A torque motor auxiliary installation device

Abstract

The present invention provides a torque motor auxiliary installation device, including a top plate, legs fixedly installed at the four corners of the bottom of the top plate, a sliding block installed in the top plate for horizontal sliding, a height adjustment column installed in the top plate for vertical sliding, a mounting plate rotatably installed at the bottom of the height adjustment column, and a camera fixedly installed on one side of the bottom of the top plate for observing the installation screen. The present invention can flexibly install the mounting plate and the motor first, and then hoist the equipment to avoid motor damage, and cooperate with the electric mechanism and camera image analysis to determine the installation direction and angle to accurately drive the motor to twist, so as to solve the problem that it is difficult to accurately control the force direction and strength of the existing torque motor during manual handling and installation, which easily causes collision and scratches of the precision parts inside the motor and difficulty in aligning the precise coaxiality of the motor output shaft and the load equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of motor installation, and in particular to an auxiliary installation device for a torque motor. Background Art

[0002] Torque motors are increasingly used in modern industrial automation, precision manufacturing and many high-end equipment fields. With its outstanding features such as direct output of large torque, high-precision positioning and low-speed stable operation, torque motors have become key driving components for various high-precision equipment. They are commonly found in complex devices with strict precision requirements, such as robot joints, rotary tables of CNC machine tools, and tracking systems of astronomical telescopes.

[0003] However, torque motors have a complex structure and usually contain precision rotor and stator components. These components are not only heavy, but also have extremely high requirements for the accuracy of the installation position. Traditional installation methods face many difficult problems. On the one hand, during manual handling and installation, it is difficult to accurately control the direction and strength of the force, which can easily cause collisions and scratches on the precision parts inside the motor, which may damage the performance of the motor. For example, uneven air gaps can cause magnetic field distortion, thereby reducing the torque output stability and efficiency of the motor. In severe cases, the accumulation of minor damage may significantly shorten the service life of the motor.

[0004] On the other hand, when mechanically connecting the torque motor to the supporting equipment, it is extremely difficult to achieve precise coaxial alignment between the motor output shaft and the load equipment. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an auxiliary installation device for a torque motor, which can flexibly install the motor by first installing a mounting plate and then lifting the equipment to avoid damage to the motor, and cooperate with the electric mechanism and camera image analysis to determine the installation direction and angle to accurately drive the motor to twist, so as to solve the problem that it is difficult to accurately control the direction and strength of force during manual transportation and installation of the existing torque motor, which can easily cause collision and scratches of the precision components inside the motor and difficulty in precise coaxial alignment of the motor output shaft and the load equipment.

[0006] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions: a torque motor auxiliary installation device, including a top plate, legs fixedly installed at the four corners of the bottom of the top plate, a sliding block installed inside the top plate for transverse sliding, a height adjustment column installed inside the top plate for longitudinal sliding, a mounting plate rotatably installed at the bottom of the height adjustment column, and a camera fixedly installed on one side of the bottom of the top plate for observing the installation screen, a sliding groove is opened on the top of the top plate, a linear motor mover for driving the sliding block to move transversely is fixedly installed on the front and back sides of the sliding block, a linear motor stator matched with the linear motor mover is fixedly installed on the front and rear sides of the inner wall of the sliding groove, and also includes a pneumatic flexible adaptive clamping mechanism, which is arranged at the bottom of the mounting plate and is used to flexibly contact the motor housing and fix the motor housing with the adaptive clamping force of pressure data;

[0007] A height driving mechanism is installed, which is disposed on the top of the sliding block and is used to drive the height adjustment column to move up and down;

[0008] An axial angle driving mechanism is arranged on one side of the top of the sliding block and is used to drive the height adjustment column to twist;

[0009] The horizontal rotation angle adjustment mechanism is arranged at the bottom of the height adjustment column and is used to drive the mounting plate to tilt.

[0010] Furthermore, the pneumatic flexible adaptive clamping mechanism includes a clamping shell, a locking piece, a round tube telescopic rod, a proportional valve and a pressure sensor. Five groups of mounting grooves are provided on the front and rear sides of the mounting plate. The locking piece is fixedly installed on both sides of the inner wall of the mounting groove and is used to fix the clamping shell. Several groups of round tube telescopic rods are provided, and are fixedly distributed in a rectangular shape and equidistantly on one side where the two groups of clamping shells are close to each other. The proportional valve is provided in the same number as the clamping shells and is fixedly installed on one side of the top of the mounting plate close to the clamping shell. The pressure sensor is fixedly installed on the top of the clamping shell and is used to detect the air pressure inside the clamping shell. One end of the proportional valve is connected to the top of the clamping shell through an air pipe, and the other end of the proportional valve is connected to an external air source.

[0011] Furthermore, the installation height drive mechanism includes a lifting drive frame, a height adjustment tooth, a worm gear, a worm and a rack. A rotating column is rotatably installed inside the sliding block, a mounting ring is fixedly installed on the top of the rotating column, a retaining ring located at the bottom of the sliding block is fixedly installed on the bottom of the mounting ring, and the mounting ring, the rotating column and the retaining ring are all slidably matched with the height adjustment column. The lifting drive frame is fixedly installed on the top of the mounting ring, and an axle pin is rotatably installed on the top of the lifting drive frame. The height adjustment tooth is fixedly installed on one side of the surface of the axle pin, and the worm gear is fixedly installed on the other side of the surface of the axle pin. The worm is laterally rotatably installed inside the lifting drive frame and meshes with the worm gear, and the rack is fixedly installed on one side of the height adjustment column close to the height adjustment tooth.

[0012] Furthermore, the axial angle driving mechanism includes a gear ring, a mounting base, a stepper motor 1, a bevel gear 1, a limit frame 1, a bevel gear 2, an angle adjustment gear and a clutch assembly, the gear ring is fixedly mounted on the top of the sliding block, the mounting base is fixedly mounted on one side of the top of the mounting ring, the stepper motor 1 is fixedly mounted on the top of the mounting base, the output end of the stepper motor 1 passes through the limit frame 1 and is fixedly mounted with the bevel gear 1, the bevel gear 2 is rotatably mounted inside the limit frame 1 and is fixed coaxially with the worm, the clutch assembly is arranged on a side of the limit frame 1 away from the height adjustment column and is used to control the longitudinal torsion angle of the clamping shell, the limit frame 1 is fixedly mounted on the front of the stepper motor 1, the angle adjustment gear is arranged on a side above the gear ring away from the height adjustment column, and the angle adjustment gear is meshed with the gear ring.

[0013] Furthermore, the horizontal rotation angle adjustment mechanism includes an angle flip angle frame, a stabilizing frame, a second stepper motor, a second worm gear, a second worm and a drive shaft, the second stepper motor is fixedly mounted on one side of the top of the stabilizing frame, the stabilizing frame is detachably mounted on the bottom of the front side of the height adjustment column by bolts, the drive shaft is rotatably mounted on the bottom of the height adjustment column, the second worm gear is fixedly mounted on the drive shaft and is located on the front side of the angle flip angle frame, the output end of the second stepper motor is fixedly mounted on the second worm, the second worm is meshed with the second worm gear, the bottom of the second worm is rotationally limitedly matched with the bottom of the stabilizing frame, the angle flip angle frame is fixedly mounted on the top of the mounting plate and is located on the front and back sides of the height adjustment column, the drive shaft is fixedly mounted on the angle flip angle frame, and the front end of the drive shaft passes through the height adjustment column, the angle flip angle frame and the second worm gear in sequence from back to front and extends to the interior of the stabilizing frame.

[0014] Furthermore, a reset spring is arranged inside the plurality of groups of the circular tube telescopic rods, and one end of the reset spring is fixed to the end of the inner wall of the circular tube telescopic rod, and the other end is fixed to the inner wall of the clamping shell away from the side of the circular tube telescopic rod.

[0015] Furthermore, the clutch assembly includes bevel gear three, a double-tooth synchronous limit frame and an electromagnetic push rod, the gear ring is fixedly installed on the top of the sliding block, the bevel gear three is provided with an axle pin two inside, the axle pin two is slidably coupled with bevel gear three through a key slot, the angle adjustment gear is slidably coupled with the axle pin two through a key slot, the axle pin two passes through the double-tooth synchronous limit frame, the angle adjustment gear and bevel gear three from left to right in sequence, the bevel gear three is meshed with bevel gear one, the electromagnetic push rod is fixedly installed on the top of the front side of the stepping motor one, and the double-tooth synchronous limit frame is fixedly installed with the output end of the electromagnetic push rod.

[0016] Furthermore, two groups of longitudinally parallel sliding rods are fixedly installed on one side of the double-tooth synchronous limiting frame close to the electromagnetic push rod, and a limiting sleeve that slidably cooperates with the sliding rod is fixedly installed on one side of the limiting frame close to the sliding rod.

[0017] Furthermore, an angle sensor is fixedly mounted on the bottom of the front side of the stabilizing frame, and an output end of the angle sensor is fixedly mounted on the driving shaft.

[0018] Furthermore, a protective shell is fixedly mounted on the top of the mounting base, and the inner side of the protective shell is slidably matched with the double-tooth synchronous limiting frame.

[0019] Beneficial effects of the present invention: The present invention can accurately adjust the torque motor in multiple dimensions such as height, axial angle and horizontal rotation angle through the coordinated cooperation of multiple mechanisms, ensuring that the motor can be installed according to the accurate position and angle requirements, effectively improving the installation accuracy, and the pneumatic flexible adaptive clamping mechanism uses air pressure regulation to achieve flexible clamping of motor housings of different models and sizes, and cooperates with the adaptive adjustment of related components during the installation process to avoid damage to the motor due to improper clamping force or collision during angle adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 For the present invention Figure 1 A schematic diagram of a three-dimensional structure viewed from above;

[0023] Figure 3 It is a partially cutaway three-dimensional structural schematic diagram of the mounting plate of the present invention;

[0024] Figure 4 It is a schematic diagram of the three-dimensional structure of the sliding block of the present invention;

[0025] Figure 5It is a schematic diagram of a partial three-dimensional structure of a sliding block of the present invention;

[0026] Figure 6 This is a schematic diagram of the exploded three-dimensional structure of the angle flip angle frame of the present invention;

[0027] Figure 7 For the present invention Figure 6 Schematic diagram of the explosion structure inside the protective shell;

[0028] Figure 8 For the present invention Figure 6 A magnified view of middle;

[0029] Fig. 9 For the present invention Figure 7 Enlarged view of middle B;

[0030] Fig.10 It is a schematic diagram of a half-section structure of a mounting plate of the present invention in a side view.

[0031] In the figure: 1, top plate; 101, camera; 2, outrigger; 3, mounting plate; 31, clamping shell; 32, locking piece; 33, round tube telescopic rod; 34, proportional valve; 35, pressure sensor; 36, reset spring; 301, angle flip angle frame; 302, stabilizing frame; 303, stepper motor 2; 304, worm gear 2; 305, worm gear 2; 306, angle sensor; 307, driving shaft; 4, sliding block; 41, sliding slot; 42, linear motor mover; 43, linear motor stator; 5, height adjustment column; 51. Protective shell; 511. Mounting base; 512. Stepper motor 1; 513. Bevel gear 1; 514. Limit frame 1; 515. Bevel gear 2; 516. Bevel gear 3; 517. Angle adjustment gear; 518. Double-tooth synchronous limit frame; 5181. Slide rod; 5182. Limit sleeve; 519. Electromagnetic push rod; 52. Gear ring; 53. Mounting ring; 531. Rotating column; 532. Block ring; 54. Lifting drive frame; 541. Height adjustment gear; 542. Worm wheel 1; 543. Worm 1; 544. Rack. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] See also Figure 1 and Figure 2 , Figure 1 It is a structural schematic diagram of the present invention; Figure 2 For the present invention Figure 1 Schematic diagram of the three-dimensional structure viewed from above.

[0034] A torque motor auxiliary installation device comprises a top plate 1, legs 2 fixedly mounted at the four corners of the bottom of the top plate 1, a sliding block 4 slidably mounted inside the top plate 1, a height adjustment column 5 slidably mounted inside the top plate 1, a mounting plate 3 rotatably mounted at the bottom of the height adjustment column 5, and a camera 101 fixedly mounted on one side of the bottom of the top plate 1 for observing the installation screen, a sliding groove 41 is provided on the top of the top plate 1, a linear motor mover 42 for driving the sliding block 4 to move horizontally is fixedly mounted on the front and back sides of the sliding block 4, a linear motor stator 43 for transmission cooperation with the linear motor mover 42 is fixedly mounted on the front and rear sides of the inner wall of the sliding groove 41, and a pneumatic flexible adaptive clamping mechanism is also included, which is arranged at the bottom of the mounting plate 3 and is used to flexibly contact the motor housing and fix the motor housing with the clamping force adaptively matched with pressure data.

[0035] See also Figures 1 to 10 , Figure 1 It is a structural schematic diagram of the present invention, Figure 2 For the present invention Figure 1 A schematic diagram of a three-dimensional structure viewed from above; Figure 3 It is a partially cutaway three-dimensional structural schematic diagram of the mounting plate of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the sliding block of the present invention; Figure 5 It is a schematic diagram of a partial three-dimensional structure of a sliding block of the present invention; Figure 6 This is a schematic diagram of the exploded three-dimensional structure of the angle flip angle frame of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the explosion structure inside the protective shell; Figure 8 For the present invention Figure 6 A magnified view of middle; Fig. 9 For the present invention Figure 7 Enlarged view of middle B; Fig.10 It is a schematic diagram of a half-section structure of a mounting plate of the present invention in a side view.

[0036] The pneumatic flexible adaptive clamping mechanism includes a clamping shell 31, a locking piece 32, a round tube telescopic rod 33, a proportional valve 34 and a pressure sensor 35. Five groups of mounting grooves are provided on the front and rear sides of the mounting plate 3. The locking piece 32 is fixedly installed on both sides of the inner wall of the mounting groove and is used to fix the clamping shell 31. Several groups of round tube telescopic rods 33 are provided, and are fixedly distributed in a rectangular shape and equidistantly on the side where the two groups of clamping shells 31 are close to each other. The proportional valve 34 is provided with the same number as the clamping shell 31 and is fixedly installed on the top of the mounting plate 3 on one side close to the clamping shell 31. The pressure sensor 35 is fixedly installed on the top of the clamping shell 31 and is used to detect the air pressure inside the clamping shell 31. One end of the proportional valve 34 is connected to the top of the clamping shell 31 through an air pipe, and the other end of the proportional valve 34 is connected to an external air source. The inner wall of the clamping shell 31 and the inner wall of the round tube telescopic rod 33 are provided with an integrally formed air bag, and the end of the round tube telescopic rod 33 is fixedly installed with an anti-slip rubber layer. Several groups of round tube telescopic rods 33 can be extended and retracted through the air source externally connected to the proportional valve 34, and then the real-time air pressure data can be detected by the pressure sensor 35, and the air pressure can be adjusted in cooperation with the proportional valve 34 to achieve better flexible connection, ensuring that the motor will not be damaged during installation. At the same time, the anti-slip rubber layer can ensure that the round tube telescopic rods 33 will not slide after being pressed against the motor casing, and after the several groups of round tube telescopic rods 33 are arranged together, the air pressure can be coordinated to make the ends of the several groups of round tube telescopic rods 33 fit the outside of the motor, so as to adapt to motors of different models and sizes.

[0037] The height driving mechanism is installed and arranged on the top of the sliding block 4, and is used to drive the height adjustment column 5 to move up and down; the height driving mechanism includes a lifting driving frame 54, a height adjustment tooth 541, a worm gear 542, a worm 543 and a rack 544, a rotating column 531 is rotatably installed inside the sliding block 4, a mounting ring 53 is fixedly installed on the top of the rotating column 531, a retaining ring 532 located at the bottom of the sliding block 4 is fixedly installed on the bottom of the mounting ring 53, the mounting ring 53, the rotating column 531 and the retaining ring 532 are all slidably matched with the height adjustment column 5, the lifting driving frame 54 is fixedly installed on the top of the mounting ring 53, a shaft pin 1 is rotatably installed on the top of the lifting driving frame 54, the height adjustment tooth 541 is fixedly installed on one side of the surface of the shaft pin 1, the worm gear 542 is fixedly installed on the other side of the surface of the shaft pin 1, the worm 543 is laterally rotatably installed inside the lifting driving frame 54 and meshes with the worm gear 542, and the rack 544 is fixedly installed on the side of the height adjustment column 5 close to the height adjustment tooth 541. The lifting drive frame 54 can limit the rotation of the worm 543, and at the same time cooperate with a pair of axle pins for the top rotation limit to limit the worm wheel 542 and the height adjustment tooth 541. After the worm 543 rotates, it can drive the worm wheel 542 meshing with it to rotate, and drive the rack 544 to adjust the height through the height adjustment tooth 541 coaxially fixed with the worm wheel 542, so that the rack 544 drives the height adjustment column 5 fixed with it to adjust the height.

[0038] The axial angle driving mechanism is arranged on one side of the top of the sliding block 4 and is used to drive the height adjustment column 5 to twist; the axial angle driving mechanism includes a gear ring 52, a mounting base 511, a stepper motor 1 512, a bevel gear 1 513, a limit frame 1 514, a bevel gear 2 515, an angle adjustment gear 517 and a clutch assembly, the gear ring 52 is fixedly mounted on the top of the sliding block 4, the mounting base 511 is fixedly mounted on one side of the top of the mounting ring 53, the stepper motor 1 512 is fixedly mounted on the top of the mounting base 511, and the stepper motor 1 512 is fixedly mounted on the top of the mounting base 511. The output end of 12 passes through the limit frame 1 514 and is fixedly installed with the bevel gear 1 513, the bevel gear 2 515 is rotatably installed inside the limit frame 1 514, and is coaxially fixed with the worm 1 543, the clutch assembly is arranged on the side of the limit frame 1 514 away from the height adjustment column 5, and is used to control the longitudinal torsion angle of the clamping shell 31, the limit frame 1 514 is fixedly installed on the front side of the stepping motor 1 512, the angle adjustment gear 517 is arranged on the side above the gear ring 52 away from the height adjustment column 5, and the angle adjustment gear 517 is meshed with the gear ring 52.

[0039] The mounting base 511 can fix the stepper motor 1 512, so that the stepper motor 1 512 can be driven stably. After starting, the stepper motor 1 512 can drive the bevel gear 2 515 to rotate through the bevel gear 1 513, and then the bevel gear 2 515 can drive the worm 1 543 to rotate, and then the height adjustment of the height adjustment column 5 can be realized by the worm 1 543. At the same time, after the bevel gear 1 513 rotates, the clutch assembly can be driven to control the meshing state of the angle adjustment gear 517 and the gear ring 52. When the angle adjustment gear 517 is meshed with the upper part of the gear ring 52, the rotation of the bevel gear 1 513 can drive the angle adjustment gear 517 to rotate through the clutch assembly, and then the angle adjustment gear 517 can be driven to rotate through the angle adjustment gear 517. When the gear ring 52 is fixed differently during rotation, the reaction force drives the stepper motor 512 and the mounting base 511 to drive the mounting ring 53 to rotate around the center of the sliding block 4, and then the height adjustment column 5 is twisted through the limiting of the mounting ring 53 and the rotating column 531 to achieve the angle adjustment effect, and the clutch assembly needs to be started first to drive the angle adjustment gear 517 to the top of the gear ring 52 to engage when the torsion angle of the height adjustment column 5 needs to be adjusted. After the angle adjustment is completed, the clutch assembly is started to separate the angle adjustment gear 517 from the gear ring 52, and then the height of the height adjustment column 5 is adjusted. At this time, during the height adjustment process, the height adjustment column 5 will no longer twist, and this operation can avoid adjustment conflicts.

[0040] The horizontal rotation angle adjustment mechanism is arranged at the bottom of the height adjustment column 5 and is used to drive the mounting plate 3 to tilt; the horizontal rotation angle adjustment mechanism includes an angle flip angle frame 301, a stabilizing frame 302, a second stepping motor 303, a second worm gear 304, a second worm 305 and a driving shaft 307, the second stepping motor 303 is fixedly installed on one side of the top of the stabilizing frame 302, the stabilizing frame 302 is detachably installed with the bottom of the front side of the height adjustment column 5 by bolts, the driving shaft 307 is rotatably installed at the bottom of the height adjustment column 5, the second worm gear 304 and the driving shaft 307 are fixedly installed, and the position On the front side of the angle flip frame 301, the output end of the stepper motor 2 303 is fixedly installed with the worm 2 305, the worm 2 305 is meshed with the worm wheel 2 304, the bottom of the worm 2 305 is matched with the bottom rotation limit of the stabilizing frame 302, the angle flip frame 301 is fixedly installed on the top of the mounting plate 3 and is located on the front and back of the height adjustment column 5, the drive shaft 307 is fixedly installed with the angle flip frame 301, and the front end of the drive shaft 307 passes through the height adjustment column 5, the angle flip frame 301 and the worm wheel 2 304 from back to front in sequence and extends to the inside of the stabilizing frame 302. The angle flip angle frame 301 can ensure the rotational connection between the height adjustment column 5 and the mounting plate 3. Subsequently, when the inclination angle of the mounting plate 3 needs to be adjusted, starting the stepper motor 2 303 can drive the worm 2 305 to rotate, and then drive the worm gear 2 304 to rotate. After the worm gear 2 304 rotates, it can drive the drive shaft 307 and the angle flip angle frame 301 fixed thereto to twist synchronously, and then drive the mounting plate 3 to adjust the angle through the angle flip angle frame 301. Moreover, since it is the worm 2 305 and the worm gear 2 304 that drive the driving, the angle self-locking can be achieved, thereby ensuring the stability of the installation angle during installation.

[0041] A return spring 36 is disposed inside each of the groups of round tube telescopic rods 33, and one end of the return spring 36 is fixed to the inner end of the round tube telescopic rod 33, and the other end is fixed to the inner wall of the clamping shell 31 away from the side of the round tube telescopic rod 33. The return spring 36 can retract the end of the round tube telescopic rod 33 by pulling force after the air source supply is lost.

[0042] The clutch assembly includes bevel gear three 516, double-tooth synchronous limit frame 518 and electromagnetic push rod 519. The gear ring 52 is fixedly installed on the top of the sliding block 4. Axle pin two is arranged inside bevel gear three 516. Axle pin two is slidably coupled with bevel gear three 516 through a key slot. The angle adjustment gear 517 is slidably coupled with axle pin two through a key slot. Axle pin two passes through the double-tooth synchronous limit frame 518, the angle adjustment gear 517 and bevel gear three 516 from left to right in sequence. Bevel gear three 516 is meshed with bevel gear one 513. The electromagnetic push rod 519 is fixedly installed on the top of the front side of stepper motor one 512. The double-tooth synchronous limit frame 518 is fixedly installed on the output end of the electromagnetic push rod 519. Bevel gear three 516 can be driven to rotate by meshing with bevel gear one 513, and then can synchronously rotate the angle adjustment gear 517 connected thereto through two pairs of axle pins, so that after the angle adjustment gear 517 rotates, when the gear ring 52 is fixed differently, the reaction force drives the stepping motor one 512 and the mounting base 511 to drive the mounting ring 53 to rotate around the center of the sliding block 4, and then the height adjustment column 5 is twisted by the mounting ring 53 and the rotating column 531 to achieve the angle adjustment effect. When the angle adjustment gear 517 is not required to rotate, starting the electromagnetic push rod 519 can drive the double-tooth synchronous limit frame 518 to move to the side away from bevel gear one 513, so that the bevel gear three 516 is separated from the bevel gear one 513, and then the angle adjustment gear 517 will not be driven to rotate, and the function of rotating to drive the height adjustment column 5 to twist is lost.

[0043] Two sets of longitudinally parallel slide bars 5181 are fixedly installed on one side of the double-tooth synchronous limit frame 518 close to the electromagnetic push rod 519, and a limit sleeve 5182 that slides with the slide bar 5181 is fixedly installed on one side of the limit frame 1 514 close to the slide bar 5181. The slide bar 5181 enables the double-tooth synchronous limit frame 518 to cooperate with the limit sleeve 5182 to achieve stable limited sliding during the driving process, ensuring the lateral movement driving stability of the double-tooth synchronous limit frame 518, and because the double-tooth synchronous limit frame 518 slides with the inner wall of the protective shell 51, it can be ensured that the double-tooth synchronous limit frame 518 will not tilt during the sliding process.

[0044] An angle sensor 306 is fixedly installed at the bottom of the front of the stabilizing frame 302, and the output end of the angle sensor 306 is fixedly installed with the driving shaft 307. The angle sensor 306 can detect the torsion angle of the driving shaft 307 fixed with its output end when it is fixed to the stabilizing frame 302, ensuring the accuracy of the tilt angle after driving, and can visualize the data conversion of the driving process, cooperate with the observation of the camera 101, improve the efficiency of installing the motor, and can be fine-tuned according to the actual docking situation. In the fine-tuning process, the circular tube telescopic rod 33 cooperates with the proportional valve 34 to adjust the air pressure adaptively without damaging the motor. When torsion occurs or the installation angle is limited, the linear motor mover 42 can be started to drive the sliding block 4 horizontally in the sliding groove 41, making the installation more convenient and accurate.

[0045] Component assembly and association method: Stepper motor 2 303 is fixedly installed on one side of the top of the stabilizing frame 302, and the stabilizing frame 302 is detachably installed with the bottom of the front side of the height adjustment column 5 through bolts, and the drive shaft 307 is rotatably installed at the bottom of the height adjustment column 5. The worm gear 2 304 is fixedly installed with the drive shaft 307 and is located at the front side of the angle flip angle frame 301. The output end of stepper motor 2 303 is fixedly connected with worm 2 305, and worm 2 305 is meshed with worm gear 2 304. The bottom of worm 2 305 is connected with the worm gear 2 304. The bottom of the stabilizing frame 302 is rotated and limited, the angle flip angle frame 301 is fixed on the top of the mounting plate 3 and is located on the front and back of the height adjustment column 5, the drive shaft 307 is fixedly installed with the angle flip angle frame 301, and the front end of the drive shaft 307 passes through the height adjustment column 5, the angle flip angle frame 301 and the worm gear 2 304 from back to front in sequence and extends to the interior of the stabilizing frame 302, and the angle sensor 306 is fixedly installed at the bottom of the front side of the stabilizing frame 302, and its output end is fixedly connected to the drive shaft 307.

[0046] Working principle: The pneumatic flexible adaptive clamping mechanism is composed of a clamping shell 31, a locking piece 32, a round tube telescopic rod 33, a proportional valve 34, a pressure sensor 35, and a reset tension spring 36.

[0047] The clamping and self-adapting working process: the gas is delivered by an external gas source, and the gas enters the airbag part of the clamping shell 31 and the round tube telescopic rod 33 through the proportional valve 34. The proportional valve 34 adjusts the gas pressure according to the internal gas pressure data of the clamping shell 31 detected in real time by the pressure sensor 35, so that the round tube telescopic rod 33 can perform telescopic action. Multiple groups of round tube telescopic rods 33 cooperate with each other under the action of gas pressure, and their ends can adaptively fit the motor housings of different models and sizes to achieve flexible clamping. The anti-slip rubber layer is used to ensure that it will not slide after being pressed against the motor housing, thereby stably fixing the motor. When the gas source supply stops, the reset tension spring 36 comes into play, and the end of the telescopic round tube telescopic rod 33 that has been extended is pulled back by tension.

[0048] The installation height driving mechanism is composed of a lifting driving frame 54, a height adjusting tooth 541, a worm wheel 542, a worm 543, a rack 544, a rotating column 531, a mounting ring 53, and a retaining ring 532.

[0049] Height adjustment principle: When the height of the height adjustment column 5 needs to be adjusted, the worm 543 is driven to rotate, and the worm 543 drives the meshing worm wheel 542 to rotate. Since the height adjustment tooth 541 is coaxially fixed with the worm wheel 542, the height adjustment tooth 541 also rotates, thereby driving the rack 544 matched with it to perform linear motion, and finally the height adjustment column 5 fixed together is driven by the rack 544 to achieve lifting action. In this process, the lifting drive frame 54 has a rotation limit effect on the worm 543, and at the same time cooperates with the top rotation limit shaft pin to limit the worm wheel 542 and the height adjustment tooth 541, so as to ensure the stability and accuracy of the entire height adjustment process.

[0050] The axial angle driving mechanism is composed of a gear ring 52, a mounting base 511, a stepping motor 1 512, a bevel gear 1 513, a limit frame 1 514, a bevel gear 2 515, an angle adjustment gear 517, a clutch assembly including a bevel gear 3 516, a double-tooth synchronous limit frame 518, an electromagnetic push rod 519, a sliding rod 5181, and a limit sleeve 5182.

[0051] Angle adjustment and coordination mechanism with height adjustment: When the torsion angle of the height adjustment column 5 needs to be adjusted, the clutch assembly is first started, specifically, the electromagnetic push rod 519 drives the double-tooth synchronous limit frame 518 to move, so that the angle adjustment gear 517 is meshed with the upper part of the gear ring 52. Then the stepper motor 1 512 is started, and the output end of the motor drives the bevel gear 1 513 to rotate, and the bevel gear 1 513 drives the meshed bevel gear 3 516 to rotate, and drives the angle adjustment gear 517 to rotate synchronously through the shaft pin 2. At the same time, the bevel gear 1 513 drives the bevel gear 2 515 to rotate, and then drives the worm 1 543 to rotate to achieve the height adjustment of the height adjustment column 5. When the angle adjustment gear 517 rotates and the gear ring 52 is fixed, a reaction force will be generated, which drives the stepper motor 1 512 and the mounting base 511 to drive the mounting ring 53 to rotate around the center of the sliding block 4, and then the height adjustment column 5 is twisted by the limiting effect of the mounting ring 53 and the rotating column 531 to achieve the angle adjustment effect. After the angle adjustment is completed, the electromagnetic push rod 519 is started again to drive the double-tooth synchronous limit frame 518 to move, so that the angle adjustment gear 517 is separated from the gear ring 52. At this time, the height adjustment column 5 can be adjusted separately to avoid adjustment conflicts. The cooperation between the slide bar 5181 and the limit sleeve 5182 ensures the stability of the double-tooth synchronous limit frame 518 during the lateral movement driving process, prevents it from tilting, and ensures the reliability of the clutch assembly.

[0052] The horizontal rotation angle adjustment mechanism is composed of an angle flip angle frame 301, a stabilizing frame 302, a stepper motor 303, a worm gear 304, a worm 305, a drive shaft 307, and an angle sensor 306.

[0053] Principle of angle adjustment and related functions: When the mounting plate 3 needs to be adjusted in tilt angle, the stepper motor 2 303 is started, the motor drives the worm 2 305 to rotate, the worm 2 305 drives the worm wheel 2 304 meshing with it to rotate, the rotation of the worm wheel 2 304 drives the drive shaft 307 and the angle flip angle frame 301 fixed thereto to rotate synchronously, and then drives the mounting plate 3 to adjust the angle through the angle flip angle frame 301. Due to the transmission mode of the worm 2 305 and the worm wheel 2 304, the angle self-locking can be achieved, ensuring the stability of the mounting angle of the mounting plate 3 after adjustment. The angle sensor 306 can detect the torsion angle of the drive shaft 307 in real time. When it is fixed to the stabilizing frame 302, it will feed back the detected angle data to achieve the accuracy of the tilt angle drive and the visualization of the data conversion of the drive process. With the camera 101 installed on the bottom side of the top plate 1 to observe the installation screen, the operator can fine-tune the installation angle according to the actual docking situation. During the fine-tuning process, the round tube telescopic rod 33 in the pneumatic flexible adaptive clamping mechanism will cooperate with the air pressure adaptive regulation of the proportional valve 34 to ensure that the motor will not be damaged. If torsion or installation angle limitation occurs during the installation process, the linear motor mover 42 installed on the front and back of the sliding block 4 can also be started to cooperate with the linear motor stator 43 fixed on the front and back sides of the inner wall of the sliding groove 41, driving the sliding block 4 to move horizontally in the sliding groove 41, further making the entire installation process more convenient and accurate.

[0054] During the entire torque motor installation operation, the above-mentioned mechanisms cooperate in an orderly manner according to their respective working principles. First, the motor is reliably clamped through the pneumatic flexible adaptive clamping mechanism, and then the installation height drive mechanism, axial angle drive mechanism and horizontal rotation angle adjustment mechanism are used to adjust the motor position and angle from different dimensions. At the same time, flexible fine-tuning is achieved with the help of the detection and control components in each mechanism, ultimately ensuring that the torque motor can be installed smoothly, accurately and without damage.

[0055] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0056] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A torque motor auxiliary installation device, comprising a top plate (1), legs (2) fixedly mounted at four corners of the bottom of the top plate (1), a sliding block (4) slidably mounted inside the top plate (1) in a transverse direction, a height adjustment column (5) slidably mounted inside the top plate (1) in a longitudinal direction, a mounting plate (3) rotatably mounted at the bottom of the height adjustment column (5), and a camera (101) fixedly mounted on one side of the bottom of the top plate (1) for observing an installation screen, wherein a sliding groove (41) is provided at the top of the top plate (1), a linear motor mover (42) for driving the sliding block (4) to move transversely is fixedly mounted on the front and back sides of the inner wall of the sliding groove (41), and a linear motor stator (43) for transmission cooperation with the linear motor mover (42) is fixedly mounted on the front and back sides of the inner wall of the sliding groove (41), wherein: It also includes a pneumatic flexible adaptive clamping mechanism, which is arranged at the bottom of the mounting plate (3) and is used to flexibly contact the motor housing and fix the motor housing with an adaptive clamping force in accordance with pressure data; A height driving mechanism is installed, which is disposed on the top of the sliding block (4) and is used to drive the height adjustment column (5) to move up and down; An axial angle driving mechanism, arranged on one side of the top of the sliding block (4) and used to drive the height adjustment column (5) to twist; A horizontal rotation angle adjustment mechanism, arranged at the bottom of the height adjustment column (5) and used to drive the mounting plate (3) to tilt; The axial angle driving mechanism comprises a gear ring (52), a mounting base (511), a stepper motor 1 (512), a bevel gear 1 (513), a limit frame 1 (514), a bevel gear 2 (515), an angle adjustment gear (517) and a clutch assembly, wherein the gear ring (52) is fixedly mounted on the top of the sliding block (4), the mounting base (511) is fixedly mounted on one side of the top of the mounting ring (53), the stepper motor 1 (512) is fixedly mounted on the top of the mounting base (511), and the output end of the stepper motor 1 (512) passes through the limit frame 1 (514) and is connected to the bevel gear 2 (515). The tooth 1 (513) is fixedly installed, the bevel tooth 2 (515) is rotatably installed inside the limit frame 1 (514) and is coaxially fixed with the worm gear 1 (543), the clutch assembly is arranged on a side of the limit frame 1 (514) away from the height adjustment column (5), and is used to control the longitudinal torsion angle of the clamping shell (31), the limit frame 1 (514) is fixedly installed on the front side of the stepping motor 1 (512), the angle adjustment gear (517) is arranged on a side above the gear ring (52) away from the height adjustment column (5), and the angle adjustment gear (517) is meshed with the gear ring (52); The clutch assembly comprises a bevel gear three (516), a double-tooth synchronous limit frame (518) and an electromagnetic push rod (519); the gear ring (52) is fixedly mounted on the top of the sliding block (4); an axle pin two is arranged inside the bevel gear three (516); the axle pin two is slidably coupled to the bevel gear three (516) through a keyway; the angle adjustment gear (517) is slidably coupled to the axle pin two through a keyway; the axle pin two passes through the double-tooth synchronous limit frame (518), the angle adjustment gear (517) and the bevel gear three (516) from left to right in sequence; the bevel gear three (516) is meshed with the bevel gear one (513); the electromagnetic push rod (519) is fixedly mounted on the top of the front of the stepping motor one (512); the double-tooth synchronous limit frame (518) is fixedly mounted to the output end of the electromagnetic push rod (519); Two groups of longitudinally parallel sliding rods (5181) are fixedly installed on one side of the double-tooth synchronous limiting frame (518) close to the electromagnetic push rod (519), and a limiting sleeve (5182) that slidably cooperates with the sliding rod (5181) is fixedly installed on one side of the limiting frame 1 (514) close to the sliding rod (5181).

2. The torque motor auxiliary installation device according to claim 1, characterized in that: The pneumatic flexible adaptive clamping mechanism comprises a clamping shell (31), a locking piece (32), a round tube telescopic rod (33), a proportional valve (34) and a pressure sensor (35). The front side and the rear side of the mounting plate (3) are each provided with five groups of mounting grooves. The locking piece (32) is fixedly mounted on both sides of the inner wall of the mounting groove and is used to fix the clamping shell (31). The round tube telescopic rod (33) is provided in a plurality of groups and is fixedly distributed in a rectangular shape and equidistantly on the side of the two groups of clamping shells (31) close to each other. The proportional valve (34) is provided in the same number as the clamping shell (31) and is fixedly mounted on the top of the mounting plate (3) on the side close to the clamping shell (31). The pressure sensor (35) is fixedly mounted on the top of the clamping shell (31) and is used to detect the air pressure inside the clamping shell (31). One end of the proportional valve (34) is connected to the top of the clamping shell (31) through an air pipe, and the other end of the proportional valve (34) is connected to an external air source.

3. The torque motor auxiliary installation device according to claim 1, characterized in that: The installation height driving mechanism comprises a lifting driving frame (54), a height adjustment tooth (541), a worm wheel (542), a worm gear (543) and a rack (544); a rotating column (531) is rotatably mounted inside the sliding block (4); a mounting ring (53) is fixedly mounted on the top of the rotating column (531); a retaining ring (532) located at the bottom of the sliding block (4) is fixedly mounted on the bottom of the mounting ring (53); the mounting ring (53), the rotating column (531) and the retaining ring (532) are all slidably mounted on the height adjustment column (5). The lifting drive frame (54) is fixedly mounted on the top of the mounting ring (53), and a shaft pin (54) is rotatably mounted on the top of the lifting drive frame (54). The height adjustment tooth (541) is fixedly mounted on one side of the surface of the shaft pin (5), and the worm gear (542) is fixedly mounted on the other side of the surface of the shaft pin (5). The worm gear (543) is rotatably mounted inside the lifting drive frame (54) and meshes with the worm gear (542). The rack (544) is fixedly mounted on the side of the height adjustment column (5) close to the height adjustment tooth (541).

4. The torque motor auxiliary installation device according to claim 1, characterized in that: The horizontal rotation angle adjustment mechanism comprises an angle flipping frame (301), a stabilizing frame (302), a second stepping motor (303), a second worm gear (304), a second worm gear (305) and a drive shaft (307); the second stepping motor (303) is fixedly mounted on one side of the top of the stabilizing frame (302); the stabilizing frame (302) is detachably mounted on the bottom of the front side of the height adjustment column (5) via bolts; the drive shaft (307) is rotatably mounted on the bottom of the height adjustment column (5); the second worm gear (304) and the drive shaft (307) are fixedly mounted and located on the front side of the angle flipping frame (301); the second stepping motor (303) is fixedly mounted on the front side of the angle flipping frame (301); and the second stepping motor (303) is fixedly mounted on the front side of the angle flipping frame (301). The output end of the (303) is fixedly mounted on the worm gear 2 (305), the worm gear 2 (305) is meshed with the worm wheel 2 (304), the bottom of the worm gear 2 (305) is rotationally limitedly matched with the bottom of the stabilizing frame (302), the angle flip angle frame (301) is fixedly mounted on the top of the mounting plate (3) and is located on the front and back sides of the height adjustment column (5), the drive shaft (307) is fixedly mounted on the angle flip angle frame (301), and the front end of the drive shaft (307) passes through the height adjustment column (5), the angle flip angle frame (301) and the worm wheel 2 (304) in sequence from back to front and extends to the inside of the stabilizing frame (302).

5. The torque motor auxiliary installation device according to claim 2, characterized in that: A return spring (36) is disposed inside each of the plurality of groups of the circular tube telescopic rods (33), and one end of the return spring (36) is fixed to the end of the inner wall of the circular tube telescopic rod (33), and the other end is fixed to the inner wall of the clamping shell (31) away from the circular tube telescopic rod (33).

6. The torque motor auxiliary installation device according to claim 4, characterized in that: An angle sensor (306) is fixedly mounted on the bottom of the front side of the stabilizing frame (302), and an output end of the angle sensor (306) is fixedly mounted on a driving shaft (307).

Images