An automatic zeroing device and method for a bidirectional linear electromagnetic mechanism

Abstract

This invention relates to zeroing technology for linear electromagnetic mechanisms, specifically an automatic zeroing device and method for a bidirectional linear electromagnetic mechanism. A servo slide is fixed to one side of a base plate, a working slide is fixed to the sliding mechanism of the servo slide, and the linear electromagnetic mechanism is fixed to the working slide. A motor bracket is fixed to the other end of the base plate, and a torque motor and an adjusting motor are fixed on the motor bracket, with the output shafts of both motors axially parallel to the length direction of the base plate. A support frame is fixed between the motor bracket and the servo slide, and a commutator is fixed on the support frame. A tightening sleeve and an adjusting sleeve are also coaxially fixed on the support frame. The commutator is used to reverse the output of the torque motor to drive the tightening sleeve to rotate, and it is also used to reverse the output of the adjusting motor to drive the adjusting sleeve to rotate. The tightening sleeve and adjusting sleeve are respectively connected to the tightening nut and the output shaft of the linear electromagnetic mechanism. A sensor is installed on the output shaft of the torque motor to detect the output torque of the torque motor.

Description

Technical Field

[0001] This invention relates to the field of zeroing technology for linear electromagnetic mechanisms, and more particularly to an automatic zeroing device and method for a bidirectional linear electromagnetic mechanism. Background Technology

[0002] Linear electromagnetic mechanisms are used in linear motion applications. For linear electromagnetic mechanisms requiring bidirectional linear motion, they need to be adjusted to the electrical zero position to achieve bidirectional symmetrical motion under rated commands and realize the required functional output. Traditional zero-adjustment methods are purely manual, requiring the use of tools such as torque wrenches to loosen the locking nut, test, and then tighten it again. To achieve the required accuracy, adjustments are often made multiple times. However, manual operation during adjustment and tightening introduces new zero-position errors. Therefore, manual adjustments are repeated many times, have poor accuracy, and can easily damage the components being adjusted. To address this, an automatic zero-adjustment device for bidirectional linear electromagnetic mechanisms is proposed. This device uses an axial servo slide to achieve concentric docking between the linear electromagnetic mechanism and the tightening and adjusting sleeves. A torque motor and an adjusting motor are used to automatically control the tightening. A torque sensor precisely controls the tightening torque, and the pulse count of the motors precisely controls the tightening angle, avoiding over-adjustment. This automated zero-adjustment device can automatically adjust and lock the electrical zero position with high accuracy and fewer adjustment cycles, offering significant advantages in the field of zero-adjustment for linear electromagnetic mechanisms. Summary of the Invention

[0003] The purpose of this invention is to propose an automatic zeroing device and method for a bidirectional linear electromagnetic mechanism. This device automatically adjusts the electrical zero position of the linear electromagnetic mechanism. It achieves axial position adjustment of the linear electromagnetic mechanism through a linear servo slide, realizing concentric docking of the internal shaft, locking nut, and tightening sleeve and adjusting sleeve in the concentric support frame of the linear electromagnetic mechanism. It also has a buffer spring to prevent product damage caused by mis-docking, and has a certain degree of fault tolerance. After docking, the tightening sleeve and adjusting sleeve are automatically controlled to rotate through a torque motor and an adjusting motor. The rotation direction is changed through a reversing mechanism to control tightening and loosening. The rotation torque is precisely controlled by a torque sensor, and the rotation angle is precisely controlled by controlling the number of motor pulses. Thus, after setting the debugging parameters, the automatic zeroing device can achieve one-click automatic zeroing of the linear electromagnetic mechanism, meeting the debugging accuracy requirements. It not only saves manpower, but also has high debugging accuracy, requires fewer debugging times, and does not damage the linear electromagnetic mechanism.

[0004] An automatic zeroing device for a bidirectional linear electromagnetic mechanism includes: a base plate, a motor bracket, a tightening motor, an adjusting motor, a support frame, a commutator, a tightening sleeve, an adjusting sleeve, a servo slide, a working slide, a linear electromagnetic mechanism, and a sensor.

[0005] The base plate is a flat structure used for support; the servo slide is fixed to one side of the base plate, the working slide is fixed on the sliding mechanism of the servo slide, the servo slide is used to drive the working slide to move along the length of the base plate, the linear electromagnetic mechanism is fixed on the working slide, the working slide is used to drive the linear electromagnetic mechanism to move along the length of the base plate; the linear electromagnetic mechanism is the product to be zeroed.

[0006] A motor bracket is fixed at the other end of the base plate. A torque motor and an adjustment motor are fixed on the motor bracket, and the output shafts of the two motors are parallel to the length direction of the base plate.

[0007] The support frame is fixed between the motor bracket and the servo slide, the commutator is fixed on the support frame, and a tightening sleeve and an adjusting sleeve are also coaxially fixed on the support frame.

[0008] The commutator is used to reverse the output of the tightening motor and drive the tightening sleeve to rotate. The commutator is also used to reverse the output of the adjusting motor and drive the adjusting sleeve to rotate.

[0009] The tightening sleeve and adjusting sleeve are respectively used to connect with the tightening nut and output shaft of the linear electromagnetic mechanism;

[0010] The sensor is mounted on the output shaft of the torque motor to detect the output torque of the torque motor.

[0011] Furthermore, the linear electromagnetic mechanism includes: a fixing part, a locking nut, a shaft, and a driving component;

[0012] The drive component is connected to the shaft and drives the shaft to move in a straight line by electromagnetic means;

[0013] The fixed part is connected to the shaft to provide radial support for the shaft;

[0014] The locking nut is screwed onto the shaft by threads and locks the shaft and the locking nut together. Both the outer surfaces of the shaft and the locking nut are provided with hexagonal platforms.

[0015] Furthermore, the working slide includes: a fixed plate and a sliding table; the fixed plate is connected to the sliding mechanism of the servo slide, the sliding table is disposed on the fixed plate and can slide relative to the fixed plate, and the linear electromagnetic mechanism is fixed on the sliding table;

[0016] The sliding table is connected to the fixed plate via a spring on the side away from the motor bracket.

[0017] Furthermore, both the tightening sleeve and the adjusting sleeve are cylindrical structures with a hexagonal groove in the middle. The adjusting sleeve is concentrically arranged inside the tightening sleeve and is concentric with the shaft of the linear electromagnetic mechanism. The hexagonal groove of the tightening sleeve is clearance-fitted with the hexagonal platform of the locking nut, and the hexagonal groove of the adjusting sleeve is clearance-fitted with the hexagonal platform of the shaft.

[0018] Furthermore, the output shaft of the adjusting motor is concentric with the adjusting sleeve; the output shaft of the tightening motor reverses the output torque to the tightening sleeve via a reversing mechanism.

[0019] Furthermore, the tightening sleeve, adjusting sleeve, and the inner edge of the hexagonal groove all have smooth chamfered transitions.

[0020] An automatic zeroing method for a bidirectional linear electromagnetic mechanism, the method being used in the aforementioned device, the method comprising the following steps:

[0021] Step 1: Fix the linear electromagnetic mechanism on the working slide and make it concentric with the adjusting sleeve; control the servo slide to drive the linear electromagnetic mechanism to move until the shaft of the linear electromagnetic mechanism and the locking nut are respectively connected to the adjusting sleeve and the tightening sleeve, and stop the movement of the servo slide.

[0022] Step 2: Control the torque applied by the tightening motor to loosen the lock nut from the fixed part by tightening the sleeve, and then fix the lock nut in place by tightening the sleeve.

[0023] Step 3: Control the adjusting motor to drive the shaft to rotate through the adjusting sleeve so that the adjusting shaft reaches the theoretical zero position. The adjusting motor then locks the shaft position through the adjusting sleeve.

[0024] Step 4: Control the torque applied by the tightening motor to lock the lock nut to the fixed part by tightening the sleeve;

[0025] Step 5: Test whether the linear electromagnetic mechanism shaft meets the error requirements after reaching the theoretical zero position. If it does, the zeroing is complete; otherwise, repeat steps 2 to 4 until the error requirements are met.

[0026] Furthermore, step one also includes: if the spring is compressed, the docking is considered to have failed, the docking is stopped, and the position of the linear electromagnetic mechanism is readjusted.

[0027] Beneficial effects

[0028] An automatic zeroing device and method for a bidirectional linear electromagnetic mechanism is proposed. This device automatically adjusts the electrical zero position of the linear electromagnetic mechanism. It achieves axial position adjustment of the linear electromagnetic mechanism via a linear servo slide, enabling concentric docking of the internal shaft, locking nut, and tightening and adjusting sleeves in the concentric support frame. A buffer spring prevents product damage caused by mis-docking, providing a certain degree of fault tolerance. After docking, the tightening and adjusting sleeves are automatically controlled for tightening via a torque motor and an adjusting motor. A reversing mechanism changes the tightening direction to control tightening and loosening. A torque sensor precisely controls the tightening torque, and the pulse count of the motor precisely controls the tightening angle. Thus, after setting the debugging parameters, installing the linear electromagnetic mechanism with this automatic zeroing device enables one-click automatic zeroing of the linear electromagnetic mechanism, meeting the required debugging accuracy. This not only saves manpower but also provides high debugging accuracy, reduces the number of debugging cycles, and causes no damage to the linear electromagnetic mechanism. Meanwhile, there is a certain clearance between the tightening sleeve, the adjusting sleeve, the locking nut, and the shaft. This clearance is eliminated each time zeroing is performed. After debugging, the program is set to return the tightening sleeve and the adjusting sleeve to their initial positions to ensure the correctness of the next debugging. This allows for highly efficient zeroing and greatly improves debugging efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an automatic zeroing device for a bidirectional linear electromagnetic mechanism;

[0031] Among them, 1: torque sensor, 2: linear electromagnetic mechanism, 3: working slide, 4: servo slide, 5: tightening sleeve, 6: torque motor, 7: adjusting motor, 8: commutator, 9: motor bracket, 10: support frame, 11: base plate;

[0032] Figure 2 This is an enlarged schematic diagram of a tightening sleeve and an adjusting sleeve in an automatic zeroing device of a bidirectional linear electromagnetic mechanism, where 5: tightening sleeve, 12: adjusting sleeve;

[0033] Figure 3 This is an enlarged schematic diagram of the buffer spring part in an automatic zeroing device of a bidirectional linear electromagnetic mechanism, where 13: buffer spring;

[0034] Figure 4This is an enlarged schematic diagram of the internal adjusting parts of the linear electromagnetic mechanism in an automatic zeroing device of a bidirectional linear electromagnetic mechanism, wherein 14: fixed part, 15: locking nut, and 16: shaft. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0037] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] An automatic zeroing device for a bidirectional linear electromagnetic mechanism, such as Figure 1 As shown, it includes: torque sensor 1, linear electromagnetic mechanism 2, working slide 3, servo slide 4, tightening sleeve 5, tightening motor 6, adjusting motor 7, commutator 8, motor bracket 9, support frame 10, base plate 11, adjusting sleeve 12, and buffer spring 13.

[0039] The base plate 11 is a flat plate structure with several threaded holes on its surface; the servo slide 4 is a slide structure equipped with a servo motor, which is fixedly installed on one side of the base plate 11; the working slide 3 is a stepped plate structure, which is installed on top of the servo slide 4 by screws, and the two are tightly connected and cannot move relative to each other; the linear electromagnetic mechanism 2 is a cuboid structure with linear displacement output function, and has a fixing part 14, a locking nut 15, and a shaft 16 inside, such as... Figure 4As shown, both the locking nut 15 and the shaft 16 have a hexagonal boss at one end. The shaft 16 is threaded to the fixed part 14, and the locking nut 15 is screwed onto the shaft 16. The linear electromagnetic mechanism 2 is mounted on the surface of the working slide 3, and a buffer spring 13 connects the two, forming a sliding connection that allows relative movement in the axial direction. The support frame 10 is a triangular vertical plate structure with a round hole and a threaded hole on its vertical surface, and it is fixedly mounted on the base plate 11. The commutator 8 is a cuboid structure with rounded ends and an internal commutator gear mechanism, and it is installed in the round hole of the support frame 10. Figure 2 As shown, the tightening sleeve 5 and adjusting sleeve 12 are cylindrical structures with a hexagonal groove in the middle. The edges of the hexagonal groove have a certain smooth transition and rounding. They are concentrically installed at one end of the commutator, and the tightening sleeve 5, adjusting sleeve 12 and linear electromagnetic mechanism 2 are axially concentric. The hexagonal groove of the tightening sleeve 5 mates with the hexagonal boss of the locking nut 15, and the hexagonal groove of the adjusting sleeve 12 mates with the hexagonal boss of the shaft 16, with a certain fitting clearance. The motor bracket 9 is a triangular vertical plate structure, and the vertical surface is provided with Two round holes and several threaded holes are fixedly installed on the base plate 11; the torque motor 6 and the adjusting motor 7 are respectively installed in the two round holes of the motor bracket 9, and the output shafts of the two motors are connected to the commutator 8 to realize the screwing output; the torque sensor 1 is installed in the middle of the structure connecting the torque motor 6 and the commutator 8 to realize the detection of torque. The torque detection range of the torque sensor is 0 N.m to 50 N.m, and the linear electromagnetic mechanism 2 has an axial movement range of -100 mm to +100 mm.

[0040] The working principle of the automatic zeroing device of the bidirectional linear electromagnetic mechanism of the present invention is as follows: Figure 1 The linear electromagnetic mechanism is installed on the working slide, and electrical zero-position adjustment begins. First, the linear servo slide adjusts the axial position of the linear electromagnetic mechanism, which then begins to move axially. Since the shaft, locking nut, and tightening sleeve and adjusting sleeve in the concentric support frame of the linear electromagnetic mechanism are axially concentric, as the linear electromagnetic mechanism approaches the adjusting sleeve axially, the shaft, locking nut, tightening sleeve, and adjusting sleeve achieve concentric alignment. If alignment fails on the first attempt, the tightening sleeve and adjusting sleeve can be slowly adjusted by adjusting the motor until they are fully aligned. During this process, a buffer spring prevents product damage caused by misalignment. Figure 3As shown, the spring activation indicates a docking error. At this point, the program detects an error and interrupts the zeroing process. If there is no docking error, the shaft, lock nut, tightening sleeve, and adjusting sleeve complete the docking. Then, the tightening motor applies a certain torque to loosen the lock nut and fix it in place. Next, the adjusting motor starts and rotates the shaft to adjust the zero position of the internal moving parts of the linear electromagnetic mechanism. After determining that the theoretical zero position has been reached, the adjusting motor fixes the shaft in place, and the tightening motor starts, applying a certain tightening torque to tighten the lock nut. At this point, the actual zero position of the linear electromagnetic mechanism is tested to see if it meets the requirements. If the requirements are met, the zeroing process ends. If the requirements are not met, the motor's fixed shaft remains stationary, the motor is tightened, and a certain reverse torque is applied through the commutator. The locking nut is then loosened and fixed in place. Simultaneously, the zero-position adjustment amount is calculated, and the zeroing steps are repeated until the zero-position accuracy of the linear electromagnetic mechanism meets the test requirements. The torque sensor precisely controls the turning torque, and the pulse count of the motor is controlled to achieve precise control of the turning angle. Thus, after setting the debugging parameters and installing the linear electromagnetic mechanism, the automatic zeroing device can achieve one-click automatic zeroing of the linear electromagnetic mechanism.

[0041] This invention proposes an automatic zeroing device for a bidirectional linear electromagnetic mechanism. This device automatically adjusts the electrical zero position of the linear electromagnetic mechanism. It uses a linear servo slide to adjust the axial position of the linear electromagnetic mechanism, achieving concentric alignment of the internal shaft, locking nut, and tightening and adjusting sleeves in the concentric support frame. A buffer spring prevents product damage caused by misalignment, providing a certain degree of fault tolerance. After alignment, the tightening and adjusting sleeves are automatically controlled by a torque motor and an adjusting motor. A reversing mechanism changes the tightening direction to control tightening and loosening. A torque sensor precisely controls the tightening torque, and the pulse count of the motor precisely controls the tightening angle. Thus, after setting the debugging parameters, installing this automatic zeroing device on the linear electromagnetic mechanism enables one-click automatic zeroing, meeting the required debugging accuracy. It not only saves manpower but also provides high debugging accuracy, reduces the number of debugging cycles, and causes no damage to the linear electromagnetic mechanism. Meanwhile, there is a certain clearance between the tightening sleeve, the adjusting sleeve, the locking nut, and the shaft. This clearance is eliminated each time zeroing is performed. After debugging, the program is set to return the tightening sleeve and the adjusting sleeve to their initial positions to ensure the correctness of the next debugging. This allows for highly efficient zeroing and greatly improves debugging efficiency.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. An automatic zero-adjustment device for a bidirectional linear electromagnetic mechanism, characterized in that, The device includes: a base plate, a motor bracket, a torque motor, an adjustment motor, a support frame, a commutator, a tightening sleeve, an adjustment sleeve, a servo slide, a work slide, a linear electromagnetic mechanism, and a sensor; The base plate is a flat structure used for support; the servo slide is fixed to one side of the base plate, the working slide is fixed to the sliding mechanism of the servo slide, the servo slide is used to drive the working slide to move along the length of the base plate, the linear electromagnetic mechanism is fixed on the working slide, the working slide is used to drive the linear electromagnetic mechanism to move along the length of the base plate; the linear electromagnetic mechanism is the product to be zeroed. A motor bracket is fixed at the other end of the base plate. A torque motor and an adjustment motor are fixed on the motor bracket, and the output shafts of the two motors are parallel to the length direction of the base plate. The support frame is fixed between the motor bracket and the servo slide, the commutator is fixed on the support frame, and a tightening sleeve and an adjusting sleeve are also coaxially fixed on the support frame. The commutator is used to reverse the output of the tightening motor and drive the tightening sleeve to rotate. The commutator is also used to reverse the output of the adjusting motor and drive the adjusting sleeve to rotate. The tightening sleeve and adjusting sleeve are respectively used to connect with the locking nut of the linear electromagnetic mechanism and the output shaft of the linear electromagnetic mechanism; The sensor is mounted on the output shaft of the torque motor to detect the output torque of the torque motor.

2. The zeroing device according to claim 1, characterized in that, The linear electromagnetic mechanism includes: a fixed part, a locking nut, an output shaft, and a drive component; The drive component is connected to the output shaft and drives the output shaft to move in a straight line by electromagnetic means; The fixed part is connected to the output shaft to provide radial support for the output shaft; The locking nut is screwed onto the output shaft by threads, and both the output shaft and the locking nut have hexagonal platforms on their outer surfaces.

3. The zeroing device according to claim 2, characterized in that, The working slide includes: a fixed plate and a sliding table; the fixed plate is connected to the sliding mechanism of the servo slide, the sliding table is disposed on the fixed plate and can slide relative to the fixed plate, and the linear electromagnetic mechanism is fixed on the sliding table; The sliding table is connected to the fixed plate via a spring on the side away from the motor bracket.

4. The zeroing device according to claim 2, characterized in that, Both the tightening sleeve and the adjusting sleeve are cylindrical structures with a hexagonal groove in the middle. The adjusting sleeve is concentrically arranged inside the tightening sleeve and is concentric with the shaft of the linear electromagnetic mechanism. The hexagonal groove of the tightening sleeve is clearance-fitted with the hexagonal platform of the locking nut, and the hexagonal groove of the adjusting sleeve is clearance-fitted with the hexagonal platform of the shaft.

5. The zeroing device according to claim 4, characterized in that, The output shaft of the adjusting motor is concentric with the adjusting sleeve; the output shaft of the tightening motor reverses the output torque to the tightening sleeve through a reversing mechanism.

6. The zeroing device according to claim 4, characterized in that, The tightening sleeve, adjusting sleeve, and the inner edge of the hexagonal groove all have smooth chamfered transitions.

7. An automatic zeroing method for a bidirectional linear electromagnetic mechanism, the method being used in the device according to any one of claims 1-6, characterized in that, The method includes the following steps: Step 1: Fix the linear electromagnetic mechanism on the working slide and make it concentric with the adjusting sleeve; control the servo slide to drive the linear electromagnetic mechanism to move until the shaft of the linear electromagnetic mechanism and the locking nut are respectively connected to the adjusting sleeve and the tightening sleeve, and stop the movement of the servo slide. Step 2: Control the torque applied by the tightening motor to loosen the lock nut from the fixed part by tightening the sleeve, and then fix the lock nut in place by tightening the sleeve. Step 3: Control the adjusting motor to drive the shaft to rotate through the adjusting sleeve so that the adjusting shaft reaches the theoretical zero position. The adjusting motor then locks the shaft position through the adjusting sleeve. Step 4: Control the torque applied by the tightening motor to lock the lock nut to the fixed part by tightening the sleeve; Step 5: Test whether the linear electromagnetic mechanism shaft meets the error requirements after reaching the theoretical zero position. If it does, the zeroing is complete; otherwise, repeat steps 2 to 4 until the error requirements are met.

8. The zeroing method according to claim 7, characterized in that, Step one also includes: if the spring is compressed, the docking is considered to have failed, the docking is stopped, and the position of the linear electromagnetic mechanism is readjusted.

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