Precision control device and method for preload force of gyro motor

Abstract

A pre-tightening force precision control device for a gyro motor comprises a mounting base plate and a gyro motor, a lifting support assembly, two clamping assemblies, a measurement and control assembly, a left-side clamping assembly, a right-side clamping assembly and a push-flattening assembly. The present invention provides a pre-tightening force precision control device and method for a gyro motor, which can quickly and efficiently measure the resistance torque during the operation of the gyro motor, and can quantitatively and accurately adjust the tightening angle of the hexagonal nut at the end of the gyro motor according to the detection result, so that the gyro motor reaches a preset specified pre-tightening force. The overall structure of the device is simple, the operation is convenient, the accuracy is high, and the practical effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of gyro motor preload control, in particular to a gyro motor preload precision control device and method. Background Art

[0002] Gyro motors are typically small, and micro gyro motors are often installed in critical components. Their operation impacts the stability and lifespan of the entire device. Therefore, strict requirements are placed on the motor's resistance torque and starting torque during operation. In the specific structure of a gyro motor, the preload created by the tightening of the nuts at both ends of the central shaft directly affects the gyro motor's resistance torque. Due to the gyro motor's inherent small size, the control requirements for preload are relatively high. Even a slight tightening or loosening of the nuts can result in significant changes in the gyro motor's preload.

[0003] Currently, the existing technology for adjusting the preload force of gyro motors is mostly done manually by repeatedly trying to adjust the torque. This method suffers from poor accuracy, low efficiency, and difficulty meeting standard requirements. Therefore, how to accurately control the preload force of gyro motors is an urgent problem in this field. Summary of the Invention

[0004] The technical purpose of the present invention is to provide a device and method for precisely controlling the preload force of a gyro motor, which can quickly and efficiently measure the resistance torque of the gyro motor during operation, and can quantitatively and accurately adjust the tightening angle of the hexagonal nut at the end of the gyro motor based on the detection results so that the gyro motor reaches a preset specified preload force. The device has a simple overall structure, is easy to operate, has high accuracy, and has good practical effects.

[0005] In order to solve the above technical problems, the present invention provides a technical solution: a pre-tightening force precision control device for a gyro motor, comprising a mounting base and a gyro motor, a lifting support assembly, two clamping assemblies, a measurement and control assembly, a left clamping assembly, a right clamping assembly and a push-flattening assembly arranged on the mounting base, the lifting support assembly being arranged just below the gyro motor and used for supporting the gyro motor before clamping the left and right axial ends, the two clamping assemblies being respectively arranged at the left and right ends of the gyro motor's axis, the clamping assembly comprising a driving unit, a supporting unit, a bearing unit and a bell-shaped clamp, the supporting unit being vertically arranged above the mounting base, the bearing unit comprising at least one rotating bearing mounted on the top end of the supporting unit, the bell-shaped clamp being horizontally passed through the rotating bearing, and its bell-mouth end being arranged towards one end of the central axis of the gyro motor, so that the left and right clamping assemblies can axially clamp the left and right ends of the central axis of the gyro motor under the drive of their respective driving units;

[0006] The measurement and control assembly includes a control mechanism, and a photoelectric sensor and a stepper servo motor electrically connected to the control mechanism. The control mechanism is electrically connected to the gyro motor, the lifting support assembly, the two clamping assemblies, the left clamping assembly, the right clamping assembly and the push-flat assembly. The photoelectric sensor is used to measure the friction torque M during the operation of the gyro motor. The stepper servo motor is arranged on the clamping assembly located on the right side of the gyro motor and can move left and right under the drive of the clamping assembly. The end of the output shaft of the stepper servo motor is connected to the trumpet-shaped clamp of the right clamping assembly, which can drive the right trumpet-shaped clamp to rotate axially. The right clamping assembly is connected to the stepper servo motor and is used to clamp the trumpet-shaped clamp on the right side of the gyro motor under the control of the control mechanism. The left clamping assembly is arranged on the support unit located on the left side of the gyro motor and is used to clamp the trumpet-shaped clamp on the left side of the gyro motor under the control of the control mechanism.

[0007] A hexagonal nut for preload adjustment is respectively installed on the central shafts on the left and right sides of the gyro motor. The flattening assembly corresponds to the hexagonal nut on the right side of the gyro motor. The flattening assembly includes a vertical mounting rod and a flattening motor and a horizontal push rod arranged on the vertical mounting rod. A freely rotatable steel ball is installed below the horizontal push rod. The flattening motor is connected to the control mechanism so that the flattening motor can drive the horizontal push rod and the steel ball to adjust the position of the hexagonal nut on the right side of the gyro motor under the control of the control mechanism, so as to achieve precise control of the preload of the gyro motor.

[0008] Furthermore, the lifting support assembly includes two V-blocks for supporting the central axis of the gyro motor. The two V-blocks are symmetrically arranged below the gyro motor, and the distance between the two V-blocks is greater than the distance between the two hexagonal nuts for preload control on the central axis on the left and right sides of the gyro motor.

[0009] Furthermore, a receiving groove for placing the gyro motor wire is provided on the trumpet-shaped fixture located on the left side of the gyro motor.

[0010] Furthermore, the driving unit includes a driving motor, a gear and a rack, wherein the gear is fixed on the output shaft of the driving motor, and the rack is arranged in cooperation with the gear. The driving motor can drive the supporting unit, the bearing unit and the trumpet-shaped clamp as a whole to move left and right along the axial direction of the gyro motor through the cooperation of the gear and the rack, so as to realize axial clamping and loosening of the end of the central axis of the gyro motor.

[0011] Furthermore, the driving motor is fixed to the mounting base via a motor support.

[0012] Furthermore, the step servo motor is fixed on the rack via a mounting base.

[0013] Furthermore, the support unit includes a fixture support vertically arranged on the installation base plate, and the top end of the fixture support is a U-shaped structure.

[0014] Furthermore, the bearing unit includes two rotating bearings that are symmetrically arranged on the top of the support unit, and a spring retaining ring is installed between the two rotating bearings for positioning them.

[0015] Furthermore, the photoelectric sensor is arranged above the gyro motor via a sensor bracket, and the sensor bracket is fixed on the mounting base.

[0016] A method for precisely controlling the preload force of a gyro motor comprises the following steps:

[0017] Step 1: Tighten the hexagonal nut on the central shaft of one side of the gyro motor to the specified position, and then lightly tighten the hexagonal nut on the central shaft of the other side until it just touches the end face of the gyro motor;

[0018] Step 2: Turn on the power supply of the gyro motor. Then, place the gyro motor on the lifting support assembly, with the untightened end of the hexagonal nut on the gyro motor facing the stepper servo motor. Adjust the lifting support assembly to drive the gyro motor to move up and down, so that the central axis of the gyro motor is coaxial with the trumpet-shaped clamps in the two clamping assemblies.

[0019] Step 3: The control mechanism regulates the left and right clamping assemblies to axially clamp the left and right ends of the central axis of the gyro motor. Then, the lifting support assembly is controlled to fall to a position where it does not interfere with the operation. Then, the control mechanism controls the stepper servo motor to drive the right bell-shaped fixture to rotate axially to eliminate the coaxial error between the left and right bell-shaped fixtures and the central axis of the gyro motor.

[0020] Step 4: Control the step servo motor to stop rotating, and then the control mechanism controls the left clamping assembly to clamp the left bell-shaped fixture;

[0021] Step 5: Start the gyro motor. When it reaches the specified speed and runs stably, the power is turned off. During this process, the control mechanism controls the measurement and control component to measure the voltage and current when the gyro motor starts, as well as the attenuation acceleration during the free stop process after the gyro motor runs stably and the power is turned off, so as to calculate the current starting torque and friction torque of the gyro motor during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor during operation meet the required value range, the control mechanism controls the lifting support component to rise, and controls the clamping components on both sides to move away from the gyro motor to remove the gyro motor. If the current starting torque and friction torque of the gyro motor during operation do not meet the required value range, it is determined whether the right hexagonal nut needs to be tightened or loosened.

[0022] Step 6: The control mechanism controls the left clamping assembly to loosen the clamping, and then the control mechanism controls the push-flattening assembly to make the steel ball completely push through the right hexagonal nut in the direction of tightening the right hexagonal nut;

[0023] Step 7: The control mechanism controls the right clamping assembly to clamp the right bell-shaped clamp. Then, based on the tightening or loosening judgment in step 5, the stepper servo motor is controlled to rotate counterclockwise or clockwise by an angle of 2*θ1;

[0024] Where θ1 is calculated by the following formula:

[0025]

[0026] Where L is the distance from the center of the hexagonal nut to any vertex, h1 is the height from the lowest point of the steel ball to the lower end face of the horizontal push rod, h2 is the height from the upper surface of the hexagonal nut to the lowest point of the steel ball when the upper surface is horizontal, and h3 is the height from the center of the hexagonal nut to any side of the hexagonal nut. Here, h1>0, h2>0, and h1+h2+h3<L.

[0027] Step 8: The control mechanism controls the left clamping assembly to clamp the left bell-shaped fixture;

[0028] Step nine, start the gyro motor, and when it reaches the specified speed and runs stably, cut off the power. During the process, the control mechanism controls the measurement and control component to measure the voltage and current when the gyro motor starts, as well as the attenuation acceleration during the free stop process after the gyro motor runs stably and the power is cut off, so as to calculate the current starting torque and friction torque of the gyro motor during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor during operation meet the required value range, the control mechanism controls the lifting support component to rise, and controls the clamping components on both sides to move away from the gyro motor to remove the gyro motor; if the current starting torque and friction torque of the gyro motor during operation do not meet the required value range, it is determined whether the right hexagonal nut needs to be tightened or loosened;

[0029] Step 10. The control mechanism controls the left clamping component to loosen the clamp, and controls the right clamping component to clamp the right trumpet-shaped clamp. Then, based on the tightening or loosening judgment in step 9 and the relationship between the friction torque and the rotation angle of the hexagonal nut during the operation of the gyro motor, the value of θ is determined through the relationship image between the tightening angle of the hexagonal nut and the friction torque. Then, the control mechanism controls the stepper servo motor to drive the right trumpet-shaped clamp and the central axis of the gyro motor to axially rotate by an angle of θ, so that the preload force of the gyro motor can reach the required value range, thereby completing the precise control of the preload force of the gyro motor.

[0030] Beneficial effects of the present invention:

[0031] 1. The present invention provides a precise control device for the preload force of a gyro motor, which has a simple structure and is easy to operate. The device as a whole can quickly and efficiently measure the resistance torque during the operation of the gyro motor and, based on the test results, quantitatively and accurately adjust the tightening angle of the hexagonal nut at the end of the gyro motor to ensure that the gyro motor achieves a preset preload force. The device itself has a high degree of automation, good operability, and a fast, efficient, and highly accurate control process, greatly improving the efficiency and precision of the gyro motor's preload force control, resulting in excellent practical effects.

[0032] 2. During the preload control process, the present invention's gyro motor preload precision control device uses a stepper servo motor to drive the right-side clamping device, which in turn drives the right-side flared clamp. This clamp then rotates the gyro motor's central axis at a fixed angle. A horizontal push rod in the push-flat assembly then stops the right-side hexagonal nut from rotating, achieving indirect fixed-angle rotation of the hexagonal nut. The present invention's device effectively determines the required angle of adjustment, particularly for smaller gyro motors that are difficult to manually control and have stringent operating requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0034] Figure 2 for Figure 1 The main view;

[0035] Figure 3 for Figure 2 AA section view;

[0036] Figure 4 for Figure 3 A partial enlarged view of

[0037] Figure 5 This is a structural diagram of the left side clamping assembly;

[0038] Figure 6 This is a structural diagram of the right-side clamping assembly;

[0039] Figure 7 It is a structural diagram of the bulldozer assembly;

[0040] Figure 8 This is a structural diagram of the rotation of the hexagonal nut on the right side when the push-flat assembly is in action;

[0041] Figure numerals: 1. gyro motor, 2. mounting base, 3. left clamping assembly, 4. right clamping assembly, 5. trumpet-shaped clamp, 6. rotating bearing, 7. control box, 8. photoelectric sensor, 9. stepping servo motor, 10. hexagonal nut, 11. vertical mounting rod, 12. horizontal push rod, 13. steel ball, 14. V-shaped block, 15. accommodating groove, 16. driving motor, 17. gear, 18. rack, 19. motor support, 20. mounting base, 21. clamp support, 22. sensor bracket. DETAILED DESCRIPTION

[0042] To make the advantages, objectives and solutions of the present invention more clear, a more detailed description will be given below with reference to specific embodiments.

[0043] As attached Figure 1-8 As shown, a preload precision control device for a gyro motor comprises a mounting base 2 and a gyro motor 1 arranged on the mounting base 2, a lifting support assembly, two clamping assemblies, a measurement and control assembly, a left clamping assembly 3, a right clamping assembly 4 and a push-flat assembly. The lifting support assembly is arranged directly below the gyro motor 1 and is used to support the gyro motor 1 before clamping the left and right axial ends. The lifting support assembly comprises two V-shaped blocks 14 for supporting the central axis of the gyro motor 1. The two V-shaped blocks 14 are symmetrically arranged below the gyro motor 1, and the distance between the two V-shaped blocks 14 is greater than the distance between the two preload control hexagonal nuts 10 on the left and right central axes of the gyro motor 1. The two clamping assemblies are respectively arranged at the left and right ends of the gyro motor 1 axially. The clamping assembly comprises a drive unit, a support unit, a bearing unit and a trumpet-shaped clamp 5. A receiving groove 15 for placing the wires of the gyro motor 1 is provided on the trumpet-shaped clamp 5 located on the left side of the gyro motor 1. The drive unit comprises a drive motor 16, a gear 17 and a rack 18. Among them, the driving motor 16 is fixed to the mounting base 2 through a motor support 19, the gear 17 is fixed to the output shaft of the driving motor 16, and the rack 18 is arranged in cooperation with the gear 17. The driving motor 16 can drive the support unit, the bearing unit and the bell-shaped clamp 5 to move left and right along the axial direction of the gyro motor 1 through the cooperation of the gear 17 and the rack 18, so as to realize the axial clamping and loosening of the end of the central axis of the gyro motor 1. The support unit is vertically arranged above the mounting base 2, and the support unit includes a clamp support 21 vertically arranged on the mounting base 2. The top of the clamp support 21 is a U-shaped structure, and the bearing unit includes two rotating bearings 6 symmetrically arranged at the top of the support unit. A spring retaining ring for positioning the two rotating bearings 6 is also installed between the two rotating bearings 6. The bell-shaped clamp 5 is horizontally passed through the rotating bearing 6, and its bell-mouth end is arranged toward one end of the central axis of the gyro motor 1, so that the left and right clamping assemblies can axially clamp the left and right ends of the central axis of the gyro motor 1 under the drive of their respective driving units;

[0044] The measurement and control assembly includes a control mechanism 7, and a photoelectric sensor 8 and a stepper servo motor 9 electrically connected to the control mechanism 7. The control mechanism 7 is electrically connected to the gyro motor 1, the lifting support assembly, the two clamping assemblies, the left clamping assembly 3, the right clamping assembly 4 and the push-flat assembly. The stepper servo motor 9 is fixed to the rack 18 through a mounting seat 20. The photoelectric sensor 8 is set above the gyro motor 1 through a sensor bracket 22. The sensor bracket 22 is fixed to the mounting base 2. The photoelectric sensor 8 is used to measure the friction torque M during the operation of the gyro motor 1. The stepper servo motor 9 is set at the gyro motor 1. The gyro motor 1 is mounted on a clamping assembly on the right side and can move left and right under the drive of the clamping assembly. The end of the output shaft of the stepping servo motor 9 is connected to the bell-shaped clamp 5 of the right clamping assembly, which can drive the bell-shaped clamp 5 on the right side to rotate axially. The right clamping assembly 4 is connected to the stepping servo motor 9 and is used to clamp the bell-shaped clamp 5 on the right side of the gyro motor 1 under the control of the control mechanism 7. The left clamping assembly 3 is provided on the supporting unit on the left side of the gyro motor 1 and is used to clamp the bell-shaped clamp 5 on the left side of the gyro motor 1 under the control of the control mechanism 7.

[0045] A hexagonal nut 10 for preload adjustment is respectively installed on the central shaft on the left and right sides of the gyro motor 1. The flattening assembly is arranged corresponding to the hexagonal nut 10 on the right side of the gyro motor 1. The flattening assembly includes a vertical mounting rod 11 and a flattening motor and a horizontal push rod 12 arranged on the vertical mounting rod 11. A freely rotatable steel ball 13 is installed below the horizontal push rod 12. The flattening motor is connected to the control mechanism 7 so that the flattening motor can drive the horizontal push rod 12 and the steel ball 13 to adjust the position of the hexagonal nut 10 on the right side of the gyro motor 1 under the control of the control mechanism 7, so as to achieve precise control of the preload of the gyro motor 1.

[0046] A method for precisely controlling the preload force of a gyro motor comprises the following steps:

[0047] Step 1: Tighten the hexagonal nut 10 on the central shaft of one side of the gyro motor 1 to the specified position, and then lightly tighten the hexagonal nut 10 on the central shaft of the other side until it just touches the end face of the gyro motor 1;

[0048] Step 2: Turn on the power of the gyro motor 1. Then, place the gyro motor 1 on the lifting support assembly, and set the untightened end of the hexagonal nut 10 on the gyro motor 1 toward the stepping servo motor 9. Adjust the lifting support assembly to drive the gyro motor 1 to move up and down, so that the central axis of the gyro motor 1 is coaxial with the trumpet-shaped clamps 5 in the two clamping assemblies.

[0049] Step 3: The control mechanism 7 regulates the left and right clamping assemblies to axially clamp the left and right ends of the central axis of the gyro motor 1. After that, the lifting support assembly is controlled to fall to a position where it does not interfere with the operation. Then, the control mechanism 7 controls the stepping servo motor 9 to drive the right trumpet-shaped clamp 5 to rotate axially to eliminate the coaxial error between the left and right trumpet-shaped clamps 5 and the central axis of the gyro motor 1.

[0050] Step 4: Control the step servo motor 9 to stop rotating, and then the control mechanism 7 controls the left clamping assembly 3 to clamp the left bell-shaped clamp 5;

[0051] Step 5: Start the gyro motor 1. When it reaches the specified speed and runs stably, the power is turned off. During this process, the control mechanism 7 controls the measurement and control component to measure the voltage and current of the gyro motor 1 when it starts, as well as the attenuation acceleration of the gyro motor 1 during free stop after stable operation and power failure, so as to calculate the current starting torque and friction torque of the gyro motor 1 during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor 1 during operation meet the required value range, the control mechanism 7 controls the lifting support component to rise, and controls the clamping components on both sides to move away from the gyro motor 1 to remove the gyro motor 1. If the current starting torque and friction torque of the gyro motor 1 during operation do not meet the required value range, it is determined whether the right hexagonal nut 10 needs to be tightened or loosened.

[0052] Step 6: The control mechanism 7 controls the left side clamping assembly 3 to loosen the clamping, and then the control mechanism 7 controls the push-flat assembly to move so that the steel ball 13 completely pushes through the right side hexagonal nut 10 in the direction of screwing the right side hexagonal nut 10;

[0053] Step 7: The control mechanism 7 controls the right clamping assembly 4 to clamp the right bell-shaped clamp 5. Then, according to the tightening or loosening judgment in step 5, the stepping servo motor 9 is controlled to rotate counterclockwise or clockwise by an angle of 2*θ1;

[0054] Where θ1 is calculated by the following formula:

[0055]

[0056] Where L is the distance from the center of the hexagonal nut to any vertex, h1 is the height from the lowest point of the steel ball to the lower end face of the horizontal push rod, h2 is the height from the upper surface of the hexagonal nut to the lowest point of the steel ball when the upper surface is horizontal, and h3 is the height from the center of the hexagonal nut to any side of the hexagonal nut. Here, h1>0, h2>0, and h1+h2+h3<L.

[0057] Step 8: The control mechanism 7 controls the left clamping assembly 3 to clamp the left bell-shaped clamp 5;

[0058] Step nine, start the gyro motor 1, and when it reaches the specified speed and runs stably, the power is turned off. During the process, the control mechanism 7 controls the measurement and control component to measure the voltage and current of the gyro motor 1 when starting, as well as the attenuation acceleration of the gyro motor 1 during free stop after stable operation and power off, so as to calculate the current starting torque and friction torque of the gyro motor 1 during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor 1 during operation meet the required value range, the control mechanism 7 controls the lifting support component to rise, and controls the clamping components on both sides to move away from the gyro motor 1 to remove the gyro motor 1; if the current starting torque and friction torque of the gyro motor 1 during operation do not meet the required value range, it is determined whether the right hexagonal nut 10 needs to be tightened or loosened;

[0059] Step 10, the control mechanism 7 controls the left clamping component 3 to loosen the clamping, and controls the right clamping component 4 to clamp the right trumpet-shaped clamp 5. Afterwards, according to the tightening or loosening judgment of step 9, and the relationship between the friction torque and the rotation angle of the hexagonal nut 10 during the operation of the gyro motor 1, the value of θ is determined through the relationship image between the tightening angle of the hexagonal nut 10 and the friction torque. Afterwards, the control mechanism 7 controls the stepper servo motor 9 to drive the right trumpet-shaped clamp 5 and the central axis of the gyro motor 1 to axially rotate by an angle of θ, so that the preload force of the gyro motor 1 can reach the required value range, thereby completing the precise regulation of the preload force of the gyro motor 1.

[0060] The present invention addresses the problem of traditional manual tightening methods, where the degree of tightening is unknown at each turn, resulting in uncertain friction torque and a lack of precise control. The device boasts a simple overall structure and easy operation, enabling precise control of the tightening angle of the nut and, consequently, the preload, solving the problem of difficult preload control in tiny gyro motors.

[0061] Example 1

[0062] like Figure 1As shown, a preload precision control device for a gyro motor includes a gyro motor, two V-shaped blocks for supporting and positioning the gyro motor, the spacing between the two V-shaped blocks is slightly larger than the distance between the two end faces of the two hexagonal nuts on the central axis of the gyro motor, so as to facilitate manual placement of the gyro motor thereon, two left and right clamp supports, two rotating bearings and a trumpet-shaped clamp are arranged above each clamp support, a spring retaining ring is also installed in the gap between the two rotating bearings on the trumpet-shaped clamp, a left clamping assembly is provided on the trumpet-shaped clamp on the left side of the gyro motor, the left clamping assembly is arranged between the two rotating bearings, the trumpet-shaped clamp on the left side The fixture is also provided with a accommodating groove for placing the power cord of the gyro motor. The gear and rack are driven by the drive motor, which is fixed on the motor support. The stepper servo motor on the right side of the gyro motor is connected to the right clamping assembly. Next to the stepper servo motor is the control mechanism. The stepper servo motor is fixed on the mounting base. The photoelectric sensor is used to measure the friction torque M during the operation of the gyro motor. The photoelectric sensor is placed on the sensor bracket. The flattening assembly is used to adjust the position of the hexagonal nut on the right side. A freely rotatable steel ball is provided on the flattening assembly to avoid dead angle problems. All of the above components are fixed on the mounting base.

[0063] In the device, on the bell-shaped clamp, the roughness values of the middle part of the two spring retaining rings and the contact areas between the left clamping component, the right clamping component and the bell-shaped clamp are required to be higher to avoid slipping during the driving process of the stepper servo motor.

[0064] The steel ball on the push-leveling assembly can rotate freely to avoid dead angles that may cause the horizontal push rod to get stuck when moving. The surface roughness of the steel ball should be relatively small and the surface should be relatively smooth.

[0065] The specific operation method of the above-mentioned gyro motor preload precision control device is as follows:

[0066] Step 1: Tighten the hexagonal nut at one end of the gyro motor to the specified position. That is, tighten one end symmetrically and adjust the other end. Gently tighten the hexagonal nut at the other end until it just touches the right end surface of the gyro motor.

[0067] Step 2: Connect the power supply to the gyro motor, then place the gyro motor on the two V-blocks, with the end of the hexagonal nut just touching the stepper servo motor facing the power cord. Place the power cord in the slot of the left bell-shaped fixture. The V-block is retractable, and its extended height ensures that the axis of the gyro motor is coaxial with the left and right bell-shaped fixtures.

[0068] Step 3: After the gyro motor is placed on the V-block, the left and right clamping assemblies move toward the gyro motor at the same time. After clamping, the V-block falls without affecting the subsequent operation of the device. During this process, the stepper servo motor can rotate slowly to eliminate the dead angle caused by manufacturing and installation errors, which may cause the axis of the gyro motor to be not on the axis of the bell-shaped clamp.

[0069] Step 4: After the stepper servo motor stops rotating, the control mechanism controls the left clamping assembly to clamp the left bell-shaped fixture, so that the left bell-shaped fixture cannot rotate;

[0070] Step 5: Start the gyro motor. When it reaches the specified speed and runs stably, the power is turned off. During this process, the control mechanism controls the measurement and control component to measure the voltage and current of the gyro motor when it starts, as well as the attenuation acceleration of the gyro motor during free stop after stable operation and power failure. The attenuation acceleration is measured by a photoelectric sensor to calculate the current starting torque and friction torque of the gyro motor during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor during operation meet the required value range, the control mechanism controls the lifting support component to rise and controls the clamping components on both sides to move away from the gyro motor to remove the gyro motor. If the current starting torque and friction torque of the gyro motor during operation do not meet the required value range, it is determined whether the preload force needs to be increased or reduced, that is, whether the right hexagonal nut needs to be tightened or loosened.

[0071] Step 6: Then open the two side clamping components to free the two bell-shaped clamps on the left and right, and push the assembly to run until the steel ball completely pushes through the right hexagonal nut in the direction of tightening the right hexagonal nut and stops;

[0072] Step 7: The right clamping assembly is running, and the right bell-shaped clamp is clamped tightly. According to the judgment in step 5, whether the preload force needs to be increased or decreased, the stepper servo motor is controlled to rotate counterclockwise or clockwise, and rotate clockwise or counterclockwise by an angle of 2*θ1;

[0073] Where θ1 is calculated by the following formula:

[0074]

[0075] Where L is the distance from the center of the hexagonal nut to any vertex, h1 is the height from the lowest point of the steel ball to the lower end face of the horizontal push rod, h2 is the height from the upper surface of the hexagonal nut to the lowest point of the steel ball when the upper surface is horizontal, and h3 is the height from the center of the hexagonal nut to any side of the hexagonal nut. Here, h1>0, h2>0, and h1+h2+h3<L.

[0076] In this step, the stepper servo motor rotates by an angle of 2*θ1 to determine the initial position of the hexagonal nut. After rotating by an angle of 2*θ1, no matter where the hexagonal nut is initially located, one vertex of the hexagonal nut can be guaranteed to contact the lower end face of the horizontal push rod, eliminating the angle error that occurs when adjusting the preload.

[0077] Step 8: The left side clamping assembly is running, and the left side bell-shaped fixture is clamped tightly;

[0078] Step 9: Start the gyro motor. When it reaches the specified speed and runs stably, the power is turned off. During this process, the control mechanism controls the measurement and control component to measure the voltage and current of the gyro motor when it starts, as well as the attenuation acceleration of the gyro motor during free stop after stable operation and power failure. The attenuation acceleration is measured by a photoelectric sensor to calculate the current starting torque and friction torque of the gyro motor during operation, and compare them with the required values. If the current starting torque and friction torque of the gyro motor during operation meet the required value range, the control mechanism controls the lifting support component to rise and controls the clamping components on both sides to move away from the gyro motor to remove the gyro motor. If the current starting torque and friction torque of the gyro motor during operation do not meet the required value range, it is determined whether the preload force needs to be increased or reduced, that is, whether the right hexagonal nut needs to be tightened or loosened.

[0079] Step 10: Control the left clamping assembly to loosen the clamp, and control the right clamping assembly to clamp the right trumpet-shaped fixture. According to the tightening or loosening judgment in step 9 and the relationship between the friction torque and the rotation angle of the hexagonal nut during the operation of the gyro motor, the value of θ is determined through the relationship image between the tightening angle of the hexagonal nut and the friction torque. After that, the control mechanism controls the stepper servo motor to drive the right trumpet-shaped fixture and the central axis of the gyro motor to axially rotate by an angle of θ, so that the preload force of the gyro motor can reach the required value range, thereby completing the precise control of the preload force of the gyro motor.

[0080] In the present invention, the directional words appearing are for the convenience of describing the present invention, and do not limit the devices or elements referred to to must have a specific orientation, be constructed and operated in a specific orientation, and should not be understood as limiting the specific protection scope of the present invention.

[0081] In the present invention, unless otherwise specified or limited, when terms such as "disposed on," "connected," and "connected" appear, such terms should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, integral connection, or mechanical connection; they can be directly connected, connected through an intermediate medium, or the two components can be internally connected. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0082] In the present invention, unless otherwise specified or limited, when a first feature is "above" or "below" a second feature, this may include the first feature being in direct contact with the second feature, or it may include the first feature being in contact with the second feature through another feature between them. Furthermore, when a first feature is "above" a second feature, this includes both the first feature being directly above and diagonally above the second feature; and when a first feature is "below" a second feature, this includes both the first feature being directly below and diagonally below the second feature.

[0083] 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 technician familiar with the technical field can modify or replace the technical solutions of the present invention within the technical scope disclosed by the present invention, and all of them should be covered by the protection scope of the present invention.

Claims

1. A gyro motor preload precision control device, characterized by: The invention comprises a mounting base plate (2) and a gyro motor (1) arranged on the mounting base plate (2), a lifting support assembly, two clamping assemblies, a measurement and control assembly, a left clamping assembly (3), a right clamping assembly (4) and a push-flat assembly. The lifting support assembly is arranged directly below the gyro motor (1) and is used for supporting the gyro motor (1) before being clamped at both ends of the left and right axial directions. The two clamping assemblies are respectively arranged at the left and right ends of the gyro motor (1). The clamping assembly comprises a driving unit, a supporting unit, a bearing unit and a trumpet-shaped clamp (5). The supporting unit is vertically arranged above the mounting base plate (2). The bearing unit comprises at least one rotating bearing (6) mounted on the top end of the supporting unit. The trumpet-shaped clamp (5) is horizontally passed through the rotating bearing (6) and its trumpet end is arranged toward one end of the central axis of the gyro motor (1), so that the left and right clamping assemblies can axially clamp the left and right ends of the central axis of the gyro motor (1) under the drive of their respective driving units. The measurement and control component includes a control mechanism (7), a photoelectric sensor (8) and a stepping servo motor (9) electrically connected to the control mechanism (7), the control mechanism (7) is electrically connected to the gyro motor (1), the lifting support component, two clamping components, the left clamping component (3), the right clamping component (4) and the push-flat component, the photoelectric sensor (8) is used to measure the friction torque M during the operation of the gyro motor (1), the stepping servo motor (9) is arranged on the clamping component located on the right side of the gyro motor (1), and can move left and right under the drive of the clamping component, the stepping servo motor (9) The end of the output shaft is connected to the trumpet-shaped clamp (5) of the right clamping assembly, which can drive the trumpet-shaped clamp (5) on the right side to rotate axially. The right clamping assembly (4) is connected to the stepping servo motor (9) and is used to clamp the trumpet-shaped clamp (5) on the right side of the gyro motor (1) under the control of the control mechanism (7). The left clamping assembly (3) is arranged on the support unit located on the left side of the gyro motor (1) and is used to clamp the trumpet-shaped clamp (5) on the left side of the gyro motor (1) under the control of the control mechanism (7); A hexagonal nut (10) for adjusting the preload is respectively installed on the central shaft on the left and right sides of the gyro motor (1). The push-flattening assembly is arranged corresponding to the hexagonal nut (10) on the right side of the gyro motor (1). The push-flattening assembly includes a vertical mounting rod (11) and a push-flattening motor and a horizontal push rod (12) arranged on the vertical mounting rod (11). A freely rotatable steel ball (13) is installed below the horizontal push rod (12). The push-flattening motor is connected to the control mechanism (7) so that the push-flattening motor can drive the horizontal push rod (12) and the steel ball (13) to adjust the position of the hexagonal nut (10) on the right side of the gyro motor (1) under the control of the control mechanism (7), so as to achieve precise control of the preload of the gyro motor (1).

2. The gyro motor preload precision control device according to claim 1, characterized in that: The lifting support assembly comprises two V-shaped blocks (14) for supporting the central axis of the gyro motor (1), the two V-shaped blocks (14) being symmetrically arranged below the gyro motor (1), and the distance between the two V-shaped blocks (14) being greater than the distance between two hexagonal nuts (10) for preload control on the central axis on the left and right sides of the gyro motor (1).

3. The gyro motor preload precision control device according to claim 1, characterized in that: A accommodating groove (15) for accommodating the electric wires of the gyro motor (1) is provided on the trumpet-shaped clamp (5) located on the left side of the gyro motor (1).

4. The gyro motor preload precision control device according to claim 1, characterized in that: The driving unit comprises a driving motor (16), a gear (17) and a rack (18), wherein the gear (17) is fixed on the output shaft of the driving motor (16), and the rack (18) is arranged in cooperation with the gear (17). The driving motor (16) can drive the supporting unit, the bearing unit and the trumpet-shaped clamp (5) as a whole to move left and right along the axial direction of the gyro motor (1) through the cooperation of the gear (17) and the rack (18), so as to realize the axial clamping and loosening of the end of the central axis of the gyro motor (1).

5. The gyro motor preload precision control device according to claim 4, characterized in that: The driving motor (16) is fixed on the mounting base (2) via a motor support (19).

6. The gyro motor preload precision control device according to claim 4, characterized in that: The step servo motor (9) is fixed on the rack (18) via a mounting base (20).

7. The gyro motor preload precision control device according to claim 1, characterized in that: The support unit comprises a clamp support (21) vertically arranged on the mounting base plate (2), and the top end of the clamp support (21) is a U-shaped structure.

8. A gyro motor preload precision control device according to claim 1 or 7, characterized in that: The bearing unit comprises two rotating bearings (6) symmetrically arranged at the top of the support unit, and a spring retaining ring for positioning the two rotating bearings (6) is installed between the two rotating bearings (6).

9. The gyro motor preload precision control device according to claim 1, characterized in that: The photoelectric sensor (8) is arranged above the gyro motor (1) via a sensor bracket (22), and the sensor bracket (22) is fixed on the mounting base (2).

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