors in view of the problems existing in the prior art, aiming at performing ton-level three-axis force tests on high-power linear motors under different working conditions , to reveal the relationship law of the three-axis output force of the linear motor with time and space, and to study its output characteristics.

The object of the present invention is achieved in this way: a three-axis force performance test device for a large-thrust superconducting linear motor, including an industrial computer, the main frame is a cuboid frame made of aluminum profiles, a horizontal moving test bench and a vertical moving test The benches are respectively arranged below and above the main frame; the structure of the horizontally moving test bench is as follows: the two ends of the second ball screw are respectively erected on the bottom surface of the main frame through bearings, and one outer end of the second ball shaft screw is connected to the first Two servo motor shafts are connected, and multiple linear modules are installed horizontally on the bottom surface of the main frame. The rectangular frame is located above the second ball screw and multiple linear modules. nut, and fixed on each sliding block of a plurality of linear modules, the two ends of the third ball screw are vertically erected on the frame through bearings, and one outer end of the third ball screw is connected with the third servo motor shaft , the other two linear modules are respectively installed on the two longitudinal long sides of the above frame, the horizontal moving plate is located above the third ball screw and the other two linear modules, and the horizontal moving plate is fixed on the third ball screw at the same time The nuts that are screwed together and fixed on each sliding block of the other two linear modules, the primary of the linear motor to be tested is fixed on the horizontal moving plate;

The structure of the vertical mobile test bench is as follows: the first servo motor is vertically installed and fixed on the top surface of the main frame, the two ends of the first ball screw are vertically installed in the main frame through bearings, and the top of the first ball screw One outer end of the main frame is connected with the first servo motor shaft. Two linear modules are fixed vertically on the left and right sides of the main frame respectively. The rectangular frame is fixed on the four sliding blocks of the four linear modules. The rectangular frame The upper plate is fixed on the bottom surface of the rectangular frame, four three-axis force sensors are evenly distributed between the upper plate and the lower plate, the above-mentioned linear motor is fixed on the bottom surface of the lower plate, a square frame is fixed on the rectangular frame, and the top plate is fixed On the top surface of the cube-shaped frame, the nut screwed on the first ball screw is fixed in the hole on the top plate; a linear displacement sensor is respectively arranged on the main body frame near the first, second and third ball screw positions .

An industrial computer, an AC/DC stabilized power supply, a spindle force sensor signal amplifier, and a multi-channel data acquisition card are also installed on the main frame; the output signals of the four three-axis force sensors pass through four three-axis force sensor signal amplifiers respectively. After amplification, it is transmitted to the multi-channel data acquisition card; the output signals of the three linear displacement sensors are respectively transmitted to the multi-channel data acquisition card, and the output signals of the multi-channel data acquisition card are connected to the industrial computer; the AC and DC stabilized power supply is the multi-channel data acquisition card. Acquisition card, linear displacement sensor, three-axis force sensor and its signal amplifier are powered.

It also has a servo motor control device composed of a servo motor encoder and a servo motor three-axis controller.

The multiple linear modules are 4 groups arranged uniformly.

The test method of the above-mentioned device is carried out according to the following steps: after the data acquisition program is initialized, the three-axis force sensor and the linear position sensor in the three directions of x, y and z respectively pass the three-axis force analog signal collected by their respective signal amplifiers and the analog signal of the three-dimensional space position are sent to the multi-channel data acquisition card, and finally forwarded to the LabVIEW data acquisition, processing, visualization and storage program placed in the industrial computer; Displayed in the form of a curve.

The technical scheme of the present invention is as follows: the three-axis output force test piece is fixed between the horizontal mobile test bench and the vertical mobile test bench by bolts, wherein the fixed end of the test piece is installed on the test piece fixed end mounting plate of the horizontal mobile test bench , relying on the combination of two sets of servo motors placed orthogonally and horizontally with the ball screw to realize the movement and positioning in the horizontal plane; the triaxial force output side of the specimen is fixed on the mounting plate of the triaxial force output end of the vertical mobile test bench, and connected with the The three-axis force sensor combination is rigidly connected, and the vertical movement and positioning are realized by the combination of the vertically placed servo motor and the ball screw; the three-axis force sensor combination is connected with the three-axis force output end of the test piece through the installation plate of the three-axis force output end. Rigid connection, the triaxial force output by the test piece is converted into a voltage signal and sent to the LabVIEW control program installed in the industrial computer; the three-dimensional position monitoring device sends the three-dimensional position of the test piece to the LabVIEW control program installed in the industrial computer ; After the data processing is carried out by the LabVIEW control program, the test piece output triaxial force curve with time and space is displayed on the screen of the industrial computer.

The horizontal mobile test bench is composed of a fixed end mounting plate of the test piece, two sets of horizontally installed and vertical servo motors and ball screw combinations, a linear module and a high-strength aluminum profile structure frame assembled by bolts.

The vertical mobile test bench is composed of a mounting plate at the triaxial force output end of the test piece, a combination of triaxial force sensors, a sensor fixing plate, a set of vertically placed servo motors and ball screw combinations, linear modules and high-strength aluminum The profile structural frame is assembled by bolting.

The triaxial force sensor combination includes a rectangular sensor mounting plate, four triaxial force sensors symmetrically distributed on the rectangular mounting plate, and a signal amplifier thereof.

The LabVIEW control program is installed in the industrial computer, and the three-axis force signal sent by the three-axis force sensor and the three-dimensional position signal of the test piece sent by the displacement sensor can be received through the multi-channel data acquisition card, and the signal data processing is completed and displayed in real time The variation curve of triaxial force with time and space has a good visualization and human interaction interface.

Compared with the prior art, the present invention has the following characteristics and advantages:

1. The three-degree-of-freedom test bench is composed of a horizontal and vertical horizontal mobile test bench and a vertical mobile test bench. Three linear position sensors are used to measure the three directions between the primary and secondary of the large-thrust superconducting linear motor. The signal is sent to the industrial computer for data processing through the multi-channel data acquisition card, and the curve of the three-axis force changing with time and space is displayed in real time, which is used to analyze the distribution law and trend of the three-axis force in the space and time domain .

2. The three-degree-of-freedom test bench of the present invention adopts a high-strength aluminum profile frame structure, which does not have ferromagnetism, reduces the influence on the electromagnetic field of the test piece, and ensures accurate measurement of the output triaxial force of the test piece. In addition, the aluminum profile frame is flexible and simple to assemble, low in cost, high in assembly precision, and convenient in maintenance.

3. The combination of servo motor and ball screw has high positioning accuracy, which can effectively ensure the positioning accuracy of the three-dimensional relative position between the fixed end of the test piece and the output end of the three-axis force and realize high-thrust drive.

4. The linear module is installed on the bottom of the horizontal mobile test platform frame and on both sides of the vertical mobile test platform frame, providing motion tracks for the horizontal mobile platform and vertical mobile platform, and providing guidance and reducing motion friction. .

5. The upper plate and the lower plate are used as the connectors between the four triaxial force sensors, the frame of the vertical moving test platform and the main body, which ensures that the combination of the triaxial force sensors can be rigidly fixed on the structural frame of the vertical moving platform. The four triaxial force sensors are installed between the upper plate and the lower plate, which can increase the force bearing surface of the triaxial force sensor combination, so that the triaxial force output by the test piece acts on each triaxial force sensor evenly, At the same time, it effectively weakens the vibration of the structural frame caused by the output force of the test piece, effectively improves the measurement accuracy of the three-dimensional force and increases the measurement range.

6. The separation of the servo motor motion control system and the sensor system of the present invention, especially the separation of the power supply systems of the two, effectively reduces the mutual crosstalk between the two, ensures a more stable working state of the sensor, and improves the measurement accuracy.

The invention can measure the dynamic or steady-state output characteristics when the three-dimensional relative position between the primary and secondary of the linear motor is not fixed, and can draw the ton-level three-axis force change curve with time or space accordingly, which can be effectively used for Characteristic analysis and performance research of the output characteristics of linear motors, especially the research on the change law of the output characteristics of linear motors in time and space.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should be seen as limiting the scope.

Fig. 1 is a three-dimensional schematic view of the overall structure of the present invention.

Figure 1a is a schematic diagram of the hardware installation of the industrial computer control system.

Fig. 2 is a front view of the overall structural framework of the present invention.

Fig. 3 is a schematic perspective view of the horizontally moving test platform of the present invention.

Fig. 4 is a schematic perspective view of the vertically mobile testing platform of the present invention.

Fig. 5 is a flow chart of data collection and visualization in the present invention.

Icons: 1-the first servo motor; 2-(aluminum profile) main frame; 3-three-axis force sensor signal amplifier; 4-multi-channel data acquisition card; 5-linear module; 6-linear displacement sensor (3 in total ); 7-horizontal moving board; 8-(to be detected) linear motor primary; 9-lower board; 10-industrial computer; 11-servo motor driver; 12-servo motor three-axis controller; ; 14-three-axis force sensor (4 in total); 15-linear motor secondary; 16, 16a, 16b-first, second, third ball screw; 17-(rectangular) frame (aluminum profile); 18-square frame (aluminum profile); 19-upper plate.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Fig. 1, Fig. 2 show, a kind of three-axis force performance test device of superconducting linear motor with large thrust, comprise industrial computer 10, main body frame 2 is the rectangular parallelepiped frame that adopts aluminum profile to make, horizontal movement test bench and vertical movement The test benches are respectively arranged below and above the main body frame 2; the structure of the horizontally moving test bench is as follows: the two ends of the second ball screw 16a are respectively erected on the bottom surface of the main frame through bearings, and the second ball shaft screw 16a is one The outer end is connected to the shaft of the second servo motor 1a, and a plurality of linear modules 5 are installed laterally on the bottom surface of the main frame, and a rectangular frame 17 is located above the second ball screw 16a and the plurality of linear modules 5, and the frame 17 is simultaneously It is fixed on the nut that is screwed with the ball screw 16a, and is fixed on each sliding block of a plurality of linear modules 5. The two ends of the third ball screw 16b are vertically erected on the frame 17 through bearings, and the second One outer end of the three ball screw 16b is connected to the third servo motor 1b shaft, and the other two linear modules are installed on the two longitudinal long sides of the above-mentioned frame 17 respectively, and the horizontal moving plate 7 is located between the third ball screw 16b and the other Above the two linear modules, the horizontal moving plate 7 is fixed on the nut screwed with the third ball screw 16b and on each sliding block of the other two linear modules, and the primary 8 of the linear motor to be tested is fixed on the horizontal moving plate 7;

The structure of the vertically mobile test bench is as follows: the first servo motor 1 is vertically installed and fixed on the top surface of the main frame 2, the two ends of the first ball screw 16 are vertically installed in the main frame through bearings respectively, and the first ball An outer end on the top of the screw mandrel 16 is connected with the first servo motor 1 shaft, and two linear modules are vertically fixed on the left and right sides of the main body frame 2 respectively, and the rectangular frame is fixed on four of the four linear modules. On a sliding block, a rectangular upper plate 19 is fixed on the bottom surface of the rectangular frame, four three-axis force sensors 14 are uniformly fixed between the upper plate 19 and the lower plate 9, and the above-mentioned linear motor secondary 15 is fixed on the bottom surface of the lower plate 9. , a square frame is fixed on the rectangular frame, the top plate 20 is fixed on the top surface of the square frame, and the nut screwed on the first ball screw 16 is fixed in the hole on the top plate 20; the main body frame 2 is adjacent to the first, the second 2. A linear displacement sensor 6 is provided at the position of the third ball screw 16, 16a, 16b respectively.

The first, second and third servo motors are respectively connected to the first, second and third ball screw rods through shaft couplings. The other two linear modules can also directly serve as the longitudinal long sides of the frame 17 . The first servo motor is installed on the mounting plate (Fig. 1), and the mounting plate is fixed on the top surface of the main body frame. The multiple linear modules 5 are 4 uniformly arranged (see FIG. 4 ).

Please refer to Fig. 1 and Fig. 2, a kind of three-axis force test platform, the primary 8 of synchronous large-thrust superconducting linear motor is placed on the horizontal moving plate 7, and the secondary 15 of the linear motor is fixed on the lower plate 9 of the vertically moving test bench Lower surface; before the experiment starts, the servo motor 1, the first ball screw 16 and the linear module 5 respectively drive the lower plate 9 of the guiding horizontal moving plate 7 and the vertical moving test bench to realize the contact between the primary and the secondary of the linear motor Three-dimensional relative position adjustment, use AC/DC regulated power supply 13 to supply power for multi-channel data acquisition card 4, linear displacement sensor 6, triaxial force sensor 14 and its signal amplifier 3, turn on industrial computer 10, start LabVIEW control program to prepare for data acquisition . Three-phase alternating current is connected to the primary of the linear motor to generate a traveling wave magnetic field, and the secondary is connected to a DC excitation current to generate a DC magnetic field. The primary traveling wave magnetic field and the DC magnetic field are coupled to each other to generate a three-axis electromagnetic force; the three-axis force acts on the three-axis force sensor , and then amplified by the triaxial force sensor signal amplifier, the sensed triaxial force signal is converted into an electrical signal and sent to the LabVIEW control program in the industrial computer 10 through the multi-channel data acquisition card 4; the LabVIEW control program processes the triaxial force in real time The data is displayed in real time on the screen of the industrial computer in the form of a curve.

It also has a servo motor control device composed of a servo motor encoder and a servo motor three-axis controller 12 .

Please refer to Figure 3, the horizontal moving test bench is composed of a horizontal moving plate 7, two sets of horizontally placed and vertical servo motors and ball screw combinations, a linear module 5 and a horizontally moving rectangular frame 17 of high-strength aluminum profiles through bolts Assembled.

Please refer to Fig. 4, the vertically movable test bench is composed of a combination of a lower plate 9, a triaxial force sensor 14, an upper plate 19, a set of vertically installed servo motors 1 and the first ball screw 16, a linear module 5 and The high-strength aluminum profile cube-shaped frame 18 is fixed and assembled by bolts.

Please refer to Fig. 1, the combination of the three-axis force sensor 14 is composed of three-axis force sensors 14 symmetrically distributed on the four corners of the rectangular upper plate 19, connected to the signal amplifiers 3 of the four three-axis force sensors by signal lines .

Please refer to FIG. 1 , three linear displacement sensors 6 installed on the main frame work together to monitor the three-dimensional relative position between the primary and secondary of the linear motor.

While this specification describes examples of embodiments of the invention, it is not intended that these descriptions describe all possible forms of the invention. Those skilled in the art will appreciate that the embodiments described here are to help readers understand the principles of the present invention, and it should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical revelations disclosed in the present invention without departing from the essence of the present invention, and these modifications and combinations are still within the protection scope of the present invention.

The test method of the above-mentioned device is carried out as follows: after the data acquisition program is initialized, the three-axis force sensor 14 and the linear position sensor 6 on the three directions of x, y, and z are respectively passed through the signal amplifier 13 respectively. The force analog signal and the analog signal of the three-dimensional space position are sent to the multi-channel data acquisition card 4, and finally forwarded to the LabVIEW data acquisition, processing, visualization and storage program placed in the industrial computer 10; the LabVIEW program will triaxial force with time and The trend of spatial change is displayed in the form of a curve.

Claims (5)

1. a kind of three-axis force performance testing device of high thrust superconducting linear motor, which is characterized in that main body frame (2) is to use The rectangular frame of aluminium profile, moves horizontally testboard and vertical shift testboard is separately positioned on main body frame (2) Interior following above and；Move horizontally testing bench structure are as follows: the both ends the second ball screw (16a) are located at through bearing transverse strands respectively On the bottom surface of main body frame, and second outer end of ball axial filament bar (16a) and the second servo motor (1a) axis connection, multiple lines Property mould group (5) is transversely mounted on the bottom surface of main body frame, and rectangular frame (17) is located at the second ball screw (16a) and more Above a linear mould group (5), which is also secured on the nut being mutually screwed on ball screw (16a), and fixed On each sliding shoe of multiple linear mould groups (5), the third ball screw both ends (16b) are longitudinally erected at the frame through bearing (17) on, and outer end of third ball screw (16b) and third servo motor (1b) axis connection, other two linear mould splits It is not mounted in two of said frame (17) longitudinal long sides, moves horizontally plate (7) and be located at third ball screw (16b) and in addition Above two linear mould groups, move horizontally plate (7) be also secured on the nut being mutually screwed on third ball screw (16b) and It is fixed on each sliding shoe of other two linear mould group, linear electric motor primary (8) to be tested, which is fixed on, moves horizontally plate (7) on；

Vertical shift testing bench structure are as follows: on the vertical top surface for being fixed on main body frame (2) of first servo motor (1), the The both ends of one ball screw (16) are mounted vertically in main body frame through bearing respectively, and the one of the first ball screw (16) top A outer end and first servo motor (1) axis connection, be vertically fixed on the left and right side of main body frame (2) respectively two it is linear Mould group, rectangular frame are fixed on four sliding shoes of this four linear mould groups, and rectangular upper plate (19) is fixed on the length Square frame bottom surface, four triaxial force sensors (14) are uniformly fixed between upper plate (19) and lower plate (9), above-mentioned linear motor Secondary (15) are fixed on lower plate (9) bottom surface, and a square bodily form frame is fixed on rectangular frame, and top plate (20) is fixed on just On cube shape frame top surface, the nut being screwed on the first ball screw (16) is fixed in the hole on top plate (20)；Main body frame (2) it is closed at the first, second, third ball screw (16,16a, 16b) position and is respectively arranged with a linear displacement transducer (6)。

2. a kind of three-axis force performance testing device of high thrust superconducting linear motor according to claim 1, feature exist In being also equipped with industrial personal computer (10), ac-dc power supply (13), main shaft force sensor signals on the main body frame (2) and put Big device (3), multi-channel data acquisition board (4)；The output signal of four triaxial force sensors (14) is respectively through four three axis After force sensor signals amplifier (3) amplification, it is transmitted to multi-channel data acquisition board (4)；Three linear displacement transducers (6) Output signal is transmitted separately to multi-channel data acquisition board (4), and the output signal of multi-channel data acquisition board (4) is connected to the work Control machine；Ac-dc power supply (13) is multi-channel data acquisition board (4), linear displacement transducer (6), triaxial force sensor (14) and its signal amplifier (3) is powered.

3. a kind of three-axis force performance testing device of high thrust superconducting linear motor according to claim 2, feature exist In also with the servo motor control device being made of encoder for servo motor and servo motor three-axis controller (12).

4. a kind of three-axis force performance testing device of high thrust superconducting linear motor according to claim 3, feature exist In the multiple linear mould group (5) is 4 be uniformly arranged.

5. a kind of test method of such as Claims 1 to 4 any claim described device, which is characterized in that as follows Carry out: data acquisition program after initialization, the linear position sensors on three directions of triaxial force sensor (14) and x, y, z (6) respectively by respective signal amplifier (13) by the three-axis force analog signal of acquisition and the analog signal of three-dimensional space position Be sent to multi-channel data acquisition board (4), and be finally transmitted to the LabVIEW data sampling and processing being placed in industrial personal computer (10), Visualization and storage program；LabVIEW program gives three-axis force aobvious in graph form with the trend of spatial variations at any time Show.