A linkage type automatic adjusting force motor zero position control device

Abstract

The present application relates to a kind of linkage type automatic regulating force motor zero control device, linear force motor one side motor armature is connected motor armature adjusting block by locking adjusting block;Mechanical arm is connected and adjusted motor armature adjusting block, locking adjusting block by adjusting chucking head, for realizing to motor armature adjusting block, locking adjusting block automatic chucking, adjustment and locking, to realize the adjustment of motor armature zero position;Linear force motor other side motor armature is fixedly connected LVDT displacement sensor, for detecting the displacement change of linear force motor motor armature;The input signal line of the linear force motor, the output signal line of LVDT displacement sensor, mechanical arm command signal line and direct force motor static analyzer are connected, form a PID closed loop control;Linear force motor zero is detected and automatically regulated by mechanical arm, LVDT linear displacement sensor and direct force motor static analyzer.

Description

Technical Field

[0001] This invention relates to a control element for an electro-hydraulic servo linear force motor, and more particularly to a zero-position control device for an electro-hydraulic servo linear force motor. Background Technology

[0002] Direct-acting electro-hydraulic servo valves are mainly installed in steam turbine generator sets and are the core component of the generator set's speed governor. Their main function is to quickly and accurately adjust the generator's speed, thereby controlling the generator's output voltage to match the electrical load. Therefore, the performance of this valve determines the quality and reliability of the power supply system. If this valve malfunctions, it will cause voltage instability in the power supply system, leading to the malfunction of many electronic control systems. Thus, this valve is a critical component of the steam turbine generator set. The linear force motor, as a key component in the direct-acting electro-hydraulic servo valve, plays a pilot and driving role. A linear force motor generally consists of an armature, spindle, magnet, magnetic conductor, and coil assembly. It requires high precision and is difficult to manufacture. Furthermore, the alignment of the linear force motor's mechanical zero position directly affects the performance of the entire valve. Therefore, zero-position adjustment of the linear force motor is a critical process in the manufacturing of direct-acting electro-hydraulic servo valves. In actual production and commissioning, zero-position adjustment of the linear force motor relies on manual installation onto the entire valve for zeroing operations. This process is complex and requires multiple disassemblies, significantly increasing product commissioning time. Summary of the Invention

[0003] The present invention provides a zero-position control device for a linear force motor with automatic clamping and displacement feedback linkage using a robotic arm. This device can improve the original manual assembly and adjustment to automatic clamping and adjustment by a robotic arm, reducing assembly errors caused by manual operation, shortening the debugging process of the linear force motor, and realizing automatic zero-position adjustment of the linear force motor in a single clamping operation. This greatly improves production efficiency and enhances the zero-position stability of the linear force motor, providing a guarantee for mass production and lean manufacturing.

[0004] To achieve the above objectives, the technical solution of the present invention is: a linkage-type automatic adjustment zero-position control device for a linear force motor, comprising a linear force motor, an LVDT displacement sensor, a robotic arm, and a direct-drive motor static analyzer. A motor armature adjustment block is connected to one side of the linear force motor via a locking adjustment block. The robotic arm connects to and adjusts the motor armature adjustment block and the locking adjustment block via an adjusting clamping head, enabling automatic clamping, adjustment, and locking of the motor armature adjustment block and the locking adjustment block, thereby adjusting the zero-position of the motor armature. An LVDT displacement sensor is fixedly connected to the other side of the linear force motor's armature for detecting displacement changes in the motor armature. The input signal line of the linear force motor, the output signal line of the LVDT displacement sensor, and the command signal line of the robotic arm are connected to the direct-drive motor static analyzer to form a PID closed-loop control. The detection and automatic adjustment of the zero position of the linear force motor are achieved through the robotic arm, the LVDT linear displacement sensor, and the direct-drive motor static analyzer.

[0005] Furthermore, the locking adjustment block is screwed onto the end face of the linear force motor via an external thread, and its internal hexagonal countersunk slot is fitted onto the locking nut to achieve locking and loosening of the locking nut; the motor armature adjustment block is screwed onto the locking adjustment block, and its internal hexagonal countersunk slot is fitted onto the external hexagonal of the motor armature.

[0006] Furthermore, the robotic arm adjusts the zero position of the motor armature by turning the motor armature adjustment block.

[0007] Furthermore, the locking adjustment block is threadedly connected to one end face of the linear force motor, and the end face of the locking adjustment block and the end face of the linear force motor are sealed by a sealing ring placed in the sealing groove of the locking adjustment block.

[0008] Furthermore, the LVDT displacement sensor is fixedly connected to the motor armature through its internal sensor core to provide real-time feedback on the displacement of the motor armature.

[0009] Furthermore, the LVDT displacement sensor is fitted onto the sensor sleeve and secured with a nut;

[0010] Furthermore, the sensor sleeve is tightened onto the sensor connection end cap via external threads and axially sealed with a sealing ring to prevent internal leakage.

[0011] Furthermore, the LVDT displacement sensor is fixed to the L-shaped bracket via a sensor connection end cap and its end face is sealed with a sealing ring.

[0012] Furthermore, the linear force motor is mounted on an L-shaped bracket, which is fastened to the base plate by four screws.

[0013] Furthermore, the static analyzer for the direct-drive motor has a built-in preset input signal / command. The signal / command is transmitted to the robotic arm through a conversion circuit. According to the command signal / command signal, the robotic arm first clamps the locking adjustment block to loosen the linear force motor locking nut, and then adjusts the robotic arm adjusting clamp to clamp the motor armature adjusting block. Twisting causes the position of the motor armature to move left and right. At the same time, the displacement stroke of the motor armature is fed back by the LVDT displacement sensor and compared with the input signal / command, thereby forming an electrical feedback automatic adjustment closed-loop control.

[0014] The beneficial effects of this invention are:

[0015] Based on the experimental verification of actual linear force motor zero-position adjustment, the zero-position control technology and device of the present invention with automatic clamping by robotic arm and displacement feedback linkage can greatly simplify the product debugging process, reduce human operation error, improve the accuracy of the force motor zero position, and greatly improve the reliability and stability of the entire valve.

[0016] This automatic adjustment force motor zero-position control device is applied to a direct-acting servo valve, effectively improving the accuracy and efficiency of zero-position adjustment of the linear force motor and achieving good results. Attached Figure Description

[0017] Figure 1 This is a cross-sectional view (AA) of the structure of the automatic clamping and displacement feedback linkage automatic adjustment force motor zero-position control device with robotic arm of the present invention.

[0018] Figure 2 for Figure 1 Top view;

[0019] Figure 3 Schematic diagram of a static analyzer for direct-drive motors;

[0020] Figure 4 This describes the control principle of a zero-position control device for an automatic clamping force motor with a robotic arm and displacement feedback linkage. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] like Figures 1 to 3 As shown, a zero-position control device for an automatic force motor with robotic arm clamping and displacement feedback linkage includes a motor armature adjusting block 1, a motor armature 2, a locking adjusting block 3, a Φ12 sealing ring 4, an M8 locking nut 5, a linear force motor 6, an M5×25 screw 7, a sensor core 8, an L-shaped bracket 9, a Φ18 sealing ring 10, a Φ2.5 sealing ring 11, a sensor connection end cap 12, a sensor threaded sleeve 13, an LVDT sensor 14, an M4 nut 15, a base plate 16, and a direct-drive motor static analyzer 17. (See details below.) Figure 3 As shown, M5×12 screw 18, robotic arm 19, M6×12 screw 20, adjusting clamping head 21, etc.

[0023] The motor armature adjusting block 1 is screwed onto the locking adjusting block 3 via an M7 thread, and its internal hexagonal countersink combines with the external hexagon of the motor armature assembly 2. The locking adjusting block 3 is installed on one end face of the linear force motor 6 and connected via an M12 thread. To prevent leakage, a Φ12 sealing ring 4 is installed at the sealing groove on the end face of the locking adjusting block 3 for sealing. The M8 locking nut 5 is connected and fixed to the locking adjusting block 3 via a concave-convex hexagonal structure. The linear force motor 6 is fixedly connected to the L-shaped bracket 9 via four M5×25 screws 7. The sensor core 8 is connected to the motor armature 2 via an M3 thread to provide real-time feedback on the motor armature displacement. The sensor connecting end cap 12 is fixed to the L-shaped bracket 9 via an M12 thread, and the end face is sealed with a Φ18 O-ring sealing ring 10 to prevent internal leakage. The sensor sleeve 13, with an M4 external thread, is tightened onto the sensor connection end cover 12 and axially sealed by a Φ2.5 sealing ring 11 to prevent internal leakage. The LVDT sensor 14 is fitted onto the sensor sleeve 13 and secured by an M4 nut 15. The L-shaped bracket 9 is fastened to the base plate 16 by four M5×12 screws 18. The linear force motor static analyzer 17 is placed on the L-shaped bracket 9 and electrically connected to the linear force motor 6, LVDT sensor 14, and robotic arm 19 via signal lines, plugs, etc., forming a PID closed-loop control adjustment. The robotic arm 19 is fixed to the base plate 16 by four M6×12 screws 20. The robotic arm 19 is connected and adjusted to the motor armature adjusting block 1 and the locking adjusting block 3 via an adjusting clamping head 21, realizing automatic clamping, adjustment, and locking functions.

[0024] The working principle of the automatic clamping and displacement feedback linkage automatic adjustment force motor zero-position control technology and device with robotic arm is as follows: The linear force motor is mounted on an L-shaped bracket. On one side of the force motor, a locking adjustment block is screwed onto the motor end face via its external thread. The internal hexagonal countersunk slot of the locking adjustment block fits into the locking nut to fix it, thereby achieving the locking and loosening of the locking nut. The motor armature adjustment block is screwed onto the locking adjustment block, and its internal hexagonal countersunk slot fits into the external hexagonal slot of the motor armature. The zero position of the motor armature can be adjusted by turning the motor armature adjustment block. Both the locking adjustment block and the motor armature adjustment block are automatically clamped, tightened, and adjusted by the robotic arm. On the other side of the force motor, the sensor core is connected to the force motor armature via a thread. The sensor core is placed inside the LVDT displacement sensor to detect the displacement change of the linear force motor armature. At the same time, the input signal line of the linear force motor, the output signal line of the LVDT displacement sensor, and the command signal line of the robotic arm are connected to the static analyzer of the direct-drive motor to form a PID closed-loop control.

[0025] Its electrical control principle is as follows: a preset signal / command is input to the integrated controller (i.e., built into the direct-drive motor static analyzer) via a program port. The signal / command is transmitted to the robotic arm through a conversion circuit. Based on the signal / command, the robotic arm first clamps the locking adjustment block to loosen the linear force motor locking nut, then adjusts the robotic arm's adjusting clamping head to hold the motor armature adjusting block. Twisting causes the motor armature to move left and right. Simultaneously, the displacement travel of the motor armature is fed back by an LVDT displacement sensor and compared with the input signal / command, thus forming an electrical feedback automatic adjustment closed-loop control. Figure 4 As shown.

[0026] This invention discloses an automatic zero-position control device for a linear force motor with a robotic arm for automatic clamping and displacement feedback linkage. It utilizes a robotic arm, an LVDT linear displacement sensor, and a direct-drive motor static analyzer to detect and automatically adjust the zero position of the linear force motor. The robotic arm adjusts and locks the armature zero position of the linear force motor, while the LVDT sensor detects the displacement of the armature. This forms a closed-loop control system with the direct-drive motor static analyzer, robotic arm, and linear force motor. Through a preset program / instruction, the linear force motor automatically adjusts to the zero position, avoiding repeated manual adjustments and errors caused by manual operation. This automatic zero-position adjustment control technology and device improves upon manual adjustment by replacing it with automatic adjustment by a robotic arm. PID closed-loop control significantly improves the accuracy and precision of zero-position adjustment, simplifies the linear force motor debugging process, and allows for automatic zero-position adjustment of the linear force motor with a single clamping operation. This effectively improves the zero-position stability and production efficiency of the product, enabling lean manufacturing.

Claims

1. A linkage-type automatic adjusting linear force motor zero-position control device, characterized in that: The system includes a linear force motor, an LVDT displacement sensor, a robotic arm, and a linear force motor static analyzer. One side of the linear force motor's armature is connected to a motor armature adjustment block via a locking adjustment block. The robotic arm connects to and adjusts the motor armature adjustment block and the locking adjustment block via an adjusting clamping head, enabling automatic clamping, adjustment, and locking of the motor armature adjustment block and the locking adjustment block, thereby adjusting the zero position of the motor armature. The other side of the linear force motor's armature is fixedly connected to an LVDT displacement sensor to detect changes in the displacement of the motor armature. The input signal line of the linear force motor, the output signal line of the LVDT displacement sensor, and the command signal line of the robotic arm are connected to the linear force motor static analyzer, forming a PID closed-loop control. The robotic arm, LVDT displacement sensor, and linear force motor static analyzer achieve the detection and automatic adjustment of the linear force motor's zero position.

2. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The locking adjustment block is screwed onto the end face of the linear force motor via an external thread, and its internal hexagonal countersunk slot fits onto the locking nut to achieve locking and loosening of the locking nut; the motor armature adjustment block is screwed onto the locking adjustment block, and its internal hexagonal countersunk slot fits onto the external hexagonal of the motor armature.

3. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The robotic arm adjusts the zero position of the motor armature by turning the motor armature adjustment block.

4. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The locking adjustment block is threadedly connected to one end face of the linear force motor, and the end face of the locking adjustment block and the end face of the linear force motor are sealed by a sealing ring placed in the sealing groove of the locking adjustment block.

5. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The LVDT displacement sensor is fixedly connected to the motor armature through its internal sensor core to provide real-time feedback on the displacement of the motor armature.

6. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The LVDT displacement sensor is fitted onto the sensor sleeve and secured with a nut.

7. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 6, characterized in that: The sensor sleeve is tightened onto the sensor connection end cap via external threads and axially sealed with a sealing ring to prevent internal leakage.

8. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The LVDT displacement sensor is fixed to the L-shaped bracket via a sensor connection end cap and its end face is sealed with a sealing ring.

9. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The linear force motor is mounted on an L-shaped bracket, which is fastened to the base plate by four screws.

10. The zero-position control device for the linkage-type automatic adjusting linear force motor according to claim 1, characterized in that: The linear force motor static analyzer has a built-in preset signal / command. The signal / command is transmitted to the robotic arm through a conversion circuit. According to the input signal / command, the robotic arm first clamps the locking adjustment block to loosen the locking nut of the linear force motor, and then adjusts the robotic arm adjusting clamp to clamp the motor armature adjustment block. Twisting causes the position of the motor armature to move left and right. At the same time, the displacement stroke of the motor armature is fed back by the LVDT displacement sensor and compared with the input signal / command, thus forming an electrical feedback automatic adjustment closed-loop control.

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