CN108956144B - Device and method for testing temperature rise and static rigidity of modular crossed roller bearing - Google Patents

Abstract

The invention discloses a cross-roller bearing temperature rise testing mechanism, a cross-roller bearing angular stiffness testing mechanism, an axial stiffness testing mechanism and a radial stiffness testing mechanism. The invention also discloses a method for realizing the temperature rise test of the crossed roller bearing, the angular stiffness test of the crossed roller bearing, the axial stiffness test and the radial stiffness test by using the above-mentioned various mechanisms. The beneficial effect of the invention is that the modular structure design is adopted, the structure is simple, and the functions are multi-functional. Not only can the temperature rise test of the crossed roller bearing be carried out, but three stiffness values can be obtained through the loading test, which is very useful for the research and testing of the crossed roller bearing. The thermal and static characteristics are of great significance.

Description

A modular crossed roller bearing temperature rise and static stiffness testing device and method

technical field

The invention belongs to the technical field of mechanical equipment, relates to a temperature rise and static stiffness testing device of a modular crossed roller bearing, and also relates to a temperature rise and static stiffness testing method of a modularized crossed roller bearing.

Background technique

Crossed roller bearing is a kind of precision rotary unit, not only its small size, but also can bear axial force, radial force and overturning moment at the same time, it is widely used in the structure of CNC turntable and robot joints of CNC machine tools and other equipment. The temperature rise and static stiffness of the cross-roller bearing directly affect the performance of the machine tool and the whole system of the robot. Therefore, an effective test method is used to accurately test the temperature-rise characteristics of the cross-roller bearing under different loads and rotational speeds, as well as the axial and radial The stiffness and angular stiffness properties are important.

The thermal state and static characteristic parameters of crossed roller bearings are the basis for the performance prediction of CNC machine tools, robots, etc., and the reasonable selection of bearings. Therefore, the temperature rise and static stiffness characteristics are an important performance parameter of crossed roller bearings. At present, only a small part of bearing samples at home and abroad provide these data, and the parameters are incomplete, which makes it difficult to reasonably select crossed roller bearings in the structural design of machine tools and robots. Apparatus and method of characterization.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a temperature rise and static stiffness test device for a modularized crossed roller bearing, which solves the problem that the prior art does not have a special equipment for the temperature rise and static stiffness test of the crossed roller bearing, resulting in the lack of bearing sample data. Poor accuracy, a problem affecting its use.

Another object of the present invention is to provide a method for testing the temperature rise and static stiffness of a modular crossed roller bearing.

The technical scheme adopted in the present invention is,

The first is a cross-roller bearing temperature rise testing mechanism, including a counterweight block, which is fixedly installed on the upper end of the shaft center hole of the turntable, and the turntable is supported in the ring groove on the upper part of the base through the cross-roller bearing. The outer ring is fixed on the base by the upper pressure plate through a circle of bolts, and the inner ring of the crossed roller bearing is fixed on the turntable by the lower pressure plate through another circle of bolts; The motor is connected with the output shaft of the motor through the coupling, and the motor is fixed in the inner cavity of the base;

The upper end face of the base is provided with a thermocouple installation groove, a plurality of thermocouples are symmetrically installed in the thermocouple installation groove, and each thermocouple is in contact with the outer ring of the crossed roller bearing.

The second type is a cross-roller bearing angular stiffness testing mechanism. A flange hole is radially opened at the lower circumference of the base, a loading sleeve is installed in the flange hole, and the outer edge of the loading sleeve is connected to the base through bolts. The outer wall is fixed, and the inner hole of the loading sleeve is fitted with a loading bolt through a thread; a moment measuring shaft is fitted downward in the shaft center hole of the turntable, and a steel ball is connected in sequence between the loading bolt and the moment measuring shaft. One, the sensor connecting shaft and the force Sensor; loading sleeve, loading bolt, steel ball 1, sensor connecting shaft, and force sensor are collectively called loading module, and the loading module here is radially installed;

The upper end face of the base is also provided with a displacement sensor bracket 1 and a displacement sensor bracket 2 symmetrically along the diameter direction.

The third type is a cross-roller bearing axial stiffness testing mechanism. A bracket sleeve is fixedly installed on the upper end face of the base by screws, and a loading sleeve is fixed and installed in the axial hole on the top surface of the bracket sleeve by bolts. Loading bolts are sleeved in the inner hole of the cylinder through threads; a connecting platform is sleeved on the upper end of the shaft hole of the turntable, and a steel ball 1, a sensor connecting shaft and a force sensor are sequentially arranged between the loading bolts downward and the connecting platform.

The fourth type is a radial stiffness testing mechanism of a crossed roller bearing, including a bearing seat and a radial intermediate shaft, the outer ring of the crossed roller bearing is supported in the stepped hole of the bearing seat, and the upper pressure plate on the outer ring of the crossed roller bearing is supported It is fixedly connected with the bearing seat, and the inner ring of the crossed roller bearing is fixed with the turntable through the lower pressure plate; the radial intermediate shaft is sleeved in the shaft center hole of the turntable, and the upper and lower ends of the radial intermediate shaft are installed in the radial support through pressing blocks;

It also includes a radial forcing base, a loading bolt is arranged in the inner hole of the radial forcing base, and a steel ball, a sensor connecting shaft, a radial force sensor, and a radial force sensor connection are sequentially arranged between the loading bolt and the outer wall of the bearing seat. Block, steel ball two, this part is collectively called radial force loading module;

The radial bearing seat is provided with a displacement measurement plane, that is, a plane composed of the central axis of the radial intermediate shaft and the central axis of the loading bolt. A displacement test unit is installed on the displacement measurement plane. The displacement test unit includes a displacement sensor. Third, the displacement Sensor No. 4 and Displacement Sensor No. 5, the three displacement sensors are all arranged on their respective magnetic bases, and the three magnetic bases are adsorbed on the worktable. Displacement sensor No. 4 is located on the side of the radial bearing seat. Displacement sensor No. 4 is diametrically opposite to steel ball No. 2; The displacement of the outer ring of the sub-bearing.

Another technical solution adopted by the present invention is,

First, a method for testing the temperature rise of a crossed roller bearing, using the above-mentioned temperature rise testing mechanism of the crossed roller bearing, and implementing it according to the following steps:

1.1) Assemble the temperature rise test mechanism of the crossed roller bearing and fix the thermocouple;

1.2) Start the motor, keep the speed value unchanged, change the mass of the counterweight, run for 5 hours, read the temperature value of each thermocouple, take the average value, and draw the difference between the bearing temperature rise and the speed under different load conditions. The relationship curve is obtained to obtain the temperature rise and rotation speed change law of the bearing;

1.3) Keep the mass of the counterweight unchanged, change the speed of the motor, run for 5 hours, read the temperature value of each thermocouple, take the average value, and draw the relationship curve between the bearing temperature rise and the load under different speed conditions, The temperature rise and load variation law of the bearing is obtained.

Second, a method for testing the angular stiffness of a crossed roller bearing, using the above-mentioned testing mechanism for the angular stiffness of a crossed roller bearing, and implementing it according to the following steps:

Install the loading module in the flange hole of the lower side wall of the base, turn the loading bolt to adjust the loading force to change the loading torque, record the readings of the displacement sensor 1 and the displacement sensor 2 under the action of different moments, and calculate the corresponding The moment load size and the deflection angle value of the bearing are then drawn, and then the relationship curve between the moment and the deflection angle is drawn, and the functional relationship is obtained by fitting, and the following angular stiffness value of the bearing is obtained by derivation.

M _t =F _t ·L,

In the formula, θ is the deflection angle of the bearing, δ ₁ and δ ₁ are the measured values of the two displacement sensors, D is the distance between the two displacement sensors, M _t is the overturning moment, F _t is the external load, and L is the moment action The moment arm length, K _t is the bearing angular stiffness.

The third, a bearing axial stiffness testing method, uses the above-mentioned crossed roller bearing axial stiffness testing mechanism, and implements it according to the following steps:

3.1) Install the axial force loading module and reset the force sensor to zero;

3.2) Install the displacement sensor 1 and the displacement sensor 2 on the displacement sensor bracket 1 and the displacement sensor bracket 2 respectively, and adjust the parameters so that they are within the measurement range of the sensor;

3.3) Start loading, adjust the magnitude of the axial force by changing the feed of the loading bolt, and record the readings of displacement sensor 1 and displacement sensor 2 under different axial forces; taking the axial force as the ordinate, the two displacement sensors The average value of the readings is the abscissa, the change curve is drawn, and the functional relationship is obtained by fitting. By derivation of the functional relationship, the axial stiffness of the bearing is obtained. The calculation formula is as follows:

In the formula, K _n is the axial stiffness value, F _n is the loaded axial force, X _n is the displacement value measured by the sensor, and the bearing axial stiffness value can be obtained.

The fourth, a bearing radial stiffness testing method, utilizes the above-mentioned crossed roller bearing radial stiffness testing mechanism, and implements it according to the following steps:

4.1) Assemble the radial force loading module, and adsorb the three magnetic force meter bases to the measurement positions on the workbench, install the displacement sensor 3, the displacement sensor 4 and the displacement sensor 5, so that they are located in the measuring surface, and set the displacement sensor parameters;

4.2) Start loading, change the amount of radial force by changing the feed of the loading bolt, record the readings of the three displacement sensors under the action of different radial forces, and convert the radial deformation of the bearing according to the readings of the three displacement sensors. size, draw the relationship curve between radial force and radial deformation, fit it into a functional relationship, and derive the radial stiffness value of the bearing. The calculation formula is:

X=|X _r1 -X _r2 |,

In the formula, X _r1 is the average reading of displacement sensor three and displacement sensor five, representing the displacement value of the inner ring of the bearing; X _r2 is the displacement value of the outer ring of the bearing; F _r is the radial force, and K _r is the radial stiffness.

The beneficial effect of the invention is that the modular structure design is adopted, the structure is simple, and the functions are multi-functional. Not only can the temperature rise test of the crossed roller bearing be carried out, but three stiffness values can be obtained through the loading test, which is very useful for the research and testing of the crossed roller bearing. The thermal and static characteristics are of great significance.

Description of drawings

Fig. 1 is the installation schematic diagram of the cross-roller bearing temperature rise testing mechanism of the present invention;

Fig. 2 is the installation schematic diagram of the cross-roller bearing angular stiffness testing mechanism of the present invention;

Fig. 3 is the installation schematic diagram of the axial stiffness testing mechanism of the crossed roller bearing of the present invention;

4 is a schematic view of the installation of the radial stiffness testing mechanism of the crossed roller bearing of the present invention;

FIG. 5 is a schematic diagram of the angular stiffness test of the crossed roller bearing of the present invention.

In the figure, 1. Upper platen, 2. Crossed roller bearing, 3. Lower platen, 4. Turntable, 5. Base, 6. Motor, 7. Coupling, 8. Connecting shaft, 9. Thermocouple, 10. Counterweight, 11. Displacement sensor 1, 12. Displacement sensor bracket 1, 13. Torque measuring shaft, 14. Force sensor, 15. Sensor connecting shaft, 16. Steel ball 1, 17. Loading bolt, 18. Loading sleeve , 19. Displacement sensor two, 20. Displacement sensor bracket two, 21. Bracket sleeve, 22. Connecting platform, 23. Displacement sensor three, 24. Displacement sensor four, 25. Displacement sensor five, 26. Radial intermediate shaft, 27. Bearing seat, 28. Radial force sensor connecting block, 29. Radial force base, 30. Radial support, 31. Pressure block, 32. Steel ball II.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1, the structure of the cross-roller bearing temperature rise testing mechanism of the present invention includes a mass-adjustable counterweight 10, the counterweight 10 is fixedly installed on the upper end of the shaft center hole of the turntable 4, and the turntable 4 passes through the cross-roller bearing. 2 Supported in the upper ring groove of the base 5, the outer ring of the crossed roller bearing 2 is fixed on the base 5 by the upper pressure plate 1 through a circle of bolts, and the inner ring of the crossed roller bearing 2 is fixed on the turntable by the lower pressure plate 3 through another circle of bolts 4; the lower end of the shaft center hole of the turntable 4 is fixedly connected with the connecting shaft 8 through the thread, and the connecting shaft 8 is downwardly connected with the output shaft of the motor 6 through the coupling 7, and the motor 6 is fixed in the inner cavity of the base 5;

The above-mentioned counterweight 10, turntable 4, crossed roller bearing 2, connecting shaft 8, coupling 7 and the axis of rotation of the output shaft of the motor 6 are all on the same straight line; A plurality of thermocouples 9 are symmetrically installed in the couple installation groove, and each thermocouple 9 is in contact with the outer ring of the crossed roller bearing 2 so as to detect the temperature parameters of the crossed roller bearing 2 .

As shown in Figure 2, the structure of the cross-roller bearing angular stiffness testing mechanism of the present invention is that on the basis of Figure 1, the motor 6, the connecting shaft 8 and the coupling 7 are removed, and a method is radially opened at the lower part of the base 5. A flange hole, a loading sleeve 18 is installed in the flange hole, the outer edge of the loading sleeve 18 is fixed with the outer wall of the base 5 by bolts, and the inner hole of the loading sleeve 18 is threaded with a loading bolt 17; A moment measuring shaft 13 is sleeved downward in the hole, and a steel ball 16, a sensor connecting shaft 15 and a force sensor 14 are sequentially connected between the loading bolt 17 and the moment measuring shaft 13, and the loading bolt 17, the steel ball 16, the force The radial centerline of the sensor 14 is in the same elevation as the moment measuring shaft 13 and the rotation axis of the turntable 4; the loading sleeve 18, the loading bolt 17, the steel ball 16, the sensor connecting shaft 15, and the force sensor 14 are collectively referred to as loading module, the load module here is radially mounted;

The upper end surface of the base 5 is also provided with a displacement sensor bracket 1 12 and a displacement sensor bracket 2 20 symmetrically along the diameter direction. The first sensor 11 and the second displacement sensor 19 are used to detect the relative displacement parameters between the inner and outer rings of the crossed roller bearing 2 .

As shown in FIG. 3, the structure of the axial stiffness testing mechanism of the crossed roller bearing of the present invention is that, on the basis of FIG. 2, the radially installed loading module and the moment measuring shaft 13 are removed,

A bracket sleeve 21 is fixedly installed on the upper end face of the base 5 by screws, a loading sleeve 18 is fixedly installed in the axial center hole of the upper surface of the bracket sleeve 21 by bolts, and a loading bolt 17 is threaded in the inner hole of the loading sleeve 18 ; A connecting platform 22 is sleeved on the upper end of the axis hole of the turntable 4, and a steel ball 16, a sensor connecting shaft 15, and a force sensor 14 are arranged between the loading bolt 17 downward and the connecting platform 22 in turn;

The sensor connecting shaft 15 is half-sleeved in the inner hole of the loading sleeve 18, that is, the loading sleeve 18 guides the sensor connecting shaft 15; the steel ball 16 is placed in the tapered hole in the center of the upper surface of the sensor connecting shaft 15; the loading sleeve The cylinder 18, the loading bolt 17, the sensor connecting shaft 15, the connecting platform 22 and the rotation axis of the turntable 4 are on the same straight line;

The loading module here is axially installed, and the first displacement sensor 11 and the second displacement sensor 19 are used to detect the axial relative displacement parameters between the inner and outer rings of the crossed roller bearing 2;

As shown in Fig. 4, the structure of the radial stiffness test mechanism of the crossed roller bearing of the present invention is that the turntable 4, the crossed roller bearing 2, the upper pressure plate 1 and the lower pressure plate 3 of the clamping bearing in Fig. 1 are completely removed,

Including the bearing seat 27 and the radial intermediate shaft 26, the outer ring of the crossed roller bearing 2 is supported in the stepped hole of the bearing seat 27, the upper pressure plate 1 on the outer ring of the crossed roller bearing 2 is fixedly connected with the bearing seat 27, the crossed roller The inner ring of the bearing 2 is fixed with the turntable 4 through the lower pressing plate 3; the radial intermediate shaft 26 is sleeved in the axial hole of the turntable 4, and the upper and lower ends of the radial intermediate shaft 26 are installed in the radial support 30 through the pressing block 31;

It also includes a radial force base 29. The inner hole of the radial force base 29 is provided with a loading bolt 17. Between the loading bolt 17 and the outer wall of the bearing seat 27, a steel ball 16, a sensor connecting shaft 15, and a radial force are arranged in sequence. The sensor 14, the radial force sensor connecting block 28, and the steel ball 2 32 are collectively referred to as the radial force loading module;

The radial bearing seat 27 is provided with a displacement measurement plane, that is, a plane composed of the central axis of the radial intermediate shaft 26 and the central axis of the loading bolt 17, and a displacement test unit is installed on the displacement measurement plane, and the displacement test unit includes a displacement sensor. Three 23, displacement sensor four 24 and displacement sensor five 25, the three displacement sensors are all arranged on their respective magnetic seats, the three magnetic seats are adsorbed on the worktable, the displacement sensor three 23 is located on one side of the turntable 4, the displacement sensor The five 25 is located on the other side of the turntable 4, the displacement sensor four 24 is located on the side of the radial bearing seat 27, the displacement sensor four 24 is diametrically opposite to the steel ball two 32; the displacement sensor three 23 and the displacement sensor five 25 are used to measure the cross rolling The displacement of the inner ring of the sub-bearing 2, the displacement sensor 4 24 is used to measure the displacement of the outer ring of the crossed roller bearing 2.

The above-mentioned four testing mechanisms of the present invention adopt a modular structure. According to the testing requirements, different loading modules are installed, and corresponding structures can be flexibly assembled to realize the temperature rise test of the crossed roller bearing, the angular stiffness test of the crossed roller bearing, and the axial stiffness test. Radial stiffness test as well as radial stiffness test.

In the following steps, the crossed roller bearing 2 is referred to as a bearing for short, the outer ring of the crossed roller bearing 2 and the base 5 adopt a small clearance fit, and the inner ring of the crossed roller bearing 2 and the turntable 4 adopt a transition fit.

Utilize the above-mentioned device of the present invention, respectively carry out bearing temperature rise test, bearing angular stiffness test, bearing axial stiffness test and bearing radial stiffness test, and implement according to the following steps:

1. Bearing temperature rise test:

1.1) Assemble the test mechanism according to Figure 1, and fix the thermocouple 9;

1.2) Start the motor 6, keep the speed value unchanged, change the mass of the counterweight 10, run for 5 hours, read the temperature value of each thermocouple 9, take the average value, and plot the bearing temperature rise and speed under different load conditions The relationship curve between the bearing temperature rise and speed change law.

1.3) Keep the mass of the counterweight 10 unchanged, change the speed of the motor 6, run for 5 hours, read the temperature value of each thermocouple 9, take the average value, and plot the bearing temperature rise and load under different speed conditions. The relationship curve is obtained to obtain the temperature rise and load change law of the bearing.

2. Bearing angular stiffness test:

According to Figure 2, install the loading module in the flange hole of the lower side wall of the base 5, turn the loading bolt 17 to adjust the loading force to change the loading torque, and record the displacement sensor 1 11 and the displacement sensor 2 under the action of different moments 19, calculate the corresponding moment load and the deflection angle of the bearing respectively, then draw the relationship curve between the moment and the deflection angle, and obtain its functional relationship by fitting, and obtain the following bearing angular stiffness value by derivation. As shown in Figure 5, the calculation formula of bearing angular stiffness value is as follows:

M _t =F _t ·L(2)

In the formula, θ is the deflection angle of the bearing, δ ₁ and δ ₁ are the measured values of the two displacement sensors, D is the distance between the two displacement sensors, M _t is the overturning moment, F _t is the external load, and L is the moment action The moment arm length, K _t is the bearing angular stiffness.

3. Bearing axial stiffness test:

3.1) According to Figure 3, install the axial loading module, and reset the force sensor 14 to zero;

3.2) Install the displacement sensor one 11 and the displacement sensor two 19 on the displacement sensor bracket one 12 and the displacement sensor bracket two 20 respectively, and adjust the parameters to make it within the measurement range of the sensor;

3.3) Start loading, adjust the magnitude of the axial force by changing the feed of the loading bolt 17, and record the readings of the displacement sensor one 11 and the displacement sensor two 19 under the action of different axial forces; take the axial force as the ordinate, the two The average value of the readings of each displacement sensor is the abscissa, the change curve is drawn, and the functional relationship is obtained by fitting. By derivation of the functional relationship, the axial stiffness of the bearing is obtained. The calculation formula is as follows:

In the formula, K _n is the axial stiffness value, F _n is the loaded axial force, X _n is the displacement value measured by the sensor, and the bearing axial stiffness value can be obtained.

4. Bearing radial stiffness test:

4.1) Assemble the radial force loading module according to Figure 4, and adsorb the three magnetic force meter bases to the measurement positions on the workbench, install the displacement sensor three 23, the displacement sensor four 24 and the displacement sensor five 25, so that they are located in the measurement position. In the plane, set the displacement sensor parameters;

4.2) Start loading, change the magnitude of the radial force by changing the feed of the loading bolt 17, record the readings of the three displacement sensors under different radial forces, and convert the radial deformation of the bearing according to the readings of the three displacement sensors , draw the relationship curve between radial force and radial deformation, fit it into a functional relationship, and derive the radial stiffness value of the bearing. The calculation formula is:

X=|X _r1 -X _r2 | (5)

In the formula, X _r1 is the average reading of displacement sensor three and displacement sensor five, representing the displacement value of the inner ring of the bearing; X _r2 is the displacement value of the outer ring of the bearing; F _r is the radial force, and K _r is the radial stiffness.

Claims (1)

1. A cross roller bearing test method utilizes a cross roller bearing test mechanism, and the structure of the cross roller bearing test mechanism is as follows: the rotary table comprises a balancing weight (10), wherein the balancing weight (10) is fixedly arranged at the upper end of an axial hole of a rotary table (4), the rotary table (4) is supported in an annular groove at the upper part of a base (5) through a crossed roller bearing (2), the outer ring of the crossed roller bearing (2) is fixed on the base (5) through an upper pressure plate (1) through a circle of bolt, and the inner ring of the crossed roller bearing (2) is fixed on the rotary table (4) through a lower pressure plate (3) through another circle of bolt; the lower end of a shaft center hole of the rotary table (4) is fixedly connected with a connecting shaft (8) through threads, the connecting shaft (8) is downwards connected with an output shaft of a motor (6) through a coupler (7), and the motor (6) is fixed in an inner cavity of the base (5); the upper end surface of the base (5) is provided with a thermocouple mounting groove, a plurality of thermocouples (9) are symmetrically mounted in the thermocouple mounting groove, each thermocouple (9) is contacted with the outer ring of the crossed roller bearing (2),

a flange hole is radially formed in the circumference of the lower part of the base (5), a loading sleeve (18) is installed in the flange hole, the outer edge installation edge of the loading sleeve (18) is fixed with the outer wall of the base (5) through a bolt, and a loading bolt (17) is sleeved in the inner hole of the loading sleeve (18) through a thread; a moment measuring shaft (13) is downwards sleeved in a shaft center hole of the rotary table (4), and a first steel ball (16), a sensor connecting shaft (15) and a force sensor (14) are sequentially connected between the loading bolt (17) and the moment measuring shaft (13) in a jacking mode; the loading sleeve (18), the loading bolt (17), the first steel ball (16), the sensor connecting shaft (15) and the force sensor (14) are called as a loading module together, and the loading module is installed in the radial direction; the upper end surface of the base (5) is also symmetrically provided with a first displacement sensor bracket (12) and a second displacement sensor bracket (20) along the diameter direction, the first displacement sensor bracket (12) is provided with a first displacement sensor (11), the second displacement sensor bracket (20) is provided with a second displacement sensor (19),

a support sleeve (21) is fixedly arranged on the upper end face of the base (5) through a screw, a loading sleeve (18) is fixedly arranged in a shaft center hole in the top face of the support sleeve (21) through a bolt, and a loading bolt (17) is sleeved in an inner hole of the loading sleeve (18) through a thread; a connecting platform (22) is sleeved at the upper end of the axial center hole of the rotary table (4), a first steel ball (16), a sensor connecting shaft (15) and a force sensor (14) are sequentially arranged between the downward loading bolt (17) and the connecting platform (22),

the cross roller bearing further comprises a bearing seat (27) and a radial intermediate shaft (26), the outer ring of the cross roller bearing (2) is supported in a stepped hole of the bearing seat (27), an upper pressure plate (1) on the outer ring of the cross roller bearing (2) is fixedly connected with the bearing seat (27), and the inner ring of the cross roller bearing (2) is fixed with the rotary table (4) through a lower pressure plate (3); a radial intermediate shaft (26) is sleeved in a shaft center hole of the rotary table (4), and the upper end and the lower end of the radial intermediate shaft (26) are both installed in a radial support (30) through pressing blocks (31); the device is characterized by also comprising a radial force application base (29), wherein a loading bolt (17) is arranged in an inner hole of the radial force application base (29), a first steel ball (16), a sensor connecting shaft (15), a radial force sensor (14), a radial force sensor connecting block (28) and a second steel ball (32) are sequentially arranged between the loading bolt (17) and the outer wall of the bearing seat (27), and the parts are called as a radial force loading module together; the bearing seat (27) is provided with a displacement measurement plane, namely a plane formed by the central axis of the radial middle shaft (26) and the central axis of the loading bolt (17), a displacement test unit is installed on the displacement measurement plane and comprises a displacement sensor III (23), a displacement sensor IV (24) and a displacement sensor V (25), the three displacement sensors are all arranged on respective magnetic seats, the three magnetic seats are adsorbed on the workbench, the displacement sensor III (23) is positioned on one side surface of the rotary table (4), the displacement sensor V (25) is positioned on the other side surface of the rotary table (4), the displacement sensor IV (24) is positioned on the side surface of the radial bearing seat (27), and the displacement sensor IV (24) is opposite to the steel ball II (32) in the diameter direction; a third displacement sensor (23) and a fifth displacement sensor (25) are used for measuring the displacement of the inner ring of the crossed roller bearing (2), a fourth displacement sensor (24) is used for measuring the displacement of the outer ring of the crossed roller bearing (2),

the method is characterized by comprising four performance testing methods, and is implemented by using the testing mechanism of the crossed roller bearing according to the following steps:

first, a temperature rise test method for a crossed roller bearing,

1.1) assembling a crossed roller bearing temperature rise testing mechanism, and fixing a thermocouple (9);

1.2) starting a motor (6), keeping a rotating speed value unchanged, changing the mass of a balancing weight (10), operating for 5 hours, reading the temperature value of each thermocouple (9), averaging, drawing a relation curve between the bearing temperature rise and the rotating speed under different load conditions, and obtaining the temperature rise and rotating speed change rule of the bearing;

1.3) keeping the mass of the balancing weight (10) unchanged, changing the rotating speed of the motor (6), operating for 5 hours, reading the temperature value of each thermocouple (9), averaging, drawing a relation curve between the bearing temperature rise and the load under different rotating speed conditions, and obtaining the temperature rise and load change rule of the bearing;

second, a cross roller bearing angular stiffness test method,

installing a loading module in a flange hole on the side wall of the lower part of a base (5), screwing a loading bolt (17) to adjust the loading force to change the loading torque, recording the readings of a first displacement sensor (11) and a second displacement sensor (19) under the action of different torques, respectively calculating the corresponding torque load and the deflection angle value of a bearing, then drawing a relation curve between the torque and the deflection angle, fitting to obtain a functional relation formula of the relation, obtaining the following bearing angular rigidity value by derivation, wherein the bearing angular rigidity value calculation formula is as follows:

M_t＝F_t·L，

where theta is the deflection angle of the bearing,₁、₁is two positionsMeasured value of displacement sensor, D is distance between two displacement sensors, M_tIs the overturning moment, F_tFor external loads, L is the length of the arm under the action of moment, K_tBearing angular stiffness;

and thirdly, a bearing axial rigidity testing method,

3.1) installing an axial loading module and zeroing the force sensor (14);

3.2) respectively installing a first displacement sensor (11) and a second displacement sensor (19) on a first displacement sensor support (12) and a second displacement sensor support (20), and adjusting parameters to enable the parameters to be in the measuring range of the sensors;

3.3) starting loading, adjusting the magnitude of the axial force by changing the feeding amount of the loading bolt (17), and recording the readings of the first displacement sensor (11) and the second displacement sensor (19) under different axial forces; the axial force is used as a vertical coordinate, the average value of readings of the two displacement sensors is used as a horizontal coordinate, a change curve is drawn, a functional relation is obtained through fitting, the axial stiffness of the bearing is obtained through derivation of the functional relation, and the calculation formula is as follows:

in the formula, K_nIs an axial stiffness value, F_nFor loaded axial force, X_nMeasuring a displacement value for a sensor, and then calculating the axial rigidity value of the bearing;

and fourthly, a bearing radial rigidity testing method,

4.1) assembling a loading module of radial force, adsorbing three magnetic force gauge seats to a measuring position on a workbench, installing a third displacement sensor (23), a fourth displacement sensor (24) and a fifth displacement sensor (25) to be positioned in a measuring surface, and setting parameters of the displacement sensors;

4.2) starting loading, changing the size of radial force by changing the feeding amount of a loading bolt (17), recording the readings of three displacement sensors under different radial forces, converting the size of radial deformation of the bearing according to the readings of the three displacement sensors, drawing a relation curve between the radial force and the radial deformation, fitting the relation curve into a functional relation, and obtaining the radial rigidity value of the bearing by derivation, wherein the calculation formula is as follows:

X＝|X_r1-X_r2|，

in the formula, X_r1The average value of the readings of the third displacement sensor (23) and the fifth displacement sensor (25) represents the displacement value of the bearing inner ring; x_r2The displacement value of the bearing outer ring is taken as the displacement value; f_rAs a radial force, K_rIs the radial stiffness.

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