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CN111215648B - Fast test loading method and loading system for electric spindle reliability - Google Patents

Fast test loading method and loading system for electric spindle reliability Download PDF

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Publication number
CN111215648B
CN111215648B CN202010054600.1A CN202010054600A CN111215648B CN 111215648 B CN111215648 B CN 111215648B CN 202010054600 A CN202010054600 A CN 202010054600A CN 111215648 B CN111215648 B CN 111215648B
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loading
spindle
module
electric spindle
force
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CN111215648A (en
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吴军
陈代伟
张瑞杰
张彬彬
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Tsinghua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts

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Abstract

本发明公开了一种电主轴可靠性快速实验加载方法及加载系统，该方法包括：根据常规主轴载荷谱与电主轴疲劳与磨损加速模型的加速因子对常规的主轴载荷谱中的加载力大小与频率、主轴转速进行提高，得到加速载荷谱；根据加速载荷谱对电主轴进行控制，根据加载系统中运动模组的位置信息和五自由度并联气动加载机构的参数信息计算机构的位姿信息，根据位姿信息和加速载荷谱计算各个加载轴上的加载力和频率；根据计算出的各个加载轴上的加载力和频率对电主轴进行加速实验；检测加速实验中电主轴的多个参数，根据多个参数对电主轴的性能进行评价。该方法能够对电主轴进行快速加载，检测多项主轴状态信息和电主轴运行状态，对电主轴可靠性进行综合评价。

Figure 202010054600

The invention discloses a fast test loading method and a loading system for the reliability of an electric spindle. The method includes: according to the conventional spindle load spectrum and the acceleration factor of the electric spindle fatigue and wear acceleration model, the magnitude of the loading force in the conventional spindle load spectrum and The frequency and spindle speed are increased to obtain the acceleration load spectrum; the electro-spindle is controlled according to the acceleration load spectrum, and the position and attitude information of the mechanism is calculated according to the position information of the motion module in the loading system and the parameter information of the five-degree-of-freedom parallel pneumatic loading mechanism. Calculate the loading force and frequency on each loading axis according to the pose information and the acceleration load spectrum; perform an acceleration experiment on the electric spindle according to the calculated loading force and frequency on each loading axis; The performance of the electrospindle is evaluated according to a number of parameters. The method can quickly load the electro-spindle, detect a number of spindle status information and the running state of the electro-spindle, and comprehensively evaluate the reliability of the electro-spindle.

Figure 202010054600

Description

Electric spindle reliability rapid experiment loading method and loading system
Technical Field
The invention relates to the technical field of reliability testing of an electric spindle of a numerical control machine tool, in particular to a loading method and a loading system for a quick experiment of reliability of the electric spindle.
Background
The electric spindle is a complex system integrating machine, electricity and liquid, and is one of the core links of the reliability of a processing center. Under the working conditions of high speed, high power and high load, the main shaft parts are easy to generate various failures such as fatigue wear, cracks and the like, and the occurrence of the failures often leads to chain reaction, aggravates the breakage of the rest parts of the main shaft and further deteriorates the performance state of the main shaft.
In order to improve the reliability of the electric spindle, a reliability loading test needs to be carried out on the electric spindle, so that the electric spindle can eliminate or greatly reduce early faults within a limited period and acceptable cost. However, the conventional method directly carries out reliability loading on a machine tool, has the defects of long test period, slow effect, large required sample amount, high cost and the like, needs to occupy a plurality of machine tools for testing, brings uncertain influence factors into other parts in the machine tool, and is not beneficial to the special research on the reliability of the main shaft. Therefore, in order to improve the reliability of the spindle and perform a loading test and data acquisition in a controllable environment, an electric spindle reliability loading test and detection system needs to be established in a laboratory.
According to research and development, domestic main shaft manufacturers mainly use idle running, main shaft dynamometer double drag or constant force loading tests in reliability tests before main shafts leave factories, and although the main shafts reach the factory requirements when leaving factories, the precision and the reliability of the main shafts are greatly reduced after the main shafts are used for a period of time, so that the problems of the reliability and the precision retentivity of the main shafts restrict the development of domestic numerical control machine tool electric main shaft manufacturers for a long time. On the other hand, the time consumption of simple constant force loading test on a plurality of main shafts is huge, the test cost is very high, the real load of the main shafts is difficult to simulate, and the timeliness of the products on the market is influenced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention provides a quick test loading method and a loading system for the reliability of an electric spindle, which aim to solve the technical problems of long test period, high cost and inaccurate test in the process of testing the electric spindle, and can be used for quickly loading the electric spindle, detecting a plurality of items of spindle state information and the running state of the electric spindle and comprehensively evaluating the reliability of the electric spindle.
An embodiment of the invention provides a method for loading an electric spindle reliability rapid experiment, which comprises the following steps:
s1, establishing a fatigue and wear acceleration model of the electric spindle;
s2, increasing the loading force and frequency in the conventional spindle load spectrum and the spindle rotating speed according to the conventional spindle load spectrum and the acceleration factor in the fatigue and wear acceleration model of the electric spindle to obtain an acceleration load spectrum;
s3, controlling the electric spindle in a loading system according to an accelerated load spectrum, acquiring position information of a motion module in the loading system and parameter information of a five-degree-of-freedom parallel pneumatic loading mechanism, calculating pose information of the five-degree-of-freedom parallel pneumatic loading mechanism according to the position information and the parameter information, and calculating loading force and frequency on each loading shaft of the five-degree-of-freedom parallel pneumatic loading mechanism according to the pose information and the accelerated load spectrum;
and S4, performing an acceleration experiment on the motorized spindle according to the calculated loading force and frequency on each loading shaft, detecting a plurality of parameters of the motorized spindle in the acceleration experiment, and evaluating the performance of the motorized spindle according to the parameters.
In another aspect, an embodiment of the present invention provides a system for loading an electric spindle for a rapid reliability experiment, including:
the device comprises a main shaft (1), a main shaft base frame (2), a horizontal iron (3), a plane motion module, a precision detection module (6), a five-degree-of-freedom parallel pneumatic loading mechanism (7), a motion control module and a data acquisition and analysis module (9);
the front bearing and the rear bearing of the ground flat iron (3) and the main shaft (1) are respectively provided with a temperature sensor and a vibration sensor for collecting temperature data and vibration data;
the main shaft base frame (2) is connected with the main shaft (1) and used for fixing the main shaft (1);
the plane motion module comprises an X-direction motion module (4) and a Y-direction motion module (5), the plane motion module is used for driving the precision detection module (6) and the five-degree-of-freedom parallel pneumatic loading mechanism (7) to move, the X-direction motion module (4) is fixed on the ground flat iron (3), and the Y-direction motion module (5) is installed on the X-direction motion module (4);
the five-degree-of-freedom parallel pneumatic loading mechanism (7) comprises a plurality of loading shafts, each loading shaft is provided with a tension sensor and is used for applying loading force to the main shaft and collecting loading force data, the five-degree-of-freedom parallel pneumatic loading mechanism is fixed on the Y-direction movement module (5) through a plurality of positioning plates, and the upper end of the five-degree-of-freedom parallel pneumatic loading mechanism is connected with the main shaft (1);
the precision detection module is fixed on a positioning plate of the five-degree-of-freedom parallel pneumatic loading mechanism and used for detecting the rotation precision and the deformation of the main shaft;
the motion control module includes host computer (10) and motion control cabinet (8), the mutual inductance of current sensor and the voltmeter of installing on the motion control cabinet (8), motion control cabinet (8) include: the motion control system comprises a main shaft motion control module and an XY motion module motor motion control module, wherein a motion control cabinet (8) can be communicated with a control program of an upper computer (10) through USB serial port communication to perform instruction control on a main shaft, the XY motion module motor motion control module controls the motion of an XY motion module motor and reads position information of the XY motion module motor through an NI controller, the pose state of the five-freedom-degree parallel pneumatic loading mechanism is obtained according to the position information and parameter information of the five-freedom-degree parallel pneumatic loading mechanism, the magnitude of force required to be applied by each loading shaft is calculated by combining the magnitude and direction of each force loaded by a load spectrum, and a loading experiment is performed on the loading system;
and the data acquisition and analysis module (9) acquires the state information of each sensor in the experiment loading system and evaluates the performance of the motorized spindle according to the state information.
The technical scheme of the invention at least realizes the following beneficial technical effects:
the loading system capable of simulating the actual loading condition of the main shaft can load the main shaft, the reliability acceleration test is realized through a certain acceleration factor based on an acceleration model, the actual loading condition of the main shaft can be simulated at a low cost, the test speed can be accelerated, the performance state of the main shaft is monitored through various sensors arranged, the precision and the reliability of the main shaft are evaluated, and the main shaft loading system has a wide application prospect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of a method for fast experimental loading of reliability of an electric spindle according to an embodiment of the present invention;
FIG. 2 is a block diagram of a method for loading an experiment on the reliability of an electric spindle according to an embodiment of the present invention;
FIG. 3 is a flow diagram of acceleration model building according to one embodiment of the invention;
FIG. 4 is a schematic view of a spindle configuration according to one embodiment of the present invention;
FIG. 5 is a schematic three-dimensional structure diagram of an embodiment of a loading system according to the invention;
FIG. 6 is a schematic diagram of a five degree-of-freedom parallel pneumatic loading mechanism according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of an accuracy detection module according to one embodiment of the invention;
FIG. 8 is a schematic view of a spindle mounting arrangement according to one embodiment of the present invention;
FIG. 9 is a schematic view of an XY motion module, according to one embodiment of the invention;
FIG. 10 is a schematic diagram of a Y-direction motion module according to one embodiment of the invention.
Reference numerals: 1-machining a central electric spindle; 2-a main shaft pedestal; 3-ground flat iron; a 4-X direction moving module; 5-Y direction moving module; 6-a precision detection module; 7-five-degree-of-freedom parallel pneumatic loading mechanism; 8-a motion control cabinet; 9-a data acquisition and analysis module; 10-an upper computer; 21-a main shaft positioning plate; 22-upper part of main shaft base frame; 23-a spindle pedestal base; a 51-Y direction module motion platform; 52-a first baffle; 53-a first lead screw nut; 54-motion block; 55-motion block flange; 56-a slide block; 57-a guide rail; 58-Y direction module bottom plate; 59-lead screw; 510-a second lead screw nut; 511-coupling; 512-Y direction module motor; 513-a motor mounting plate; 514-motor module connection; 515-a second baffle; 61-a first magnetic base; 62-a second magnetic seat; 63-a sensor mount; 64-first bit sensor; 65-a second position sensor; 66-a third position sensor; 67-rotational speed sensor; 681-adjusting mount base; 682-first set screw; 683-a second set screw; 684-adjusting screw; 685-adjusting nut; 686 — adjusting the mount platform; 71-a second positioning plate; 72-a second loading shaft; 73-a third loading shaft; 74-a detection rod; 75-moving the platform; 76-spindle shank interface; 77-fourth loading shaft; 78-fifth loading shaft; 79 — first loading shaft; 710-a third positioning plate; 711-middle positioning plate; 712-first positioning plate.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a loading method and a loading device for an electric spindle reliability rapid experiment according to an embodiment of the present invention with reference to the accompanying drawings.
First, a method for loading an electric spindle reliability rapid experiment according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for loading an electric spindle reliability rapid experiment according to an embodiment of the present invention.
As shown in fig. 1, the method for loading an electric spindle reliability rapid experiment comprises the following steps:
in step S101, a fatigue and wear acceleration model of the electric spindle is established.
In the embodiment of the invention, based on the principle of 'proportional expansion of accumulated wear amount and accumulated fatigue damage and the like', a fatigue model based on the criterion of Manson-Hall bilinear fatigue damage and the like and a main shaft bearing wear model based on Archard and Hertz contact theory and the like are used for carrying out a reliability acceleration test on a main shaft based on the magnitude and frequency of a loading force, the rotating speed of the main shaft and the like, the reliability acceleration test is carried out by improving the magnitude and frequency of the loading force, the rotating speed of the main shaft and other factors in a standard load spectrum, and the performance of the main shaft is evaluated by detecting rotation precision decline, temperature rise change, vibration signals, harmonic current signals and the like.
And step S2, increasing the loading force and frequency in the conventional spindle load spectrum and the spindle rotating speed according to the conventional spindle load spectrum and the acceleration factor in the fatigue and abrasion acceleration model of the electric spindle to obtain an acceleration load spectrum.
And step S3, controlling the electric spindle in the loading system according to the acceleration load spectrum, acquiring the position information of the motion module in the loading system and the parameter information of the five-degree-of-freedom parallel pneumatic loading mechanism, calculating the pose information of the five-degree-of-freedom parallel pneumatic loading mechanism according to the position information and the parameter information, and calculating the loading force and frequency on each loading shaft of the five-degree-of-freedom parallel pneumatic loading mechanism according to the pose information and the acceleration load spectrum.
And step S4, performing an acceleration experiment on the motorized spindle according to the calculated loading force and frequency on each loading shaft, detecting a plurality of parameters of the motorized spindle in the acceleration experiment, and evaluating the performance of the motorized spindle according to the plurality of parameters.
As shown in fig. 2, firstly, based on the principle of "proportional expansion of cumulative wear amount and cumulative fatigue damage", a fatigue model based on the criterion of bilinear fatigue damage and the like and a bearing wear model based on the Archard and Hertz contact theory and the like are used to obtain an acceleration model of fatigue and wear of the main shaft; the magnitude and frequency of loading force, the rotating speed of the main shaft and the like are improved by combining a conventional main shaft load spectrum and an acceleration factor in an acceleration model to obtain an acceleration load spectrum; an upper computer in a data acquisition and analysis module 9 realizes system control based on an acceleration load spectrum, an X-direction movement module 4 and a Y-direction movement module 5 simulate the plane movement of a machine tool, the position information of the movement modules is obtained through a motor of the movement modules, the position information of the mechanism is obtained by combining the size parameters of a five-degree-of-freedom parallel pneumatic loading mechanism, the force and the frequency which are required to be loaded by each loading shaft are obtained by combining the acceleration load spectrum, and the force and the frequency are output to air cylinders on the corresponding loading shafts, so that the purpose of a rapid loading test is achieved; the main shaft rotation precision is detected through the rotation precision module 6, the temperature rise condition of the system is detected through a temperature sensor, the abnormal information of a main shaft bearing is detected through a vibration sensor, and whether abnormal harmonic current is generated or not is detected through a current sensor.
As shown in fig. 3, a process of establishing an acceleration model is shown, a main shaft reliability acceleration test method is based on a principle of proportional expansion of accumulated wear loss and accumulated fatigue damage, a fatigue model based on Manson-hall bilinear fatigue damage and other criteria and a bearing wear model based on arcard and Hertz contact theory and the like are used, a reliability acceleration test is performed by improving factors such as loading force magnitude and frequency in a standard load spectrum, main shaft rotating speed and the like, and main shaft performance is evaluated by detecting rotation precision decline, temperature rise change, vibration signals, harmonic current signals and the like.
As shown in fig. 4, a schematic diagram of a spindle structure is shown, a simple stress model of the spindle is established according to fig. 3, and a relationship between an external load and an internal force is found out:
Figure BDA0002372377560000051
wherein: l is1、L2Is a main shaft size parameter; f is loading force; g1Is the weight of the motor; g2Is the weight of the spindle;
Figure BDA0002372377560000052
secondly, calculating the corresponding fatigue life under a single loading level, and using a fatigue model based on the criteria of Manson-Hall bilinear fatigue damage and the like, wherein the fatigue life is as follows:
Figure BDA0002372377560000053
wherein: k1＝8.627×1056；
Figure BDA0002372377560000061
d is the diameter of the axis of the main shaft;
establishing a main shaft front bearing abrasion model based on Archard and Hertz contact theory and the like:
Figure BDA0002372377560000062
wherein: wvi、WvoAccumulating the abrasion loss for the inner and outer rings of the bearing; k is the wear coefficient; k' is the lubrication coefficient; n isiIs the inner ring rotation speed, DiIs the inner diameter; n isoIs the outer ring rotation speed, DoThe diameter of the outer ring; h is the hardness of the softer material; dbThe diameter of the center of the ellipse; k is a radical ofpIs the pressure coefficient; theta is a rotationAn angle; t is t1、t2The starting time and the stopping time of rotation;
and precision loss amount of abrasion:
Figure BDA0002372377560000063
wherein: Σ ρ is the sum of the principal curvatures; m isa、mbThe coefficients of a long half shaft and a short half shaft;
let F0The loading force for the routine test, F1To accelerate the loading force of the test, f0Frequency of the original loading force, f1The frequency of the loading force for acceleration test, f is the frequency of the spindle rotation under the conventional test, knMain shaft rotation speed ratio, k, for accelerated experiments and routine experimentswTo accelerate the wear ratio of the experiment and the routine experiment, kDTo speed up the ratio of cumulative fatigue damage from the experiment and from the routine experiment:
Figure BDA0002372377560000064
let m be f0M is determined according to the working state of the acceleration test required by the actual requirement, such as milling, and the m is determined by the number of cutter teeth on the milling cutter; and (5) turning, wherein m is 1. M can be considered a known quantity.
Setting a loading frequency multiple:
Figure BDA0002372377560000065
loading force multiple:
Figure BDA0002372377560000066
thus:
Figure BDA0002372377560000071
according to the principle of proportional amplification of accumulated wear loss and accumulated fatigue damage, the acceleration factor is K, and the method comprises the following steps:
Figure BDA0002372377560000072
substituting to obtain:
Figure BDA0002372377560000073
wherein, a, b, ai,biAll the parameters are determined by the geometric parameters and the dead weight of the main shaft, and can be regarded as known quantities; f0The loading force, which is a routine test, can be measured directly at the machine tool site by sensors, which can be considered as a known quantity. Therefore, there are three unknowns (k)F,kn,kf) Two equations, solution set, have one degree of freedom.
Get knAs parameters, solve for:
Figure BDA0002372377560000074
in one embodiment of the invention, the force required to be applied by each loading shaft of the five-degree-of-freedom parallel pneumatic loading mechanism is calculated by the following process:
firstly, carrying out stress analysis on a movable platform of a five-degree-of-freedom parallel pneumatic loading mechanism:
Figure BDA0002372377560000075
wherein: m isMMass of the moving platform, g is gravitational acceleration, feAnd neTo simplify the loading to the origin o of the moving platform coordinate system M,BIM＝BRM MIM BRM Tinertia about centre of mass for moving platformsRepresentation of the property matrix in the stationary platform coordinate system { B };
secondly, the loading shaft is subjected to stress analysis:
no movement part i on ith loading axis1And a moving part i2The vector sum of the acting force and the inertia force about the respective mass centers can be expressed in a loading axis coordinate system { i }, and the specific form is as follows:
Figure BDA0002372377560000081
Figure BDA0002372377560000082
in the formula, mi1And mi2Are respectively a member i1And i2The mass of (a) of (b),iIi1andiIi2are respectively a member i1And i2The moment of inertia of the centroid is represented in the branched chain coordinate system i.
And finally, performing dynamic modeling on the five-degree-of-freedom parallel pneumatic loading mechanism by adopting a virtual work principle method:
the virtual displacement δ q of the driving joint and the virtual displacement δ X input by the movable platform terminal can be connected through a Jacobian matrix J:
δq＝JδX
no movement part i on ith loading axis1And a moving part i2Virtual shift delta ofixi1And deltaixi2And δ X may also be passed through the Jacobian matrixiJi1AndiJi2in connection with this:
δixi1＝iJi1δX
δixi2＝iJi2δX
the virtual displacement delta X and delta X of the movable platform can pass through a Jacobian matrix JvIn connection with this:
δx＝JvδX
establishing an imaginary work equation:
Figure BDA0002372377560000083
obtaining the following components in a simultaneous manner:
Figure BDA0002372377560000084
since the above holds true at any position, velocity and acceleration, it is possible to obtain:
Figure BDA0002372377560000085
obtaining the driving force of the mechanism:
Figure BDA0002372377560000091
the NI controller outputs a corresponding loading shaft cylinder analog quantity control value according to the obtained driving force, and the target of applying the specified load is achieved.
In step S4, detecting a plurality of parameters of the electric spindle in the acceleration experiment includes, but is not limited to, detecting degradation of revolution accuracy, temperature rise change, vibration signal and harmonic current signal.
According to the rapid experiment loading method for the reliability of the electric spindle, provided by the embodiment of the invention, a spindle reliability acceleration test model is established based on a fatigue model of a criterion such as Manson-Hall bilinear fatigue damage and a bearing wear model based on Archard and Hertz contact theories, and a reliability acceleration test based on the magnitude and frequency of a loading force, the rotating speed of the spindle and the like is performed on the spindle. The five-degree-of-freedom parallel pneumatic loading mechanism in the electric spindle reliability loading system can apply axial force, radial force, tangential force and moments in two directions to the electric spindle to simulate the actual stress state of the spindle. When a load based on a load spectrum is applied to the electric spindle, the performance and the health state of a series of electric spindles such as the rotation precision of the electric spindle, the temperature rise of the spindle, the vibration state of a key bearing, the harmonic current of the spindle and the like can be monitored, the performance state of the electric spindle is reflected in real time, and the reliability and the precision retentivity level of the electric spindle are finally evaluated. Therefore, the electric spindle can be rapidly loaded, a plurality of items of spindle state information and the running state of the electric spindle can be detected, and the reliability of the electric spindle can be comprehensively evaluated.
Next, a system for loading an electric spindle with a rapid reliability experiment according to an embodiment of the present invention will be described with reference to the drawings.
Fig. 5 is a schematic three-dimensional structure diagram of an embodiment of a loading system according to an embodiment of the present invention.
As shown in fig. 5, the loading system includes: the method comprises the following steps: the device comprises a main shaft 1, a main shaft base frame 2, a horizontal iron 3, a plane motion module, a precision detection module 6, a five-degree-of-freedom parallel pneumatic loading mechanism 7, a motion control module and a data acquisition and analysis module 9.
The ground flat iron 3 and the front bearing and the rear bearing of the main shaft are respectively provided with a temperature sensor and a vibration sensor for acquiring temperature data and vibration data.
The main shaft base frame 2 is connected with the main shaft 1 and used for fixing the main shaft 1;
the plane motion module comprises an X-direction motion module 4 and a Y-direction motion module 5, the plane motion module is used for driving the precision detection module 6 and the five-freedom-degree parallel pneumatic loading mechanism 7 to move, the X-direction motion module 4 is fixed on the ground flat iron 3, and the Y-direction motion module 5 is installed on the X-direction motion module 4.
The five-degree-of-freedom parallel pneumatic loading mechanism 7 comprises a plurality of loading shafts, each loading shaft is provided with a tension sensor and is used for applying loading force to the main shaft and collecting loading force data, the five-degree-of-freedom parallel pneumatic loading mechanism is fixed on the Y-direction movement module 5 through a plurality of positioning plates, and the upper end of the five-degree-of-freedom parallel pneumatic loading mechanism is connected with the main shaft 1.
The five-degree-of-freedom parallel pneumatic loading mechanism can simulate the stress state of a main shaft during cutting of a machining center and apply force and moment with different frequencies, directions and magnitudes to the machining center.
The precision detection module is fixed on a positioning plate of the five-degree-of-freedom parallel pneumatic loading mechanism and used for detecting the rotation precision and the deformation of the electric spindle;
the motion control module includes host computer 10 and motion control cabinet 8, and the mutual inductance of current sensor and the voltmeter that install on the motion control cabinet 8, motion control cabinet 8 includes: the motion control cabinet 8 can be communicated with a control program of an upper computer 10 through USB serial port communication to perform instruction control on a main shaft, the XY motion module motor motion control module controls the motion of an XY motion module motor and reads position information of the XY motion module motor through an NI controller, the pose state of the five-freedom-degree parallel pneumatic loading mechanism is obtained according to the position information and parameter information of the five-freedom-degree parallel pneumatic loading mechanism, the magnitude of force required to be applied by each loading shaft is calculated by combining the magnitude and direction of each force loaded by a load spectrum, a loading experiment is performed on a loading system, and the NI controller outputs a corresponding loading shaft cylinder analog quantity control value according to the obtained driving force to achieve the target of applying a specified load.
The data acquisition and analysis module 9 acquires the state information of each sensor in the experiment loading system, and evaluates the performance of the motorized spindle according to the state information.
The data acquisition and analysis module can acquire the position information, the actual loading force and the performance state of the main shaft of the system in real time, and can evaluate and monitor the health state of the electric main shaft of the machining center according to the acquired signals mainly through signals such as a temperature sensor, a vibration sensor and a current sensor which are arranged on the electric main shaft and signals such as a tension and pressure sensor which is arranged on a five-degree-of-freedom dynamic force loading mechanism.
The data acquisition and analysis module 9 comprises a current mutual inductance sensor and a voltmeter which are arranged on a motion control cabinet 8, 5 pull pressure sensors which are arranged on a five-degree-of-freedom parallel pneumatic loading mechanism 7, temperature sensors, vibration sensors, an NI synchronous data acquisition and control device and a software system thereof, wherein the temperature sensors and the vibration sensors are respectively arranged on a front bearing, a rear bearing and a ground iron 3 of the main shaft.
As shown in fig. 5, the motion control cabinet 8 of the motion control module integrates a motion control system of the main shaft 1, a motor control system of the X-direction motion module 4, a motor control system of the Y-direction motion module 5, and a pneumatic control system of the five-degree-of-freedom parallel pneumatic loading mechanism 7, so that the upper computer 10 can control the motion of the rest of the mechanical devices through the motion control cabinet 8.
The data acquisition and analysis module 9 is connected with each sensor through an acquisition board card and acquires rotation precision, vibration signals, temperature signals, current signals and the like. A three-phase current mutual inductance sensor and a voltmeter for detecting the current and voltage information of the main shaft are installed in a motion control cabinet 8 of the motion control module, a tension and pressure sensor is respectively installed on a loading shaft of the five-freedom-degree parallel pneumatic loading mechanism 7, and a temperature sensor and a vibration sensor are respectively installed on a front bearing, a rear bearing and a ground flat iron of the main shaft. The motion control cabinet 8 can communicate with a control program of the upper computer 10 through USB serial port communication, and the upper computer 10 can send HEX instruction control through CRC check to the positive and negative rotation, start and stop, rotating speed and the like of the main shaft.
Fig. 6 is a schematic diagram of a five-degree-of-freedom parallel pneumatic loading mechanism. The five-degree-of-freedom parallel pneumatic loading mechanism 7 is mounted on the workbench 51 of the Y-direction movement module 5 through four positioning plates, a main shaft tool shank interface 76 at the upper part is connected with the main shaft 1, and the interface can be provided with a BT40 tool shank or an HSK tool shank.
The detection rod on the five-degree-of-freedom parallel pneumatic loading mechanism is a cylindrical rod and is used for detecting radial rotation precision, axial rotation precision and comprehensive rotation precision, and the rotating speed of the spindle is detected through the infrared feedback paster on the cylindrical rod.
The precision detection module 6 is adsorbed on the middle positioning plate 711, the axis of the first displacement sensor 64 is overlapped with the axis of the detection rod 74, the distance between the first displacement sensor and the detection rod 74 keeps 5-10 mu m required, the second displacement sensor 65 and the third displacement sensor 66 are perpendicular to the detection rod 74, the distance between the second displacement sensor and the third displacement sensor keeps 5-10 mu m required, the rotating speed sensor 67 is perpendicular to the detection rod 74, and the distance between the rotating speed sensor 67 and the detection rod 74 can be kept 1 mm; the lower end of a first loading shaft 79 is arranged on a first positioning plate 712, the lower ends of a second loading shaft 72 and a third loading shaft 73 are arranged on a second positioning plate 71, the lower ends of a fourth loading shaft 77 and a fifth loading shaft 78 are arranged on a third positioning plate 710, the upper end of each loading shaft is arranged on a movable platform 75, a main shaft handle interface 76 is arranged on the movable platform 75, is connected with the main shaft 1 and rotates along with the main shaft, and the lower end of the main shaft handle interface 76 clamps a detection rod 74 through a tool fixture for detecting the radial rotation precision, the axial rotation precision and the comprehensive rotation precision of the main shaft; the first loading shaft 79, the third loading shaft 73 and the fourth loading shaft 74 of the five-degree-of-freedom parallel pneumatic loading mechanism 7 are in a UPS configuration, the second loading shaft 72 and the fifth loading shaft 78 are in a UPU configuration, and an anti-rotation design is adopted, so that the irreversible damage of the mechanism caused by the over-rotation of the mechanism can be avoided.
Fig. 7 is a schematic diagram of the precision detection module. The height of the adjusting mounting seat 68 is adjusted by a simple lifting device, the height is adjusted by adjusting the degree of screwing the adjusting screw 684 into the adjusting mounting seat base 681, the adjusting screw is fixed by screwing the adjusting nut 685, and the first positioning screw 682 and the second positioning screw 683 are correspondingly screwed, so that the precision detection module has proper height and can be accurately mounted at a specified position; adjust mount pad 68 and pass through the screw rigid coupling on first magnet holder 61, the second magnet holder adsorbs the regulation mount pad platform 686 on adjusting mount pad 68, sensor mount pad 63 passes through the screw rigid coupling on second magnet holder 62, first displacement sensor 64, second displacement sensor 65, third displacement sensor 66 installs at sensor mount pad 63, and its axis is through the same point, revolution speed sensor 67 is installed in third displacement sensor 66 top, a signal for detecting the reflection of the red outer feedback sticker on detecting stick 74 monitors the main shaft rotational speed.
Fig. 8 is a schematic view of the spindle mounting apparatus. Wherein, main shaft 1 installs main shaft bed frame upper portion 22 on main shaft bed frame 2 through main shaft locating plate 21, and main shaft bed frame divide into two parts from top to bottom: spindle bed frame upper portion 22 and spindle bed frame base 23 are cast iron and welding component, and spindle bed frame upper portion 22 passes through screw nut rigid coupling with spindle bed frame base 23, and spindle bed frame base 23 installs on ground flat iron 3, and spindle bed frame 2 has a plurality of round holes for sensor, trachea, electric wire cable walk the line.
Fig. 9 is a schematic diagram of the XY motion module. FIG. 10 is a schematic view of the Y-direction motion module. The X-direction movement module and the Y-direction movement module are in modular design and driven by a lead screw-guide rail scheme, and the X-direction movement module 4 is similar to the Y-direction movement module 5 in structure.
The Y-direction movement module 5 is in a double-guide-rail 57 and four-slider 56 configuration, the stroke meets the working space requirement of the five-degree-of-freedom parallel pneumatic loading mechanism 7, the guide rails 57 are arranged on a Y-direction module bottom plate 58 in parallel, the sliders 56 are arranged on the guide rails 57 according to requirements, a Y-direction module workbench 51 is arranged on the guide rails 57, and threaded holes are drilled in the Y-direction module workbench 51 and used for installing 4 positioning plates. The first baffle plate 52 and the second baffle plate 515 are arranged on two sides of the Y-direction module bottom plate 58, the middle part of the Y-direction module bottom plate penetrates through a lead screw 59, two ends of the lead screw 59 are fixed by a first lead screw nut 53 and a second lead screw nut 510, the moving block flange 55 moves along with the lead screw 59 through the lead screw 59 and is connected with the moving block 54, the upper plane of the moving block 54 is fixedly connected with the Y-direction module workbench 51, and therefore the moving block 54 and the Y-direction module workbench 51 are driven by the movement of the lead screw 59 to move along the direction of the guide rail. The motor module comprises a coupler 511, a motor 512, a motor mounting plate 513 and a motor module connecting piece 514, wherein the motor 512 is mounted on the motor mounting plate 513, the motor mounting plate 513 is fixedly connected to the second baffle 515 through the motor module connecting piece 514, and the motor 512 is connected with the lead screw 59 through the coupler 511, so that the lead screw 59 is driven to rotate.
The motor rotation amounts of the X-direction movement module 4 and the Y-direction movement module 5 are controlled by the data acquisition and analysis module 9 through the movement control module 8, the position information of the X-direction movement module and the Y-direction movement module is read, the pose state of the mechanism is solved by combining the parameters of the five-degree-of-freedom parallel pneumatic loading mechanism 7, the force required to be applied by each loading shaft can be solved according to the force and the direction loaded by the load spectrum, and the specific solving process is analyzed above.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the system of this embodiment, and is not repeated here.
According to the loading system for the electric spindle reliability rapid experiment provided by the embodiment of the invention, the loading system capable of simulating the actual loading condition of the spindle realizes the loading of the spindle, the reliability acceleration experiment is realized through a certain acceleration factor based on an acceleration model, the actual loading condition of the spindle can be simulated at lower cost, the test speed can be accelerated, and meanwhile, the spindle performance state is monitored through a plurality of sensors arranged, the precision and the reliability of the spindle are evaluated, so that the loading system has a wide application prospect.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (9)

1.一种电主轴可靠性快速实验加载方法，其特征在于，包括以下步骤：1. a method for fast test loading of electric spindle reliability, is characterized in that, comprises the following steps: S1，建立电主轴的疲劳与磨损加速模型；S1, establish the fatigue and wear acceleration model of the electric spindle; S2，根据常规的主轴载荷谱与所述电主轴的疲劳与磨损加速模型中的加速因子对所述常规的主轴载荷谱中的加载力大小与频率、主轴转速进行提高，得到加速载荷谱；所述S2进一步包括：S2, according to the conventional spindle load spectrum and the acceleration factor in the fatigue and wear acceleration model of the electric spindle, the magnitude and frequency of the loading force and the spindle speed in the conventional spindle load spectrum are increased to obtain an accelerated load spectrum; Said S2 further includes: 建立电主轴简易受力模型，获取外载荷与内力之间的关系：A simple force model of the motorized spindle is established to obtain the relationship between the external load and the internal force:
Figure FDA0003026762960000011
Figure FDA0003026762960000011
 其中，L1、L2为电主轴尺寸参数，F为加载力，G1是电机的重力，G2是电主轴的重力；Among them, L 1 and L 2 are the size parameters of the electric spindle, F is the loading force, G 1 is the gravity of the motor, and G 2 is the gravity of the electric spindle;
Figure FDA0003026762960000012
Figure FDA0003026762960000012
 计算单一加载水平下的对应的疲劳寿命，使用基于Manson-Halford双线性疲劳损伤准则的疲劳模型，其疲劳寿命为：Calculate the corresponding fatigue life under a single loading level, using a fatigue model based on the Manson-Halford bilinear fatigue damage criterion, the fatigue life is:
Figure FDA0003026762960000021
Figure FDA0003026762960000021
 其中，K1＝8.627×1056，
Figure FDA0003026762960000022
d为电主轴轴心直径；Among them, K 1 =8.627×10 56 ,
Figure FDA0003026762960000022
d is the diameter of the shaft center of the motorized spindle; 建立基于Archard和Hertz接触理论的电主轴前轴承磨损模型：A wear model of the front bearing of the motorized spindle based on the Archard and Hertz contact theory is established:
Figure FDA0003026762960000023
Figure FDA0003026762960000023
 其中，Wvi、Wvo为轴承内外圈累积磨损量，K为磨损系数，K'为润滑系数，ni是内圈转速，Di是内圈直径，no是外圈转速，Do外圈直径，H为较软材料的硬度，Db椭圆中心的直径，kp为压力系数，θ为转动角度，t1、t2为转动的起始时间与停止时间；Among them, W vi , W vo are the accumulated wear amount of the inner and outer rings of the bearing, K is the wear coefficient, K' is the lubrication coefficient, ni is the rotational speed of the inner ring, D i is the diameter of the inner ring, n o is the rotational speed of the outer ring, and D o is the outer ring speed. circle diameter, H is the hardness of the softer material, D b is the diameter of the center of the ellipse, k p is the pressure coefficient, θ is the rotation angle, t 1 , t 2 are the start time and stop time of rotation; 建立磨损的精度损失量：Establish the amount of precision loss for wear:
Figure FDA0003026762960000024
Figure FDA0003026762960000024
 其中，∑ρ为主曲率之和，ma、mb为长半轴、短半轴系数；Among them, ∑ρ is the sum of the principal curvatures, and m a and m b are the major and minor semi-axis coefficients; 设F0为常规试验的加载力，F1为加速试验的加载力，f0为原先的加载力的频率，f1为加速试验的加载力的频率，f为常规实验下电主轴转动的频率，kn为加速实验与常规实验的电主轴转速比，fF为常规实验下电主轴受载的频率，kw为加速实验和常规实验的磨损量之比，kD为加速实验和常规实验的累计疲劳损伤之比：Let F 0 be the loading force of the conventional test, F 1 be the loading force of the accelerated test, f 0 be the frequency of the original loading force, f 1 be the frequency of the loading force of the accelerated test, and f be the frequency of the rotation of the motorized spindle under the conventional test , k n is the speed ratio of the electric spindle in the accelerated experiment and the conventional experiment, f F is the load frequency of the electric spindle in the conventional experiment, k w is the ratio of the wear amount of the accelerated experiment and the conventional experiment, k D is the accelerated experiment and the conventional experiment The cumulative fatigue damage ratio of:
Figure FDA0003026762960000025
Figure FDA0003026762960000025
 令m＝f0/f，设加载频率倍数：Let m=f 0 /f, set the loading frequency multiple:
Figure FDA0003026762960000026
Figure FDA0003026762960000026
 加载力倍数：Loading force multiple:
Figure FDA0003026762960000027
Figure FDA0003026762960000027
 于是有：So there are:
Figure FDA0003026762960000031
Figure FDA0003026762960000031
 根据累计磨损量和累计疲劳损伤等比例放大的原则，设加速因子为K，有：According to the principle of proportional enlargement of accumulated wear amount and accumulated fatigue damage, let the acceleration factor be K, as follows:
Figure FDA0003026762960000032
Figure FDA0003026762960000032
 代入得：Substitute into:
Figure FDA0003026762960000033
Figure FDA0003026762960000033
 其中，a,b,ai,bi均由电主轴本身的几何参数和自重决定的已知量；Among them, a, b, a i , b i are all known quantities determined by the geometric parameters of the electro-spindle itself and its own weight; 取kn作为参数，解得：Taking k n as a parameter, the solution is:
Figure FDA0003026762960000034
Figure FDA0003026762960000034
 S3，在加载系统中，根据加速载荷谱对电主轴进行控制，获取所述加载系统中运动模组的位置信息和五自由度并联气动加载机构的参数信息，根据所述位置信息和参数信息计算所述五自由度并联气动加载机构的位姿信息，根据所述位姿信息和所述加速载荷谱计算所述五自由度并联气动加载机构的各个加载轴上的加载力和频率；S3, in the loading system, the electro-spindle is controlled according to the acceleration load spectrum, the position information of the motion module in the loading system and the parameter information of the five-degree-of-freedom parallel pneumatic loading mechanism are obtained, and the calculation is performed according to the position information and the parameter information. The pose information of the five-degree-of-freedom parallel pneumatic loading mechanism, and the loading force and frequency on each loading axis of the five-degree-of-freedom parallel pneumatic loading mechanism are calculated according to the pose information and the acceleration load spectrum; S4，根据计算出的各个加载轴上的加载力和频率对电主轴进行加速实验，检测加速实验中电主轴的多个参数，根据所述多个参数对所述电主轴的性能进行评价。S4 , performing an acceleration experiment on the electrospindle according to the calculated loading force and frequency on each loading axis, detecting multiple parameters of the electrospindle in the acceleration experiment, and evaluating the performance of the electrospindle according to the multiple parameters. 2.根据权利要求1所述的电主轴可靠性快速实验加载方法，其特征在于，2. The electric spindle reliability fast test loading method according to claim 1, is characterized in that, 根据基于Manson-Halford双线性疲劳损伤准则的疲劳模型和基于Archard和Hertz接触理论的轴承磨损模型建立所述电主轴的疲劳与磨损加速模型。According to the fatigue model based on Manson-Halford bilinear fatigue damage criterion and the bearing wear model based on Archard and Hertz contact theory, the fatigue and wear acceleration model of the electric spindle is established. 3.根据权利要求1所述的电主轴可靠性快速实验加载方法，其特征在于，计算所述五自由度并联气动加载机构的各个加载轴上的加载力，包括：3. The electric spindle reliability fast test loading method according to claim 1, characterized in that, calculating the loading force on each loading shaft of the five-degree-of-freedom parallel pneumatic loading mechanism, comprising: 对所述五自由度并联气动加载机构的动平台进行受力分析：Perform force analysis on the moving platform of the five-degree-of-freedom parallel pneumatic loading mechanism:
Figure FDA0003026762960000041
Figure FDA0003026762960000041
 其中，fM为动平台受到的作用力矢量，nM为动平台受到的力矩矢量，
Figure FDA0003026762960000042
为动平台的加速度矢量，
Figure FDA0003026762960000043
为动平台的角加速度矢量，ω为动平台的角速度矢量，mM为动平台的质量，g为重力加速度，fe和ne为简化到动平台坐标系{M}原点o的载荷，BIM＝BRM MIM BRM T为动平台关于质心的惯性矩阵在静平台基础坐标系{B}中的表示，BRM为动平台相对于静平台基础坐标系的旋转矩阵，MIM为Among them, f M is the force vector received by the moving platform, n M is the moment vector received by the moving platform,
Figure FDA0003026762960000042
is the acceleration vector of the moving platform,
Figure FDA0003026762960000043
is the angular acceleration vector of the moving platform, ω is the angular velocity vector of the moving platform, m M is the mass of the moving platform, g is the gravitational acceleration, f e and ne are the loads simplified to the origin o of the moving platform coordinate system {M}, B I M = B R M M I M B R M T is the representation of the inertia matrix of the moving platform about the center of mass in the base coordinate system {B} of the static platform, B R M is the rotation matrix of the moving platform relative to the base coordinate system of the static platform, M I M is 动平台对其质心的惯性矩阵，BRM T为动平台相对于静平台基础坐标系的旋转矩阵的转置；The inertia matrix of the moving platform to its center of mass, B R M T is the transpose of the rotation matrix of the moving platform relative to the base coordinate system of the static platform; 对多个加载轴进行受力分析：Perform a force analysis on multiple loading axes: 第i个加载轴上不运动的部分i1和运动部分i2关于各自质心的作用力和惯性力的矢量和可以表示于加载轴坐标系{i}下，具体形式为：The vector sum of the acting force and inertial force of the non-moving part i 1 and the moving part i 2 on the ith loading axis about their respective centers of mass can be expressed in the loading axis coordinate system {i}, and the specific form is:
Figure FDA0003026762960000044
Figure FDA0003026762960000044
Figure FDA0003026762960000045
Figure FDA0003026762960000045
 其中，mi1和mi2分别是构件i1和i2的质量，iIi1和iIi2分别是构件i1和i2质心的转动惯量在支链坐标系{i}中的表示，ifi1和ifi2为构件i1和i2关于加载轴坐标系{i}下的受力矢量，ini1和ini2为构件i1和i2关于加载轴坐标系{i}下的惯性力矢量，iRB为加载轴坐标系{i}相对于静平台基础坐标系的旋转矩阵，
Figure FDA0003026762960000046
和
Figure FDA0003026762960000047
为构件i1和i2的加速度矢量，iωi为第i个加载轴相对于其质心的角加速度矢量；Among them, m i1 and m i2 are the masses of members i 1 and i 2 , respectively, i I i1 and i I i2 are the representations of the moments of inertia of the centers of mass of members i 1 and i 2 in the branch coordinate system {i}, i f i1 and i f i2 are the force vectors of components i 1 and i 2 about the loading axis coordinate system {i}, i n i1 and i n i2 are the components i 1 and i 2 about the loading axis coordinate system {i} The inertial force vector of , i R B is the rotation matrix of the loading axis coordinate system {i} relative to the base coordinate system of the static platform,
Figure FDA0003026762960000046
and
Figure FDA0003026762960000047
is the acceleration vector of components i 1 and i 2 , i ω i is the angular acceleration vector of the i-th loading axis relative to its center of mass; 根据虚功原理法对所述五自由度并联气动加载机构进行动力学建模：The dynamic modeling of the five-degree-of-freedom parallel pneumatic loading mechanism is carried out according to the principle of virtual work: 驱动关节虚位移δq与动平台终端输入虚位移δX通过雅可比矩阵J联系起来：The virtual displacement δq of the drive joint and the virtual displacement δX of the terminal input of the moving platform are connected by the Jacobian matrix J: δq＝JδXδq=JδX 第i个加载轴中的构件i1和i2的虚位移δixi1和δixi2与δX也可通过雅可比矩阵iJi1和iJi2联系起来：The imaginary displacements δ i x i1 and δ i x i2 and δX of members i 1 and i 2 in the i-th loading axis can also be related by Jacobian matrices i J i1 and i J i2 : δixi1＝iJi1δXδ i x i1 = i J i1 δX δixi2＝iJi2δXδ i x i2 = i J i2 δX 虚位移δx和δX通过雅可比矩阵Jv联系起来：The imaginary displacements δx and δX are related by the Jacobian matrix J v : δx＝JvδXδx=J v δX 建立虚功方程：Create a virtual work equation:
Figure FDA0003026762960000051
Figure FDA0003026762960000051
 联立得到：Jointly get:
Figure FDA0003026762960000052
Figure FDA0003026762960000052
 得到：get:
Figure FDA0003026762960000053
Figure FDA0003026762960000053
 得到所述五自由度并联气动加载机构的驱动力：Obtain the driving force of the five-degree-of-freedom parallel pneumatic loading mechanism:
Figure FDA0003026762960000054
Figure FDA0003026762960000054
 4.根据权利要求1所述的电主轴可靠性快速实验加载方法，其特征在于，所述检测加速实验中电主轴的多个参数包括但不限于检测回转精度衰退、温升变化、振动信号和谐波电流信号。4. The electric spindle reliability fast test loading method according to claim 1 is characterized in that, the multiple parameters of the electric spindle in the described detection acceleration experiment include but are not limited to detecting the decline of rotation accuracy, temperature rise change, vibration signal and Harmonic current signal. 5.一种利用如权利要求1-4任一项所述的电主轴可靠性快速实验加载方法的电主轴可靠性快速实验加载系统，其特征在于，包括：电主轴(1)、电主轴基架(2)、地平铁(3)、平面运动模组、精度检测模块(6)、五自由度并联气动加载机构(7)、运动控制模块、数据采集分析模块(9)；5. An electric spindle reliability fast test loading system utilizing the electric spindle reliability fast test loading method according to any one of claims 1-4, characterized in that, comprising: an electric spindle (1), an electric spindle base a frame (2), a horizontal rail (3), a plane motion module, an accuracy detection module (6), a five-degree-of-freedom parallel pneumatic loading mechanism (7), a motion control module, and a data acquisition and analysis module (9); 所述地平铁(3)和所述电主轴(1)的前轴承与后轴承分别安装有温度传感器和振动传感器，用于采集温度数据和振动数据；A temperature sensor and a vibration sensor are respectively installed on the front bearing and the rear bearing of the horizontal iron (3) and the electric spindle (1) for collecting temperature data and vibration data; 所述电主轴基架(2)与所述电主轴(1)连接，用于固定所述电主轴(1)；The electro-spindle base frame (2) is connected to the electro-spindle (1) for fixing the electro-spindle (1); 所述平面运动模组包括X向运动模组(4)和Y向运动模组(5)，所述平面运动模组用于带动所述精度检测模块(6)和所述五自由度并联气动加载机构(7)进行运动，所述X向运动模组(4)固定在所述地平铁(3)上，所述Y向运动模组(5)安装在所述X向运动模组(4)上；The plane motion module includes an X-direction motion module (4) and a Y-direction motion module (5), and the plane motion module is used to drive the precision detection module (6) and the five-degree-of-freedom parallel pneumatic The loading mechanism (7) moves, the X-direction movement module (4) is fixed on the horizon iron (3), and the Y-direction movement module (5) is installed on the X-direction movement module (4). )superior; 所述五自由度并联气动加载机构(7)包括多个加载轴，每个加载轴上装有拉力传感器，用于对电主轴施加加载力并采集加载力大小数据，所述五自由度并联气动加载机构通过多块定位板固定在所述Y向运动模组(5)上，上端与所述电主轴(1)连接；The five-degree-of-freedom parallel pneumatic loading mechanism (7) includes a plurality of loading axes, each of which is provided with a tension sensor for applying a loading force to the electric spindle and collecting the magnitude data of the loading force, and the five-degree-of-freedom parallel pneumatic loading The mechanism is fixed on the Y-direction motion module (5) through a plurality of positioning plates, and the upper end is connected with the electric spindle (1); 所述精度检测模块固定在所述五自由度并联气动加载机构的定位板上，用于检测电主轴回转精度与电主轴变形量；The accuracy detection module is fixed on the positioning plate of the five-degree-of-freedom parallel pneumatic loading mechanism, and is used for detecting the rotation accuracy of the electric spindle and the deformation of the electric spindle; 所述运动控制模块包括上位机(10)和运动控制柜(8)，所述运动控制柜(8)上安装有的电流互感传感器与电压计，运动控制柜(8)包括：电主轴运动控制模块与XY运动模组电机运动控制模块，其中运动控制柜(8)可通过USB串口通信与上位机(10)控制程序通信，进行电主轴的指令控制，XY运动模组电机运动控制模块由NI控制器控制XY运动模组电机的动作并读取其位置信息，所述数据采集分析模块(9)根据位置信息以及所述五自由度并联气动加载机构的参数信息得到所述五自由度并联气动加载机构的位姿状态，结合载荷谱加载的各个力的大小与方向，计算各个加载轴需要施加的力的大小，对所述加载系统进行加载实验；The motion control module includes a host computer (10) and a motion control cabinet (8), a current mutual inductance sensor and a voltmeter are installed on the motion control cabinet (8), and the motion control cabinet (8) includes: an electric spindle motion control The module and the motor motion control module of the XY motion module, wherein the motion control cabinet (8) can communicate with the control program of the host computer (10) through USB serial port communication to perform command control of the electric spindle, and the motor motion control module of the XY motion module is controlled by NI The controller controls the action of the XY motion module motor and reads its position information, and the data acquisition and analysis module (9) obtains the five-degree-of-freedom parallel pneumatic loading mechanism according to the position information and the parameter information of the five-degree-of-freedom parallel pneumatic loading mechanism The posture state of the loading mechanism, combined with the magnitude and direction of each force loaded by the load spectrum, calculate the magnitude of the force that needs to be applied by each loading axis, and perform a loading experiment on the loading system; 所述数据采集分析模块(9)用于采集所述实验加载系统中各个传感器的状态信息，根据所述状态信息对电主轴的性能进行评价。The data collection and analysis module (9) is used to collect state information of each sensor in the experimental loading system, and to evaluate the performance of the electric spindle according to the state information. 6.根据权利要求5所述的电主轴可靠性快速实验加载系统，其特征在于，所述电主轴基架(2)包括：电主轴定位板(21)、电主轴基架上部(22)和电主轴基架基座(23)；6. The electro-spindle reliability fast test loading system according to claim 5, wherein the electro-spindle base frame (2) comprises: an electro-spindle positioning plate (21), an electro-spindle base frame upper part (22) and electric spindle base frame base (23); 电主轴(1)通过电主轴定位板(21)安装在电主轴基架(2)上的电主轴基架上部(22)，电主轴基架(2)分为上下两个部分：电主轴基架上部(22)与电主轴基架基座(23)，为铸铁与焊接构件，电主轴基架上部(22)与电主轴基架基座(23)通过螺钉螺母固接，电主轴基架基座(23)安装在地平铁(3)上，电主轴基架(2)有多个圆孔，用于传感器、气管或电线线缆的走线。The motorized spindle (1) is installed on the upper part (22) of the motorized spindle base frame on the motorized spindle base frame (2) through the motorized spindle positioning plate (21), and the motorized spindle base frame (2) is divided into upper and lower parts: the motorized spindle base frame The upper part (22) of the frame and the base (23) of the base frame of the electric spindle are cast iron and welded components. The upper part (22) of the base frame of the electric main shaft and the base base (23) of the base frame of the electric main shaft are fixedly connected by screws and nuts, and the base frame of the electric main shaft is fixed by screws and nuts. The base (23) is installed on the floor rail (3), and the base frame (2) of the electric spindle is provided with a plurality of circular holes, which are used for the wiring of sensors, air pipes or wires and cables. 7.根据权利要求5所述的电主轴可靠性快速实验加载系统，其特征在于，所述平面运动模组包括：7. The electric spindle reliability fast test loading system according to claim 5, wherein the plane motion module comprises: Y向运动模组(5)采用双导轨(57)和四滑块(56)构型，导轨(57)平行安装在Y向运动模组底板(58)上，滑块(56)安装在导轨(57)上，导轨(57)上安装Y向模组工作台(51)，Y向模组工作台(51)钻有螺纹孔，用于安装多块定位板；The Y-direction motion module (5) adopts the configuration of double guide rails (57) and four sliders (56). (57), a Y-direction module workbench (51) is installed on the guide rail (57), and the Y-direction module workbench (51) is drilled with threaded holes for installing multiple positioning plates; 第一挡板(52)和第二挡板(515)安装在Y向模组底板(58)两侧，中间穿过丝杠(59)，丝杠(59)两端由第一丝杠螺母(53)和第二丝杠螺母(510)固定位置，运动块法兰盘(55)通过丝杠(59)，随丝杠(59)运动，并与运动块(54)连接，运动块(54)上平面与Y向模组工作台(51)固接，从而丝杠(59)的运动带动运动块(54)和Y向模组工作台(51)沿导轨(57)方向运动；The first baffle plate (52) and the second baffle plate (515) are installed on both sides of the Y-direction module base plate (58), and pass through the lead screw (59) in the middle. (53) and the second lead screw nut (510) are fixed in position, the moving block flange (55) moves with the lead screw (59) through the lead screw (59), and is connected with the moving block (54), and the moving block ( 54) The upper plane is fixedly connected with the Y-direction module table (51), so that the movement of the lead screw (59) drives the moving block (54) and the Y-direction module table (51) to move in the direction of the guide rail (57); 所述平面运动模组的电机模组包含联轴器(511)、电机(512)、电机安装板(513)和电机模块连接件(514)，电机(512)安装在电机安装板(513)上，电机安装板(513)通过电机模块连接件(514)固接在第二挡板(515)上，电机(512)通过联轴器(511)与丝杠(59)连接，从而驱动丝杠(59)转动。The motor module of the plane motion module includes a coupling (511), a motor (512), a motor mounting plate (513) and a motor module connector (514), and the motor (512) is mounted on the motor mounting plate (513) , the motor mounting plate (513) is fixed on the second baffle plate (515) through the motor module connecting piece (514), and the motor (512) is connected with the lead screw (59) through the coupling (511), thereby driving the lead screw (59). The lever (59) turns. 8.根据权利要求5所述的电主轴可靠性快速实验加载系统，其特征在于，所述精度检测模块(6)包括：8. The electric spindle reliability fast test loading system according to claim 5, wherein the precision detection module (6) comprises: 调节安装座(68)采用升降装置实现高度调整，通过调整调节螺钉(684)旋入调节安装座底座(681)的程度来调节高度，通过拧紧调节螺母(685)、第一定位螺钉(682)和第二定位螺钉(683)固定；The height of the adjustment mounting seat (68) is adjusted by means of a lifting device. The height is adjusted by adjusting the degree to which the adjusting screw (684) is screwed into the adjusting mounting seat base (681). By tightening the adjusting nut (685) and the first positioning screw (682) be fixed with the second positioning screw (683); 调节安装座(68)通过螺钉固接在第一磁座(61)上，第二磁座(62)吸附在调节安装座(68)上的调节安装座平台(686)，传感器安装座(63)通过螺钉固接在第二磁座(62)上，第一位移传感器(64)、第二位移传感器(65)、第三位移传感器(66)安装在传感器安装座(63)，其轴线通过同一点，转速传感器(67)安装在第三位移传感器(66)上方，用于检测检测棒(74)上的外红反馈贴纸反射的信号来监测电主轴转速。The adjusting mounting seat (68) is fixed on the first magnetic seat (61) by screws, the second magnetic seat (62) is adsorbed on the adjusting mounting seat platform (686) on the adjusting mounting seat (68), and the sensor mounting seat (63) ) is fixed on the second magnetic base (62) by screws, the first displacement sensor (64), the second displacement sensor (65), and the third displacement sensor (66) are mounted on the sensor mounting base (63), the axes of which pass through At the same point, the rotational speed sensor (67) is installed above the third displacement sensor (66) for detecting the signal reflected by the infrared feedback sticker on the detection rod (74) to monitor the rotational speed of the electric spindle. 9.根据权利要求8所述的电主轴可靠性快速实验加载系统，其特征在于，所述五自由度并联气动加载机构(7)包括：9. The electric spindle reliability fast test loading system according to claim 8, wherein the five-degree-of-freedom parallel pneumatic loading mechanism (7) comprises: 所述五自由度并联气动加载机构(7)通过多块定位板安装于Y向运动模组(5)的工作台(51)上，上部的电主轴刀柄接口(76)与电主轴(1)连接；The five-degree-of-freedom parallel pneumatic loading mechanism (7) is mounted on the worktable (51) of the Y-direction motion module (5) through a plurality of positioning plates, and the upper electric spindle tool handle interface (76) is connected to the electric spindle (1). )connect; 所述精度检测模块(6)吸附在中间定位板(711)上，第一位移传感器(64)轴线与检测棒(74)轴线重合，第二位移传感器(65)、第三位移传感器(66)垂直于检测棒(74)，转速传感器(67)垂直于检测棒(74)；The precision detection module (6) is adsorbed on the intermediate positioning plate (711), the axis of the first displacement sensor (64) coincides with the axis of the detection rod (74), the second displacement sensor (65) and the third displacement sensor (66) perpendicular to the detection rod (74), the rotational speed sensor (67) is perpendicular to the detection rod (74); 各个加载轴下端安装在定位板上，各个加载轴上端安装在动平台(75)上，动平台(75)上安装了电主轴刀柄接口(76)，与电主轴(1)连接，并随电主轴(1)转动，电主轴刀柄接口(76)下端通过刀具夹具夹持检测棒(74)，用于检测电主轴的径向回转精度、轴向回转精度及综合回转精度；The lower end of each loading shaft is installed on the positioning plate, the upper end of each loading shaft is installed on the moving platform (75), and the electric spindle tool holder interface (76) is installed on the moving platform (75), which is connected with the electric spindle (1), and is connected with the electric spindle (1). The motorized spindle (1) rotates, and the lower end of the motorized spindle tool holder interface (76) clamps the detection rod (74) through the tool holder, which is used to detect the radial rotation accuracy, axial rotation accuracy and comprehensive rotation accuracy of the motorized spindle; 所述五自由度并联气动加载机构(7)的第一加载轴(79)、第三加载轴(73)、第四加载轴(77)为UPS构型，第二加载轴(72)与第五加载轴(78)为UPU构型，并采用防回转设计，避免机构本身过度回转。The first loading shaft (79), the third loading shaft (73), and the fourth loading shaft (77) of the five-degree-of-freedom parallel pneumatic loading mechanism (7) are of UPS configuration, and the second loading shaft (72) is connected with the third loading shaft (72). The five loading shafts (78) are of UPU configuration and adopt anti-rotation design to avoid excessive rotation of the mechanism itself.
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