Linear steering engine mechanical zero setting device and method

Abstract

The invention relates to a mechanical zero setting device and method for a linear steering engine. The mechanical zero setting device comprises a zero tool, a conical positioning pin, a pin shaft, a T-shaped positioning pin and a locking nut. The zero-position tool is composed of a first U-shaped block and a second U-shaped block which are perpendicular to each other, the first U-shaped block is parallel to the stroke direction of the steering engine lead screw, and the second U-shaped block is perpendicularly fixed to the first U-shaped block; oval sliding grooves are formed in the left side wall and the right side wall of the second U-shaped block, a check block is arranged on the outer wall below the oval sliding grooves, and a plurality of zero position holes are formed in the upper end face of the check block; a U-shaped opening of the first U-shaped block is connected with two base holes in the front end of the steering engine and is locked through two conical positioning pins, a pin shaft penetrates through a front supporting lug hole of a lead screw of the steering engine and an oval sliding groove of the second U-shaped block, and a locking nut is screwed on the pin shaft. The T-shaped positioning pin is inserted into a positioning hole formed in the side face of the head of the pin shaft and can fall into one zero position hole along with sliding of the pin shaft during mechanical zero adjustment. According to the invention, precise stepless adjustment of the mechanical zero position can be realized quickly, simply and conveniently.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical zero position stepless adjustment of a linear servo, and relates to a mechanical zero adjustment device and method for a linear servo. Background Art

[0002] The electric servo is a high-precision position servo actuator that is increasingly used in drones and spacecraft. The electric servo's mechanical zero-position stepless adjustment is an important guarantee for achieving high-precision zeroing of the servo.

[0003] The zero position of the servo is an important parameter of the servo. General electric servos are connected through front and rear earrings, and the length of the middle position (that is, the distance between the fixed end earring and the output end earring center hole when the servo is in zero position) can be measured by a hole distance ruler. For plane fixed linear servos, it is different from electric servos whose installation method is front and rear earrings. The zero position of the hanging beam type electric servo is the initial working position when the output end earring of the servo is connected to the rudder surface. This mechanical zero position is achieved by ensuring the distance between the center line of the two center holes in front of the hanging beam (the hanging beam mounting hole close to the output end earring) to the center hole of the output end earring. Since it is the distance from the center line to the point, it cannot be measured directly. At present, there is no device and adjustment method suitable for the mechanical zero position adjustment of plane fixed linear servos.

[0004] Chinese patent CN 205971809U discloses a continuously adjustable electric servo zeroing mechanism, which adopts an internal and external thread structure of a zeroing screw sleeve and realizes continuous zeroing through the motion displacement difference of the double threads. However, this mechanism is used for servos connected with front and rear earrings, and cannot be used for servos with flat fixed linear output.

[0005] Chinese patent CN109533384B discloses a method for rapid zeroing of an electric servo, which uses a tester to convert and zero the electrical zero-position deflection angle of the servo and the difference between the tester value, but requires two testers.

[0006] Chinese patent CN114977632A discloses an automatic zeroing device and method for an electric servo, which uses an automatic zeroing method for an electric servo to perform zeroing through a servo load platform, a PC and a driver. It needs to be equipped with an angle encoder, a control card and an automatic zeroing program, and the system is complex. Summary of the invention

[0007] The technical problem solved by the present invention is: in order to solve the problem that the mechanical zero position of a planar fixed linear servo cannot be directly measured, a linear servo mechanical zero adjustment device and method are proposed, which can quickly and easily realize accurate stepless adjustment of the mechanical zero position.

[0008] The solution to the technical problem of the present invention is: a linear servo mechanical zeroing device, comprising a zero position tooling, a tapered positioning pin, a pin shaft, a T-shaped positioning pin and a locking nut;

[0009] The zero position fixture is composed of a first U-shaped block and a second U-shaped block which are installed perpendicularly to each other. The first U-shaped block is parallel to the travel direction of the servo screw. The second U-shaped block is vertically fixed on the first U-shaped block, and the U-shaped opening is upward. Symmetrical elliptical grooves are provided on the left and right side walls of the second U-shaped block. A stopper is provided on the outer wall below the elliptical groove. The upper end surface of the stopper is provided with a plurality of zero position holes suitable for servos with different travels.

[0010] The U-shaped opening of the first U-shaped block is connected to the two base holes at the front end of the servo and is locked by two tapered locating pins. The pin passes through the front ear hole of the servo lead screw and the elliptical slide groove of the second U-shaped block, and the locking nut is screwed onto the pin. The T-shaped locating pin is inserted into the locating hole opened on the side of the pin head, and will fall into one of the zero position holes as the pin slides during mechanical zeroing.

[0011] Furthermore, the length of the elliptical slide groove is greater than or equal to the maximum stroke minus the minimum stroke of the steering gear screw, thereby achieving stepless adjustment of the screw stroke.

[0012] Furthermore, the head of the pin shaft adopts a hexagonal head structure, and each side of the hexagonal head structure is provided with an external hexagonal hole used as a positioning hole, and the T-shaped positioning pin is inserted into any hole of the external hexagonal hole of the pin shaft.

[0013] Furthermore, the end of the T-shaped positioning pin is provided with a taper, and after reaching the zero position, it automatically slides down to the zero position hole, thereby realizing the precise positioning of the mechanical zero position.

[0014] Furthermore, the middle of the tapered positioning pin is a tapered structure, so as to achieve accurate positioning of the front support ear of the servo and the zeroing device.

[0015] A method for mechanical zeroing of a linear servo comprises the following steps:

[0016] Use a wrench to rotate the hexagonal hole at one end of the screw to move the front ear end of the screw and drive the pin in the front ear hole to slide along the elliptical groove. When the T-shaped positioning pin on the pin slides to the zero position hole on the zero position tooling, this position is the mechanical zero position of the servo;

[0017] Pull out the T-type locating pin, connect the hysteresis telescopic displacement sensor LVDT to AC power supply, adjust the voltage to within the zero position accuracy, set the stroke, the front ear of the screw stops at the electrical zero position, and the T-type locating pin is inserted into the locating hole on the pin shaft and falls into the zero position hole of the zero position tooling, indicating that the mechanical zero position is consistent with the electrical zero position, completing the verification of the electrical zero position.

[0018] The beneficial effects of the present invention compared with the prior art are:

[0019] (1) The present invention solves the problem that the mechanical zero position of a plane fixed linear servo cannot be directly measured. The mechanical zero adjustment operation is simple and convenient, and can also be used for no-load testing and verification of electrical zero position. It has high precision, low cost and versatility. By adopting a solution in which the pin shaft slides in an elliptical slide groove, the screw stroke can be adjusted steplessly.

[0020] (2) The present invention adopts a solution of a T-shaped positioning pin with a taper, which automatically slides down to the zero position hole after reaching the zero position, thereby realizing accurate positioning of the mechanical zero position, and the T-shaped positioning pin is easy to insert and remove.

[0021] (3) The present invention adopts a solution of opening through holes on all sides of the head of the pin shaft, so that the T-shaped positioning pin can be placed in each direction of the pin shaft.

[0022] (4) The present invention adopts a conical positioning pin with a conical structure in the middle to achieve accurate positioning of the front support ear of the servo and the zeroing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a mechanism diagram of the zero adjustment device for installing the servo in the embodiment of the present invention (the T-shaped positioning pin is at the zero position of the servo in the first stroke);

[0024] Figure 2 It is a diagram of the mechanism of the zero adjustment device in the embodiment of the present invention (the T-shaped positioning pin is in the zero position of the second stroke servo);

[0025] Figure 3 It is a schematic diagram of the structure of a tapered positioning pin, a pin shaft, and a T-shaped positioning pin in an embodiment of the present invention;

[0026] In the figure: 1-zero position tooling, 2-tapered locating pin, 3-pin shaft, 4-T-type locating pin, 5-locking nut. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Example 1

[0029] The present invention proposes a linear servo mechanical zeroing device, such as Figure 1 , Figure 2 As shown, it includes a zero position tool 1, a tapered positioning pin 2, a pin shaft 3, a T-shaped positioning pin 4 and a locking nut 5;

[0030] The zero position fixture 1 is composed of a first U-shaped block and a second U-shaped block which are installed perpendicularly to each other. The first U-shaped block is parallel to the travel direction of the servo screw. The second U-shaped block is vertically fixed on the first U-shaped block, and the U-shaped opening is upward. The left and right side walls of the second U-shaped block are provided with symmetrical elliptical slide grooves, and a stopper is provided on the outer wall below the elliptical slide groove. The upper end surface of the stopper is provided with a plurality of zero position holes suitable for servos with different travels.

[0031] The U-shaped opening of the first U-shaped block is connected to the two base holes at the front end of the servo and is locked by two tapered locating pins 2. The pin shaft 3 passes through the front ear hole of the servo lead screw and the elliptical slide groove of the second U-shaped block, and the locking nut 5 is screwed onto the pin shaft 3. The T-shaped locating pin 4 is inserted into the locating hole opened on the side of the head of the pin shaft 3, and will fall into one of the zero position holes as the pin shaft 3 slides during mechanical zeroing.

[0032] The length of the elliptical slide groove is greater than or equal to the maximum stroke minus the minimum stroke of the servo screw, thereby realizing stepless adjustment of the screw stroke.

[0033] like Figure 3 As shown, the head of the pin shaft 3 adopts a hexagonal head structure, and each side of the hexagonal head structure is provided with an external hexagonal hole used as a positioning hole, and the T-shaped positioning pin 4 is inserted into any hole of the external hexagonal hole of the pin shaft 3.

[0034] like Figure 3 As shown, the end of the T-shaped positioning pin 4 is provided with a taper, and it automatically slides down to the zero position hole after reaching the zero position, thereby realizing the precise positioning of the mechanical zero position, and the T-shaped positioning pin is easy to insert and remove.

[0035] like Figure 3 As shown, the middle of the tapered positioning pin 2 is a tapered structure, which enables accurate positioning of the front support ear of the servo and the zeroing device.

[0036] like Figure 1 , Figure 2 As shown, in this embodiment, the upper end surface of the stopper is provided with four zero position holes suitable for servos with different strokes, and the mechanical zero position of various servos can be measured, with strong versatility.

[0037] Based on the zeroing device proposed in the present invention, a linear servo mechanical zeroing method is provided, comprising the following steps:

[0038] Use a wrench to rotate the hexagonal hole at one end of the screw to move the front ear end of the screw and drive the pin shaft 3 in the front ear hole to slide along the elliptical slide groove. When the T-shaped positioning pin 4 on the pin shaft 3 slides to the zero position hole on the zero position tooling 1, this position is the mechanical zero position of the servo;

[0039] Pull out the T-type locating pin 4, connect the hysteresis telescopic displacement sensor LVDT to AC power supply, adjust the voltage to within the zero position accuracy, set the stroke, the front ear of the screw stops at the electrical zero position, and the T-type locating pin 4 is inserted into the locating hole on the pin shaft 3 and falls into the zero position hole of the zero position tooling 1, indicating that the mechanical zero position is consistent with the electrical zero position, thereby verifying the electrical zero position.

[0040] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0041] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A linear servo mechanical zeroing device, characterized in that: It comprises a zero position tool (1), a tapered positioning pin (2), a pin shaft (3), a T-shaped positioning pin (4) and a locking nut (5); The zero position tooling (1) is composed of a first U-shaped block and a second U-shaped block which are installed perpendicularly to each other, the first U-shaped block is parallel to the travel direction of the steering gear lead screw, the second U-shaped block is vertically fixed on the first U-shaped block, and the U-shaped opening is upward; symmetrical elliptical slide grooves are provided on the left and right side walls of the second U-shaped block, a stopper is provided on the outer wall below the elliptical slide groove, and a plurality of zero position holes suitable for steering gears with different travels are provided on the upper end surface of the stopper; The U-shaped opening of the first U-shaped block is connected to the two base holes at the front end of the steering gear and is locked by two tapered positioning pins (2). The pin shaft (3) passes through the front support ear hole of the steering gear screw and the elliptical slide groove of the second U-shaped block, and the locking nut (5) is screwed onto the pin shaft (3). The T-shaped positioning pin (4) is inserted into the positioning hole opened on the side of the head of the pin shaft (3), and will fall into one of the zero position holes as the pin shaft (3) slides when mechanical zero adjustment is performed.

2. A linear servo mechanical zeroing device according to claim 1, characterized in that: The length of the elliptical slide groove is greater than or equal to the maximum stroke minus the minimum stroke of the steering gear screw, thereby realizing stepless adjustment of the screw stroke.

3. A linear servo mechanical zeroing device according to claim 1, characterized in that: The head of the pin shaft (3) adopts a hexagonal head structure, and each side surface of the hexagonal head structure is provided with an external hexagonal hole used as a positioning hole. The T-shaped positioning pin (4) is inserted into any hole of the external hexagonal hole of the pin shaft (3).

4. A linear servo mechanical zeroing device according to claim 1, characterized in that: The end of the T-shaped positioning pin (4) is provided with a taper, and automatically slides down to the zero position hole after reaching the zero position, thereby realizing accurate positioning of the mechanical zero position.

5. The linear servo mechanical zeroing device according to claim 1, characterized in that: The middle of the tapered positioning pin (2) is a tapered structure, so as to realize accurate positioning of the front support ear of the steering gear and the zero adjustment device.

6. A method for mechanical zeroing of a linear servo based on the device according to any one of claims 1 to 5, characterized in that: The following steps are involved: Use a wrench to rotate the hexagonal hole at one end of the screw to move the front ear end of the screw and drive the pin shaft (3) in the front ear hole to slide along the elliptical slide groove. When the T-shaped positioning pin (4) on the pin shaft (3) slides to the zero position hole on the zero position tooling (1), this position is the mechanical zero position of the servo; Pull out the T-shaped positioning pin (4), connect the hysteresis telescopic displacement sensor LVDT to AC power supply, adjust the voltage to within the zero position accuracy, set the stroke, and stop the front lug of the screw at the electrical zero position. The T-shaped positioning pin (4) is inserted into the positioning hole on the pin shaft (3) and then falls into the zero position hole of the zero position tooling (1), indicating that the mechanical zero position is consistent with the electrical zero position, and the electrical zero position verification is completed.

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