Six-degree-of-freedom platform for motor system and automatic calibration system

Abstract

The invention relates to the technical field of motor shaft calibration, and particularly discloses a six-degree-of-freedom platform for a motor system and an automatic calibration system. Comprising a motor; the elastic support compensation part is mounted at the bottom of the motor and used for adjusting the axial and radial positions of a motor transmission shaft; the device comprises a base and an upper seat installed at the bottom of a motor, and the base and the upper seat are connected through three adjusting assemblies; axial / radial deviation between the motor input shaft and the gearbox high-speed shaft can be detected in real time, the six-degree-of-freedom platform is controlled to move according to axial / radial deviation data, six-degree-of-freedom movement in space is completed, it is ensured that the motor input shaft and the gearbox high-speed shaft are kept coaxial all the time, the dynamic compensation effect is achieved, and the reliability of the system is improved. And the service life of the equipment is effectively prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of motor shaft calibration, and in particular to a six-degree-of-freedom platform and an automatic calibration system for a motor system. Background Art

[0002] As an important way to deal with the global energy crisis and environmental problems, the new energy industry is showing its broad development prospects. Driven by strong policy support, continuous advancement of technological innovation and sustained growth in market demand, the new energy industry is expected to continue to maintain its rapid development momentum, especially in the field of wind power. As the core force of the new energy industry, its internal structure and transmission system have been continuously upgraded and optimized with the continuous advancement of technology and the passage of time. However, there is still room for improvement in the alignment of the generator and the high-speed shaft of the gearbox.

[0003] Whether it is a large unit or a small unit, the current method of dealing with generator alignment problems mainly relies on manual calibration. Differences in alignment techniques among technicians lead to inconsistencies in alignment results. This inconsistency not only affects the actual service life of the generator or gearbox, but may also cause a large gap between its service life and the initial design expectations. Summary of the invention

[0004] In view of the problems existing in the above-mentioned existing six-degree-of-freedom platform and automatic calibration system for motor systems, the present invention is proposed.

[0005] Therefore, an object of the present invention is to provide a six-degree-of-freedom platform and an automatic calibration system for a motor system.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a six-degree-of-freedom platform for a motor system, comprising:

[0007] Motor;

[0008] The elastic support compensation part is installed at the bottom of the motor and is used to adjust the axial and radial positions of the motor drive shaft;

[0009] It comprises a base and an upper seat installed at the bottom of the motor, and the base and the upper seat are connected through three groups of adjustment components.

[0010] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the elastic support compensation parts are provided in two groups, two in each group, and are symmetrically installed on both sides of the bottom of the motor.

[0011] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the base includes a bearing plate and a hexagonal through window opened on the surface of the bearing plate, and two reinforcing strips are arranged on the inner side of the hexagonal through window, and the angle between the top angles of the two reinforcing strips is 60°.

[0012] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the supporting plate includes a bottom edge and a top edge, short waists are fixed on both sides of the two bottom edges, and the two short waists are connected to the two ends of the top edge through long waists.

[0013] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the bottom side is equal in length to the two long waists, the two short waists are equal in length to the top side, and the length of the top side is 1 / 3 of the total length of the bottom side.

[0014] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the structure of the base is consistent with the structure of the upper seat, and during assembly, the top edge of the upper seat faces the bottom edge of the base.

[0015] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the adjustment component includes an upper hinge seat and a lower hinge seat, and a telescopic member is rotatably connected between the upper hinge seat and the lower hinge seat.

[0016] As a preferred solution of the six-degree-of-freedom platform for the motor system described in the present invention, the upper hinge seats are provided in three groups, two in each group, which are respectively installed at the two short waists and the bottom edge positions corresponding to the bottom of the upper seat; the lower hinge seats are provided in three groups, two in each group, which are respectively installed at the two short waists and the bottom edge positions corresponding to the bottom of the base.

[0017] As a preferred solution of the six-degree-of-freedom platform for the motor system of the present invention, two adjacent telescopic parts are both in a "V" shape.

[0018] An automatic calibration system for controlling a six-degree-of-freedom platform for a motor system, comprising:

[0019] Detection unit: used to monitor the axial / radial deviation between the gearbox high-speed shaft and the motor input shaft;

[0020] Main control module: receives monitoring data from the detection unit and generates compensation instructions based on axial / radial deviation data;

[0021] Execution unit: executes compensation instruction action to control the synchronous drive compensation of four elastic support compensation parts.

[0022] The beneficial effects of the present invention are as follows: the present invention can detect the axial / radial deviation between the motor input shaft and the gearbox high-speed shaft in real time, control the movement of the six-degree-of-freedom platform according to the axial / radial deviation data, complete the six-degree-of-freedom movement in space, ensure that the motor input shaft always remains coaxial with the gearbox high-speed shaft, have a dynamic compensation effect, and effectively increase the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0024] Figure 1 The figure is a schematic diagram of the overall structure of the six-degree-of-freedom platform used for the motor system of the present invention.

[0025] Figure 2 It is a schematic diagram of the structure of the elastic support compensation part in the six-degree-of-freedom platform used in the motor system of the present invention.

[0026] Figure 3 It is a schematic structural diagram of a base in a six-degree-of-freedom platform used for a motor system of the present invention.

[0027] Figure 4 The figure is a schematic diagram of the structure of the adjustment component in the six-degree-of-freedom platform used for the motor system of the present invention.

[0028] Figure 5 The figure is a schematic diagram of the structure of the telescopic member in the six-degree-of-freedom platform used in the motor system of the present invention.

[0029] Figure 6 It is a schematic diagram of the framework of the automatic calibration system for a motor system according to the present invention. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0033] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0034] Example 1

[0035] Reference Figure 1-3 , a six-degree-of-freedom platform for a motor system is provided, comprising:

[0036] Motor 100;

[0037] The elastic support compensation part 200 is installed at the bottom of the motor 100 and is used to adjust the axial and radial positions of the transmission shaft of the motor 100;

[0038] It includes a base 201 and an upper base 202 installed at the bottom of the motor 100 , and the base 201 and the upper base 202 are connected via three groups of adjustment components 203 .

[0039] Specifically, the base 201 is fixed to the ground by bolts, and the horizontal adjustment of the base 201 is driven by controlling the operation of the three sets of horizontal adjustment components 203, thereby finally realizing the horizontal adjustment of the input shaft of the motor 100. When docking the high-speed shaft of the gear box, the position of the input shaft of the motor 100 can be adjusted according to the position of the high-speed shaft, so as to realize quick installation and prevent the problem of equipment damage caused by different shafts.

[0040] Furthermore, the elastic support compensation parts 200 are provided in two groups, with two in each group, and are symmetrically installed on both sides of the bottom of the motor 100.

[0041] Furthermore, the base 201 includes a supporting plate 201a and a hexagonal through window 201b opened on the surface of the supporting plate 201a. Two reinforcing strips 201c are arranged on the inner side of the hexagonal through window 201b. The angle between the top angles of the two reinforcing strips 201c is 60°.

[0042] Specifically, the supporting plate 201a and the reinforcing strip 201c are both made of stainless steel, and the two are integrally stamped together through a stamping process. The two reinforcing strips 201c divide the hexagonal through window 201b into a triangle and three parallelogram windows. This structure can maximize space utilization while withstanding higher mechanical pressure.

[0043] Furthermore, the supporting plate 201a includes a bottom edge 201a-1 and a top edge 201a-2. Short waists 201a-3 are fixed on both sides of the two bottom edges 201a-1. The two short waists 201a-3 are connected to both ends of the top edge 201a-2 via long waists 201a-4.

[0044] Furthermore, the bottom side 201a-1 is equal in length to the two long waists 201a-4, the two short waists 201a-3 are equal in length to the top side 201a-2, and the length of the top side 201a-2 is 1 / 3 of the total length of the bottom side 201a-1.

[0045] Specifically, the structure of the base 201 is consistent with that of the upper seat 202. During assembly, the top edge 201a-2 of the upper seat 202 faces the bottom edge 201a-1 of the base 201, which causes the three groups of adjustment components 203 to be distributed in a staggered order. The horizontal adjustment of the motor 100 is achieved by adjusting the three groups of adjustment components 203 that are distributed in a staggered order.

[0046] Example 2

[0047] Reference Figure 4-5 This embodiment is different from the first embodiment in that the adjustment assembly 203 includes an upper hinge seat 203a and a lower hinge seat 203b, and a telescopic member 203c is rotatably connected between the upper hinge seat 203a and the lower hinge seat 203b.

[0048] Furthermore, the upper hinge seat 203a is provided in three groups, two in each group, which are respectively installed at the bottom of the upper seat 202 corresponding to the two short waists 201a-3 and the bottom edge 201a-1, and the lower hinge seat 203b is provided in three groups, two in each group, which are respectively installed at the bottom of the base 201 corresponding to the two short waists 201a-3 and the bottom edge 201a-1.

[0049] Specifically, each adjustment component 203 is equipped with six telescopic parts, and two adjacent telescopic parts 203c are "V"-shaped. By controlling the telescopic movement of each telescopic part 203c, six-degree-of-freedom movement in space is achieved. By controlling the telescopic amount of the six telescopic parts 203c, the motor 100 can be driven to complete the six-degree-of-freedom movement in space, including translational movement along the three coordinate axes x, y, and z, and rotational movement around these three coordinate axes. This adjustment method has high accuracy and flexibility, and is convenient for controlling the horizontal adjustment of the motor 100.

[0050] The telescopic member 203c includes an outer cylinder 203c-1, in which a screw rod 203c-2 is rotatably connected, the screw rod 203c-2 is driven by a servo motor 203c-3, and a screw sleeve 203c-4 is threadedly connected to the screw rod 203c-2. A telescopic rod 203c-5 is inserted at one end of the outer cylinder 203c-1, and the bottom end of the telescopic rod 203c-5 is fixedly connected to the screw sleeve 203c-4 through a connecting block 203c-6, and a guide sleeve 203c-7 is sleeved on the outside of the telescopic rod 203c-5, and the guide sleeve 203c-7 is fixed to the outer cylinder 203c-1. For the control of the telescopic amount, the servo motor 203c-3 is controlled to operate to drive the screw rod 203c-2 to rotate. Since the screw sleeve 203c-4 is restricted by the telescopic rod 203c-5 through the connecting block 203c-6, it will not rotate. Therefore, when the screw rod 203c-2 moves forward and backward, the screw sleeve 203c-4 will realize linear displacement along the thread rotation direction of the screw rod 203c-2. The back and forth movement of the screw sleeve 203c-4 will drive the telescopic rod 203c-5 to perform telescopic movement. The thread size of the screw rod 203c-2 is a fixed size, so the displacement per rotation is fixed.

[0051] The rest of the structure is the same as that of Example 1.

[0052] Example 3

[0053] Reference Figure 6 , this embodiment is different from the above embodiment in that: this embodiment discloses an automatic calibration system for controlling a six-degree-of-freedom platform for a motor system, comprising:

[0054] Detection unit: used to monitor the excessive axial / radial deviation between the high-speed shaft of the gearbox and the input shaft of the motor 100;

[0055] Specifically, the detection element of the monitoring unit adopts a laser alignment device, which is divided into two parts: the device end and the motor end. The device end is installed on the high-speed shaft end of the gear box, and the motor end is installed on the input end of the motor 100. The main function of the device end is to emit infrared rays, which can penetrate space and transmit important information. At the same time, the motor end is responsible for receiving these infrared rays. When the motor end successfully receives the infrared rays, it will determine the radial and axial deviations of the current equipment through a series of complex analysis processes. These deviation data facilitate understanding of the current operating status and potential problems of the equipment.

[0056] Main control module: receives monitoring data from the detection unit and generates compensation instructions based on axial / radial deviation data;

[0057] Specifically, the main control module is connected to the external monitoring terminal and establishes two-way interaction with the external monitoring terminal, which can help operators easily grasp the calibration progress and results. Through the intuitive interface and instant feedback information, operators can quickly understand the equipment status and make corresponding adjustments and optimizations, which not only improves work efficiency but also reduces the possibility of operational errors.

[0058] Execution unit: executes compensation instruction action to control the four elastic support compensation parts 200 to drive compensation synchronously.

[0059] Specifically, the execution unit is controlled in the form of an industrial computer (IPC) + multi-axis motion controller, which can control different extension amounts to achieve six-degree-of-freedom horizontal adjustment.

[0060] The design can monitor the positions of the input shaft of the motor 100 and the high-speed shaft of the gearbox in real time, so as to timely find out the axial / radial deviation between the two shafts exceeds the limit. Once the axial / radial deviation exceeds the limit, the data will be transmitted to the main control module, and the main control module will give the instruction to the execution unit, and then the execution unit will control the elastic support compensation part to perform the compensation action, and finally realize the six-degree-of-freedom motion in space and complete the horizontal adjustment.

[0061] During compensation movement:

[0062] X-axis deviation, control the elastic support compensation part to move synchronously closer to the drive end (Y-axis negative compensation) or control the elastic support compensation part to move synchronously closer to the drive end (Y-axis positive compensation);

[0063] Y-axis deviation, controls the elastic support compensation part to move downward synchronously (X-axis negative compensation) or controls the elastic support compensation part to move downward synchronously (X-axis positive compensation);

[0064] If axial / radial deviation occurs at the same time, axial compensation is performed first and then X-axis and Y-axis compensation.

[0065] The rest of the structure is the same as that of Example 2.

[0066] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0067] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0068] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A six-degree-of-freedom platform for a motor system, characterized in that: include: Motor (100); An elastic support compensation part (200) is installed at the bottom of the motor (100) and is used to adjust the axial and radial positions of the transmission shaft of the motor (100); It comprises a base (201) and an upper base (202) installed at the bottom of the motor (100), and the base (201) and the upper base (202) are connected via three groups of adjustment components (203).

2. The six-degree-of-freedom platform for a motor system according to claim 1, characterized in that: The elastic support compensation parts (200) are provided in two groups, with two in each group, and are symmetrically installed on both sides of the bottom of the motor (100).

3. The six-degree-of-freedom platform for a motor system according to claim 2, characterized in that: The base (201) comprises a bearing plate (201a) and a hexagonal through window (201b) opened on the surface of the bearing plate (201a); two reinforcing strips (201c) are arranged on the inner side of the hexagonal through window (201b); and the angle between the top angles of the two reinforcing strips (201c) is 60°.

4. The six-degree-of-freedom platform for a motor system as claimed in claim 3, characterized in that: The bearing plate (201a) comprises a bottom edge (201a-1) and a top edge (201a-2), short waists (201a-3) are fixed on both sides of the two bottom edges (201a-1), and the two short waists (201a-3) are connected to both ends of the top edge (201a-2) via long waists (201a-4).

5. The six-degree-of-freedom platform for a motor system according to claim 4, characterized in that: The bottom side (201a-1) is equal in length to the two long waists (201a-4), the two short waists (201a-3) are equal in length to the top side (201a-2), and the length of the top side (201a-2) is 1 / 3 of the total length of the bottom side (201a-1).

6. The six-degree-of-freedom platform for a motor system according to claim 5, characterized in that: The structure of the base (201) is consistent with that of the upper base (202); during assembly, the top edge (201a-2) of the upper base (202) faces the bottom edge (201a-1) of the base (201).

7. The six-degree-of-freedom platform for a motor system according to claim 6, characterized in that: The adjustment assembly (203) comprises an upper hinge seat (203a) and a lower hinge seat (203b), and a telescopic member (203c) is rotatably connected between the upper hinge seat (203a) and the lower hinge seat (203b).

8. The six-degree-of-freedom platform for a motor system according to claim 7, characterized in that: The upper hinge seats (203a) are provided in three groups, with two in each group, which are respectively installed at the bottom of the upper seat (202) corresponding to the two short waists (201a-3) and the bottom edge (201a-1); the lower hinge seats (203b) are provided in three groups, with two in each group, which are respectively installed at the bottom of the base (201) corresponding to the two short waists (201a-3) and the bottom edge (201a-1).

9. The six-degree-of-freedom platform for a motor system according to claim 8, characterized in that: The two adjacent telescopic members (203c) are both in a "V" shape.

10. An automatic calibration system for a six-degree-of-freedom platform for a motor system according to any one of claims 1 to 9, characterized in that: include: Detection unit: used for monitoring the excessive axial / radial deviation between the high-speed shaft of the gearbox and the input shaft of the motor (100); Main control module: receives monitoring data from the detection unit and generates compensation instructions based on axial / radial deviation data; An execution unit executes a compensation instruction action, and is used to control the four elastic support compensation parts (200) to drive the compensation synchronously.

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