A method for quickly adjusting electrical angle

Abstract

The present application relates to a method for rapid electrical angle adjustment, which includes: S1, assembling a first and a second torque motor on both sides of a double-swing head A-axis, with the stator of the second torque motor temporarily fixedly connected to the corresponding drive seat; measuring the electrical angles of the first torque motor and the second torque motor; S2, subtracting the electrical angle values ​​of the first and second torque motors, and converting the electrical angle difference into a mechanical angle; S3, canceling the temporary fixation of the stator of the second torque motor; S4, rotating the stator of the second torque motor according to the mechanical angle calculated in S3; re-measuring the electrical angle of the second torque motor, and if there is a difference, repeating steps S2 and S41 until the electrical angle is the same as that of the first torque motor; S5, fixing the stator of the second torque motor. The present application has the effect of enabling the double-swing head A-axis with double-swing drive to obtain the maximum torque conversion efficiency.

Description

Technical Field

[0001] The present application relates to the field of machine tool head adjustment, and in particular to a method for rapid electrical angle adjustment. Background Art

[0002] With the rapid development of precision manufacturing industries such as mold manufacturing and aerospace, the demand for five-axis machining centers capable of processing complex curved surfaces is increasing. As the core functional component of large five-axis machining centers, double-swing heads have become a research focus for these machines.

[0003] Currently, the main drive methods for double-swing heads include worm gear transmission, harmonic reducer gear transmission, and torque motor direct drive. While worm gear transmission offers smooth transmission and self-locking capabilities, it is susceptible to wear, resulting in poor transmission accuracy retention. Gear transmission also results in a large overall transmission system and a less compact structure. Torque motor direct drive offers advantages such as compact structure, high positioning accuracy, fast response speed, and high reliability. Therefore, torque motor direct drive has become a key development direction for double-swing heads in high-end five-axis CNC machine tools.

[0004] At present, direct-drive double-swing heads at home and abroad generally adopt a swing fork structure. For double-swing heads with direct drive of the A-axis by a torque motor, there are two types: single pendulum and double pendulum. The single-swing type has a torque motor only on one side of the A-axis, and the driving force of the A-axis is smaller than that of the double-swing type with the same specifications. The double-swing type is driven by torque motors on both sides of the A-axis. The torque motors on both sides run synchronously under the control of the encoder. Compared with the single-swing type, the A-axis can generate greater driving force, and the A-axis is symmetrically designed. The center of gravity of the swing head coincides with the rotation center of the C-axis, and the indexing has better stability. However, if there is a deviation in the electrical angle zero point of the two torque motors, it will affect the superposition of the output torque, making it difficult to obtain the maximum torque conversion efficiency.

[0005] A and C axes generally use dual motors in series or parallel to meet the torque output requirements. The typical structure is as follows Figure 1 The A-axis uses two motors in series, while the C-axis uses two motors in parallel to achieve the required output torque. Summary of the Invention

[0006] In order to enable the double-swing head A-axis of the double-swing drive to obtain the maximum torque conversion efficiency, the present invention provides a method for rapid electrical angle adjustment.

[0007] The present application provides a method for rapid electrical angle adjustment using the following technical solutions:

[0008] A method for quickly adjusting an electrical angle comprises the following steps:

[0009] S1. Adjustment preparation:

[0010] Assemble the stator and rotor of the first torque motor on the drive seat body on one side of the double swing head A axis, fix the stator of the first torque motor to the corresponding drive seat body, and fix the rotor of the first torque motor to the double swing head A axis;

[0011] Assemble the stator and rotor of the second torque motor on the drive seat on the other side of the double-swing head A-axis, temporarily fix the stator of the second torque motor to the corresponding drive seat, and fix the rotor of the second torque motor to the double-swing head A-axis; use an encoder to measure the electrical angle of the first torque motor and the electrical angle of the second torque motor;

[0012] S2. Calculation of the stator rotation angle of the second torque motor:

[0013] Compare the electrical angle value of the second torque motor obtained in S1 with the electrical angle value of the first torque motor obtained, calculate the difference, convert the electrical angle difference into a mechanical angle, and obtain the required rotation angle of the stator of the second torque motor;

[0014] S3, canceling the temporary fixation of the stator of the second torque motor, so that the stator of the second torque motor can rotate around the axis of the double swing head A axis;

[0015] S4. Angle adjustment:

[0016] S41, rotating the stator of the second torque motor according to the mechanical angle calculated in S3;

[0017] S42, repeating the step of measuring the electrical angle of the second torque motor in step S1, re-measuring the electrical angle of the second torque motor, and if there is a difference between the electrical angle of the second torque motor and the electrical angle of the first torque motor, repeating steps S2 and S41 until the electrical angle of the second torque motor is the same as the electrical angle of the first torque motor;

[0018] S5. Fix the stator of the second torque motor:

[0019] At the final stator position of the second torque motor adjusted in step S4, stator positioning pins are punched to fix the stator of the second torque motor, and then the remaining stator mounting holes of the second torque motor are punched and installed to complete the electrical angle adjustment.

[0020] By adopting the above technical solution, when installing the direct-drive torque motors on both sides of the double-swing head A-axis, the first torque motor stator on one side of the double-swing head is first fixed, and then the second torque motor stator on the other side of the double-swing head is temporarily fixed. By utilizing the characteristics that the rotors of the direct-drive torque motors on both sides of the double-swing head are fixedly connected to the A-axis, the angular deviation between the stator of the second torque motor and the stator of the first torque motor is obtained by measuring the electrical angle of the direct-drive torque motors on both sides. The angular deviation of the stators of the second torque motor and the first torque motor is eliminated by rotating the stator of the second torque motor, and the output torque is synchronized, ensuring the maximum output torque. Moreover, by finally fixing the stator of the second torque motor, the alignment adjustment of the direct-drive torque motors on both sides of the double-swing head is completed. The adjustment process is quick and convenient, so that when installing the torque motors on both sides, there is no need to deliberately find the installation zero point or pay special attention to the installation angle. By measuring and converting the electrical angles of the direct-drive torque motors on both sides, only the rotation and fixing accuracy requirements need to be paid attention to when adjusting the stator of the second torque motor. This greatly reduces the accuracy requirements during the installation and fixing process of the direct-drive torque motors on both sides and effectively improves the installation and adjustment speed.

[0021] Optionally, when the second torque motor is installed in step S1, the stator of the second torque motor is clamped in the drive seat body through the drive seat end cover, and the drive seat end cover corresponding to the second torque motor is provided with arc-shaped long grooves spaced around the installation position of the second torque motor stator corresponding to the second torque motor, and the stator of the second torque motor is temporarily fastened to the drive seat body by fasteners passing through the arc-shaped long grooves.

[0022] By adopting the above technical solution, the arc-shaped long groove reserved in advance facilitates the temporary fixing of the second torque motor stator by the fastener.

[0023] Optionally, the calculation formula for converting the electrical angle difference into the mechanical angle in step S2 is:

[0024] Deg(n)=E(deg) / P+360 / P·n

[0025] Where Deg(n) is the mechanical angle, E(deg) is the electrical angle, P is the number of torque motor pole pairs, and n is an arbitrary integer.

[0026] By adopting the above technical solution, when converting the mechanical angle according to the electrical angle difference, the position of the stator positioning pin in the subsequent step S5 can be adjusted according to the value of n, avoiding the arc-shaped long slot, which not only ensures that the stators on both sides can be aligned after rotation, but also ensures that the stator of the second torque motor can be firmly fixed.

[0027] Optionally, step S3 includes: removing a fastener and installing a dial and an adjustment plate on an end cover of a drive seat corresponding to the second torque motor; the dial is an angle dial engraved with an angle scale, and the dial is coaxially fixed to the end cover of the drive seat; the adjustment plate is arranged radially along the dial and fixedly connected to the stator of the second torque motor via a locking member, so that after the fastener is removed, the stator of the second torque motor can rotate with the adjustment plate.

[0028] The step S41 specifically includes: recording the dial scale corresponding to the adjustment plate when the dial and the adjustment plate are installed, adding the mechanical angle calculated in step S2 and the recorded dial scale to obtain the target dial scale to be rotated, and rotating the adjustment plate to drive the stator of the second torque motor to rotate to the target dial scale.

[0029] By adopting the above technical solution, the dial and the adjustment plate are used as auxiliary tooling for adjusting the stator angle of the second torque motor, so that when adjusting, the rotation angle can be clearly known by reading the dial scale corresponding to the adjustment plate, which is convenient for quick adjustment and alignment, with a simple structure and easy use.

[0030] Optionally, when temporarily fixing the stator during installation of the second torque motor in step S1, the fastener is adjusted to be located in the middle of the arc-shaped slot;

[0031] In step S3, the fastener temporarily fixing the stator of the second torque motor is replaced by the locking member.

[0032] By adopting the above technical solution, the adjustment fastener is located in the middle position of the arc-shaped long slot, which is conducive to flexible selection of the mechanical angle to be rotated and helps to improve the adjustment speed; and the use of a locking member to replace the fastener eliminates the temporary fixation of the second torque motor stator while ensuring the stable connection between the adjustment plate and the second torque motor stator.

[0033] Optionally, after the second torque motor is installed in step S1, the dial and the adjustment plate are installed. The dial is an angle dial engraved with angle scales, and the dial is coaxially fixed to the end cover of the drive seat; the adjustment plate is radially connected to the stator of the second torque motor along the dial.

[0034] By adopting the above technical solution, the dial and the adjustment plate are installed in advance, which helps to avoid the impact of the installation of the dial and the adjustment plate on the position of the stator and rotor of the second torque motor, improves the one-time adjustment rate, and further improves the adjustment efficiency.

[0035] Optionally, in step S1, the stator of the second torque motor is temporarily fixed by a fastener, and the adjustment plate is installed on the fastener during installation;

[0036] In step S3, a locking member is used to replace the temporarily fixed fastener, and the locking member only fixes the adjustment plate on the stator of the second torque motor.

[0037] Optionally, in step S1, measuring the electrical angle of the first torque motor specifically includes: installing an encoder on the central axis of the A-axis on the side where the first torque motor is installed, and passing direct current to the stator of the first torque motor, so that the rotor of the first torque motor is deflected under the action of the stator magnetic field until the rotor and stator of the first torque motor are magnetically matched, and as the rotor of the first torque motor rotates, the encoder outputs a number of pulses, and the electrical angle of the first torque motor is calculated by comparing the number of pulses output by the encoder with the number of pulses output by the encoder when it works one circle; the same operation is used to measure the electrical angle of the second torque motor.

[0038] By adopting the above technical solution, the encoder is used to measure the electrical angle of the first torque motor and the second torque point motor, which fully utilizes the high precision and high accuracy of the encoder, making it easier for the subsequent rotation of the second torque motor stator to be accurate, further ensuring the maximum torque output.

[0039] In summary, this application includes at least one of the following beneficial technical effects:

[0040] 1. The electrical angle rapid adjustment method of the present application measures the electrical angles of the direct-drive torque motors on both sides to obtain the angular deviation between the stators of the temporarily fixed motor and the directly fixed motor. Rotating the stator of the temporarily fixed motor eliminates the angular deviation on both sides, allowing the direct-drive torque motors on both sides to output torque synchronously, ensuring maximum output torque. Furthermore, high precision requirements are only required when adjusting the rotation and fixation of the stator of the temporarily fixed motor, greatly reducing the precision requirements during the installation and fixation of the direct-drive torque motors on both sides and effectively improving the installation and adjustment speed.

[0041] 2. The designed conversion formula for the electrical angle difference to the mechanical angle enables the position of the stator positioning pins in the subsequent step S5 to be adjusted according to the value of n when converting the mechanical angle from the electrical angle difference, avoiding the arc-shaped long slot. This ensures that the two stators can be aligned after rotation and that the stator of the second torque motor can be firmly fixed.

[0042] 3. The dial and adjustment plate are used as auxiliary tooling for adjusting the stator angle of the second torque motor, so that when adjusting, the rotation angle can be clearly known by reading the dial scale corresponding to the adjustment plate, which is convenient for quick adjustment and alignment. It has a simple structure and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a partial cross-sectional view of the first torque motor of the double swing head at a 45° isometric angle.

[0044] Figure 2 This is a schematic diagram of the installation of the components required to adjust the electrical angle at a 45° equiaxial viewing angle on one side of the second torque motor of the double swing head.

[0045] Explanation of the accompanying drawings: 1. Double-swing head C-axis; 2. Connecting plate; 3. Drive seat body; 4. Drive seat end cover; 5. Encoder; 6. Stator positioning pin; 7. Rotor; 8. Stator; 9. Spindle box; 10. Dial; 11. Adjustment plate; 12. Locking piece. DETAILED DESCRIPTION

[0046] For a double-swing head with torque motors directly driving both the left and right sides of the A-axis, the stators 8 of the torque motors on both sides use energized coils, and the rotors 7 use permanent magnets. Controlling the motors essentially involves controlling the stator 8 coils to generate a rotating magnetic field that drags the rotor 7. Assuming the magnitude of the stator 8 magnetic field is p and the magnitude of the rotor 7 magnetic field is q, the motor's output force F is proportional to the cross product of p and q: pq = |p||q|cosδ. Therefore, when δ = ±90°, the motor's output torque reaches its maximum. For a dual-direct-drive double-swing head, the rotors 7 of the torque motors on both sides are fixedly connected to the A-axis of the double-swing head, effectively sharing the same rotor 7. However, if the stator 8 angles of the torque motors differ, the angles δ between the stator 8 magnetic field and the rotor 7 magnetic field of the two direct-drive torque motors will differ, preventing them from simultaneously outputting the maximum force F. Therefore, to ensure maximum torque on the A-axis of the double-swing head, the stators 8 of the direct-drive motors on both sides must be aligned.

[0047] In order to make the installation positions of the stators 8 of the direct-drive torque motors on both sides the same, although theoretically it is only necessary to align them during assembly, because the stator 8 is circular and will be hidden in the drive seat body 3 after installation, it is difficult to directly determine the angle zero point of the stator 8 on the other side during installation based on the position of the stator 8 on one side. Even if the angle zero point can be determined, there will still be errors based on actual installation experience, which will affect the output torque.

[0048] Therefore, in order to ensure the torque output, the applicant has developed a method for quickly adjusting the electrical angle as described in this application. Figure 1-2 The present application is further described in detail with reference to the accompanying drawings and embodiments.

[0049] Example 1

[0050] Example 1 of the present application provides a method for rapid electrical angle adjustment, which is primarily used for correcting the direct-drive torque motors on both sides of the A-axis of a double-pendulum dual-swing head. This method rapidly adjusts the electrical angles of the direct-drive torque motors on both sides of the A-axis to the same angle, thereby maximizing torque output and improving production efficiency. Of course, this method can also be used for correcting and adjusting multiple direct-drive torque motors connected in series in other equipment and working conditions. The following specifically describes the correction of the direct-drive torque motors on both sides of the A-axis of a double-pendulum dual-swing head.

[0051] The electrical angle quick adjustment method specifically includes the following steps:

[0052] S1. Adjustment preparation:

[0053] S101, first torque motor installation: refer to Figure 1 , assemble the stator 8 and rotor 7 of the first torque motor on the drive seat 3 on one side of the double swing head A axis, wherein the stator 8 of the first torque motor is fixed stably to the corresponding drive seat 3 by screws, and the rotor 7 of the first torque motor is connected and fixed to the spindle box 9 of the double swing head A axis by screws;

[0054] S102, measuring the electrical angle of the first torque motor: an encoder 5 is installed on the central axis of the A-axis on the side where the first torque motor is installed, and a direct current is supplied to the stator 8 of the first torque motor, so that the rotor 7 of the first torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the first torque motor are magnetically matched. As the rotor 7 of the first torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 (i.e., the number of pulses output by the encoder 5 during one revolution) to calculate the electrical angle of the first torque motor. For example, if the encoder 5 outputs 10,000 pulses during one revolution, and the encoder 5 outputs 2,500 pulses after the direct current is supplied to the stator 8, it can be determined that the encoder 5 has worked 1 / 4 of a revolution, i.e., rotated 90°, and the corresponding electrical angle of the first torque motor is 90°.

[0055] S111. Installation of the second torque motor: Assemble the stator 8 and rotor 7 of the second torque motor on the driving seat body 3 on the other side of the double-swing head A-axis; the rotor 7 of the second torque motor is connected and fixed to the spindle box 9 of the double-swing head A-axis by screws; the stator 8 of the second torque motor is clamped in the driving seat body 3 through the driving seat end cover 4, wherein two arc-shaped long grooves are provided on the driving seat end cover 4 corresponding to the installation position of the second torque motor stator 8 at intervals, and the positions of the two arc-shaped long grooves are symmetrical with respect to the axis of the A-axis, and the stator 8 of the second torque motor is temporarily fastened to the driving seat body 3 by inserting a fastener from the middle position of the arc-shaped long groove. In this embodiment, the fastener adopts a temporary fastening screw;

[0056] S112. Measuring the electrical angle of the second torque motor: Install an encoder 5 on the central axis of the A-axis on the side where the second torque motor is installed. Apply direct current to the stator 8 of the second torque motor, so that the rotor 7 of the second torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the second torque motor are magnetically matched. As the rotor 7 of the second torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 to calculate the electrical angle of the second torque motor.

[0057] S2. Calculation of the rotation angle of the second torque motor stator 8:

[0058] The electrical angle value of the second torque motor obtained in S112 is compared with the electrical angle value of the first torque motor obtained in S102, and the difference is calculated. The electrical angle difference is converted into a mechanical angle to obtain the required rotation angle of the stator 8 of the second torque motor; wherein, the calculation formula for converting the electrical angle difference into the mechanical angle is:

[0059] Deg(n)=E(deg) / P+360 / P·n

[0060] Where Deg(n) is the mechanical angle, E(deg) is the electrical angle, P is the number of torque motor pole pairs, and n is an arbitrary integer;

[0061] The value of n is determined based on the fact that after the stator 8 is rotated according to the obtained Deg(n), the fixed position of the stator 8 can avoid the arc-shaped long slot. Referring to actual adjustment experience, n of 1 or 2 can meet the adjustment needs in most cases.

[0062] S3. Adjust the tooling installation:

[0063] Reference Figure 2 , a scale plate 10 and an adjustment plate 11 are installed on the drive base end cover 4 corresponding to the second torque motor; wherein the scale plate 10 is an angle scale plate 10 engraved with an angle scale, and the scale plate 10 is coaxially fixed to the drive base end cover 4 by screws; the adjustment plate 11 is fixedly connected to the second torque motor stator 8 by a locking member 12, and is arranged radially along the scale plate 10. In this embodiment, the locking member 12 is a locking screw, and the locking member 12 replaces the temporary fastening screw fixing the second torque motor stator 8, so that the second torque motor stator 8 can rotate with the adjustment plate 11;

[0064] S4. Angle adjustment:

[0065] S41. Record the scale of the dial 10 corresponding to the adjustment plate 11 when the adjustment tooling is installed. Add the calculated mechanical angle and the recorded scale of the dial 10 to obtain the target scale of the dial 10 to which the adjustment plate 11 needs to be rotated. Rotate the adjustment plate 11 to drive the stator 8 of the second torque motor to rotate to the target scale of the dial 10.

[0066] S42, repeat step S112 to remeasure the electrical angle of the second torque motor. If there is still a difference between the electrical angle of the second torque motor and the electrical angle of the first torque motor, repeat steps S2 and S41 to continue adjusting until the electrical angle is the same as the electrical angle of the first torque motor;

[0067] S5. Fix the stator 8 of the second torque motor:

[0068] In step S4, the final stator 8 position of the second torque motor is adjusted, and the stator 8 positioning pins are used to fix the stator 8 of the second torque motor. Then, the remaining stator 8 mounting holes are made on the drive seat end cover 4 corresponding to the second torque motor, and the remaining stator 8 positioning pins are installed through the mounting holes to complete the electrical angle adjustment.

[0069] Example 2

[0070] Example 2 of the present application also discloses a method for rapid electrical angle adjustment, which differs from the method in Example 1 in that the specific order in step S1 is different, and the electrical angles of the first torque motor and the second torque motor are measured after the first torque motor and the second torque motor are installed.

[0071] Step S1 specifically includes the following steps:

[0072] S1. Adjustment preparation:

[0073] S11, first torque motor and second torque motor installation:

[0074] The stator 8 and rotor 7 of the first torque motor are assembled on the drive base 3 on one side of the double swing head A axis, wherein the stator 8 of the first torque motor is fixed and stabilized to the corresponding drive base 3 by screws, and the rotor 7 of the first torque motor is connected and fixed to the spindle box 9 of the double swing head A axis by screws;

[0075] The stator 8 and rotor 7 of the second torque motor are assembled on the driving seat body 3 on the other side of the double-swing head A-axis; the rotor 7 of the second torque motor is connected and fixed to the main spindle box 9 of the double-swing head A-axis by screws; the stator 8 of the second torque motor is clamped in the driving seat body 3 through the driving seat end cover 4, wherein two arc-shaped long grooves are arranged around the installation position of the second torque motor stator 8 on the driving seat end cover 4 corresponding to the second torque motor, and the positions of the two arc-shaped long grooves are symmetrical with respect to the axis of the A-axis. The stator 8 of the second torque motor is temporarily fastened to the driving seat body 3 by temporarily fastening screws inserted from the middle position of the arc-shaped long grooves; S12, measuring the electrical angle of the first torque motor and the electrical angle of the second torque motor:

[0076] An encoder 5 is installed on the central axis of the A-axis on the side where the first torque motor is installed. A direct current is supplied to the stator 8 of the first torque motor, so that the rotor 7 of the first torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the first torque motor are magnetically matched. As the rotor 7 of the first torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 to calculate the electrical angle of the first torque motor.

[0077] An encoder 5 is installed on the central axis of the A-axis on the side where the second torque motor is installed, and direct current is passed to the stator 8 of the second torque motor, so that the rotor 7 of the second torque motor is deflected under the action of the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the second torque motor are magnetically matched. As the rotor 7 of the second torque motor rotates, the encoder 5 outputs a number of pulses. The electrical angle of the second torque motor is calculated by comparing the number of pulses output by the encoder 5 with the resolution of the encoder 5.

[0078] Example 3

[0079] Example 3 of the present application also discloses a method for rapid electrical angle adjustment, which differs from the method in Example 1 in that the adjustment tool is installed after the second torque motor is installed.

[0080] The electrical angle quick adjustment method specifically includes the following steps:

[0081] S1. Adjustment preparation:

[0082] S101. Install the first torque motor: Assemble the stator 8 and rotor 7 of the first torque motor on the drive base 3 on one side of the double-swing head A-axis. The stator 8 of the first torque motor is fixed to the corresponding drive base 3 with screws, and the rotor 7 of the first torque motor is connected to the spindle box 9 of the double-swing head A-axis with screws.

[0083] S102, measuring the electrical angle of the first torque motor: an encoder 5 is mounted on the central axis of the A-axis on the side where the first torque motor is mounted, and a direct current is supplied to the stator 8 of the first torque motor, so that the rotor 7 of the first torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the first torque motor are magnetically matched. As the rotor 7 of the first torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 (i.e., the number of pulses output by the encoder 5 during one revolution) to calculate the electrical angle of the first torque motor;

[0084] S111. Installation of the second torque motor: Assemble the stator 8 and rotor 7 of the second torque motor on the drive seat body 3 on the other side of the double-swing head A-axis; the rotor 7 of the second torque motor is connected and fixed to the spindle box 9 of the double-swing head A-axis by screws; the stator 8 of the second torque motor is clamped in the drive seat body 3 through the drive seat end cover 4, wherein two arc-shaped long grooves are provided on the drive seat end cover 4 corresponding to the installation position of the second torque motor stator 8 at intervals, and the positions of the two arc-shaped long grooves are symmetrical with respect to the axis of the A-axis, and the stator 8 of the second torque motor is temporarily fastened to the drive seat body 3 by temporarily fastening screws inserted from the middle position of the arc-shaped long grooves;

[0085] S112. Install the adjustment tooling: Install the scale plate 10 and adjustment plate 11 on the drive base end cover 4 corresponding to the second torque motor. The scale plate 10 is an angle scale 10 engraved with an angle scale, and the scale plate 10 is coaxially fixed to the drive base end cover 4 by screws. The adjustment plate 11 is installed on the temporary fastening screws and is arranged radially along the scale plate 10.

[0086] S113. Measuring the electrical angle of the second torque motor: Install an encoder 5 at one end of the A-axis, where the central axis of the second torque motor passes through the adjustment plate 11. Apply direct current to the stator 8 of the second torque motor, so that the rotor 7 of the second torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and stator 8 of the second torque motor are magnetically aligned. As the rotor 7 of the second torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 to calculate the electrical angle of the second torque motor.

[0087] S2. Calculation of the rotation angle of the second torque motor stator 8:

[0088] The electrical angle value of the second torque motor obtained in S112 is compared with the electrical angle value of the first torque motor obtained in S102, and the difference is calculated. The electrical angle difference is converted into a mechanical angle to obtain the required rotation angle of the stator 8 of the second torque motor; wherein, the calculation formula for converting the electrical angle difference into the mechanical angle is:

[0089] Deg(n)=E(deg) / P+360 / P·n

[0090] Where Deg(n) is the mechanical angle, E(deg) is the electrical angle, P is the number of torque motor pole pairs, and n is an arbitrary integer;

[0091] S3. Cancel the temporary fastening of the second torque motor stator 8:

[0092] The temporary fastening screws fixing the second torque motor stator 8 are replaced with locking screws, so that the adjustment plate 11 is fixedly connected to the second torque motor stator 8 through the locking screws, and the second torque motor stator 8 can rotate with the adjustment plate 11;

[0093] S4. Angle adjustment:

[0094] Record the scale of the dial 10 corresponding to the adjustment plate 11 when the adjustment tooling is installed. Add the calculated mechanical angle and the recorded scale of the dial 10 to obtain the target scale of the dial 10 to be rotated. Rotate the adjustment plate 11 to drive the second torque motor stator 8 to rotate to the target scale of the dial 10. Repeat step S112 to remeasure the electrical angle of the second torque motor. If there is still a difference between the electrical angle of the second torque motor and the first torque motor, repeat steps S2 and S4 to continue adjusting until they are the same.

[0095] S5. Fix the stator 8 of the second torque motor:

[0096] In step S4, the final stator 8 position of the second torque motor is adjusted, and the stator 8 positioning pins are used to fix the stator 8 of the second torque motor. Then, the remaining stator 8 mounting holes are made on the drive seat end cover 4 corresponding to the second torque motor, and the remaining stator 8 positioning pins are installed through the mounting holes to complete the electrical angle adjustment.

[0097] Example 4

[0098] Example 4 of the present application also discloses a method for rapid electrical angle adjustment, which differs from the method in Example 3 in that the specific order in step S1 is different, and the electrical angles of the first torque motor and the second torque motor are measured after both the first torque motor and the second torque motor are installed and the adjustment tooling is installed.

[0099] Step S1 specifically includes the following steps:

[0100] S1. Adjustment preparation:

[0101] S11, first torque motor and second torque motor installation:

[0102] The stator 8 and rotor 7 of the first torque motor are assembled on the drive base 3 on one side of the double swing head A axis, wherein the stator 8 of the first torque motor is fixed and stabilized to the corresponding drive base 3 by screws, and the rotor 7 of the first torque motor is connected and fixed to the spindle box 9 of the double swing head A axis by screws;

[0103] The stator 8 and rotor 7 of the second torque motor are assembled on the driving seat body 3 on the other side of the double-swing head A-axis; the rotor 7 of the second torque motor is connected and fixed to the spindle box 9 of the double-swing head A-axis by screws; the stator 8 of the second torque motor is clamped in the driving seat body 3 through the driving seat end cover 4, wherein two arc-shaped long grooves are arranged around the installation position of the second torque motor stator 8 on the driving seat end cover 4 corresponding to the second torque motor, and the positions of the two arc-shaped long grooves are symmetrical with respect to the axis of the A-axis, and the stator 8 of the second torque motor is temporarily fastened to the driving seat body 3 by temporarily fastening screws inserted from the middle position of the arc-shaped long grooves;

[0104] S12. Install the adjustment tooling: Install the dial 10 and adjustment plate 11 on the drive base end cover 4 corresponding to the second torque motor; the dial 10 is an angle dial 10 engraved with an angle scale, and the dial 10 is coaxially fixed to the drive base end cover 4 by screws; the adjustment plate 11 is installed radially along the dial 10 on the temporary fastening screws;

[0105] S13, measuring the electrical angle of the first torque motor and the electrical angle of the second torque motor:

[0106] An encoder 5 is installed on the central axis of the A-axis on the side where the first torque motor is installed. A direct current is supplied to the stator 8 of the first torque motor, so that the rotor 7 of the first torque motor is deflected by the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the first torque motor are magnetically matched. As the rotor 7 of the first torque motor rotates, the encoder 5 outputs a number of pulses. The number of pulses output by the encoder 5 is compared with the resolution of the encoder 5 to calculate the electrical angle of the first torque motor.

[0107] An encoder 5 is installed on the central axis of the A-axis on the side where the second torque motor is installed, and direct current is passed to the stator 8 of the second torque motor, so that the rotor 7 of the second torque motor is deflected under the action of the magnetic field of the stator 8 until the rotor 7 and the stator 8 of the second torque motor are magnetically matched. As the rotor 7 of the second torque motor rotates, the encoder 5 outputs a number of pulses. The electrical angle of the second torque motor is calculated by comparing the number of pulses output by the encoder 5 with the resolution of the encoder 5.

[0108] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for rapid electrical angle adjustment, characterized by: The following steps are involved: S1. Adjustment preparation: The stator (8) and rotor (7) of the first torque motor are assembled on the driving seat (3) on one side of the double-swing head A-axis, the stator (8) of the first torque motor is fixedly connected to the corresponding driving seat (3), and the rotor (7) of the first torque motor is fixedly connected to the double-swing head A-axis; Assembling the stator (8) and rotor (7) of the second torque motor on the drive seat (3) on the other side of the double-swing head A-axis, temporarily fixing the stator (8) of the second torque motor to the corresponding drive seat (3), and fixing the rotor (7) of the second torque motor to the double-swing head A-axis; Using an encoder (5) to measure the electrical angle of the first torque motor and the electrical angle of the second torque motor; S2. Calculation of the rotation angle of the second torque motor stator (8): Comparing the electrical angle value of the second torque motor obtained in S1 with the electrical angle value of the first torque motor obtained, calculating the difference, converting the electrical angle difference into a mechanical angle, and obtaining the required rotation angle of the stator (8) of the second torque motor; S3, cancelling the temporary fixation of the second torque motor stator (8), so that the second torque motor stator (8) can rotate around the axis of the double swing head A axis; S4. Angle adjustment: S41, rotating the second torque motor stator (8) according to the mechanical angle calculated in S3; S42, repeating the step of measuring the electrical angle of the second torque motor in step S1, re-measuring the electrical angle of the second torque motor, and if there is a difference between the electrical angle of the second torque motor and the electrical angle of the first torque motor, repeating steps S2 and S41 until the electrical angle of the second torque motor is the same as the electrical angle of the first torque motor; S5. Fixing the stator (8) of the second torque motor: At the final stator (8) position of the second torque motor adjusted in step S4, the stator (8) positioning pins are punched to fix the second torque motor stator (8), and then the remaining second torque motor stator (8) mounting holes are punched and installed to complete the electrical angle adjustment.

2. The method for rapid electrical angle adjustment according to claim 1, wherein: When the second torque motor is installed in step S1, the stator (8) of the second torque motor is clamped in the drive seat body (3) through the drive seat end cover (4), and the drive seat end cover (4) corresponding to the second torque motor is provided with arc-shaped long grooves spaced around the installation position of the second torque motor stator (8), and the stator (8) of the second torque motor is temporarily fastened to the drive seat body (3) by fasteners passing through the arc-shaped long grooves.

3. The method for rapid electrical angle adjustment according to claim 2, wherein: The calculation formula for converting the electrical angle difference into the mechanical angle in step S2 is: Deg(n)=E(deg) / P+360 / P·n Where Deg(n) is the mechanical angle, E(deg) is the electrical angle, P is the number of torque motor pole pairs, and n is an arbitrary integer.

4. The method for rapid electrical angle adjustment according to claim 2, wherein: The step S3 comprises: removing the fasteners and installing a scale plate (10) and an adjustment plate (11) on a drive seat end cover (4) corresponding to the second torque motor; the scale plate (10) is an angle scale plate (10) engraved with an angle scale, and the scale plate (10) is coaxially fixed to the drive seat end cover (4); the adjustment plate (11) is arranged along the radial direction of the scale plate (10) and is fixedly connected to the stator (8) of the second torque motor via a locking member (12), so that after the fasteners are removed, the stator (8) of the second torque motor can rotate along with the adjustment plate (11); The step S41 specifically includes: recording the scale of the dial (10) corresponding to the adjustment plate (11) when the installation of the dial (10) and the adjustment plate (11) is completed, adding the mechanical angle calculated in step S2 and the recorded scale of the dial (10) to obtain the target scale of the dial (10) to be rotated, and rotating the adjustment plate (11) to adjust the stator (8) of the second torque motor to rotate to the target scale of the dial (10).

5. The method for rapid electrical angle adjustment according to claim 4, characterized in that: When temporarily fixing the stator (8) by installing the second torque motor in step S1, the fastener is adjusted to be located in the middle of the arc-shaped long slot; In step S3, the fastener for temporarily fixing the second torque motor stator (8) is replaced by the locking member (12).

6. The method for rapid electrical angle adjustment according to claim 2, wherein: After the second torque motor is installed in step S1, the scale plate (10) and the adjustment plate (11) are installed. The scale plate (10) is an angle scale plate (10) engraved with an angle scale, and the scale plate (10) is coaxially fixed to the drive seat end cover (4); the adjustment plate (11) is connected to the stator (8) of the second torque motor along the radial direction of the scale plate (10).

7. The method for rapid electrical angle adjustment according to claim 6, wherein: In the step S1, the stator (8) of the second torque motor is temporarily fixed by a fastener, and the adjustment plate (11) is installed on the fastener during installation; In step S3, a locking member (12) is used to replace the temporarily fixed fastener, and the locking member (12) only fixes the adjustment plate (11) on the second torque motor stator (8).

8. The method for rapid electrical angle adjustment according to any one of claims 1 to 7, characterized in that: In the step S1, the electrical angle of the first torque motor is measured, specifically comprising: installing an encoder (5) on the central axis of the A-axis on one side of the first torque motor, passing direct current to the stator (8) of the first torque motor, so that the rotor (7) of the first torque motor is deflected under the action of the magnetic field of the stator (8) until the rotor (7) and the stator (8) of the first torque motor are magnetically matched, and as the rotor (7) of the first torque motor rotates, the encoder (5) outputs a number of pulses, and the electrical angle of the first torque motor is calculated by comparing the number of pulses output by the encoder (5) with the number of pulses output by the encoder (5) when it works one circle; and the electrical angle of the second torque motor is measured by the same operation.

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