Eccentricity error real-time compensation device of planetary roller screw pair

Abstract

The invention provides an eccentric error real-time compensation device of a planetary roller lead screw pair, and relates to the field of planetary roller lead screw pairs, the eccentric error real-time compensation device comprises a device platform, a fixed limiting strip, a mounting base, a planetary roller lead screw and four supporting foot pads, the four supporting foot pads are fixed at four corners of the bottom of the device platform, and the supporting foot pads are symmetrically arranged; the two fixed limiting strips are fixed to the two sides of the top end of the device platform. Monitoring data of the inductive displacement sensor, the temperature sensing detector, the infrared monitoring support and the angle encoder are transmitted to the main controller in the base cavity in real time, an eccentric error compensation algorithm is operated through the main controller, and according to information such as the axial eccentricity, the temperature and the rotation angle monitored in real time, the eccentric error compensation algorithm is calculated. The compensation amount of the laminated piezoelectric ceramics in the transmission shaft and the braking parameters of the brake are dynamically adjusted, and closed-loop control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary roller screw pairs, and in particular to a real-time compensation device for eccentricity errors of planetary roller screw pairs. Background Art

[0002] As a high-precision transmission device that converts rotational motion into linear motion, the planetary roller screw mechanism (PRSM) is widely used in high-end equipment such as aerospace, precision machine tools, and robotics due to its high load capacity, high transmission efficiency, and high rigidity. However, as industrial requirements for transmission accuracy continue to increase, eccentricity error in the PRSM has become a key technical bottleneck restricting its performance.

[0003] Existing research focuses on error modeling and offline correction, lacks a closed-loop compensation system based on real-time feedback, and requires comprehensive consideration of the coupling effects of screw eccentricity, nut installation error, and cage dynamic characteristics on transmission performance to establish a multi-physics field coupling compensation model. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In view of the deficiencies in the prior art, the present invention provides a real-time compensation device for the eccentricity error of a planetary roller screw pair, which solves the problems raised in the above-mentioned background technology.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a real-time compensation device for the eccentric error of a planetary roller screw pair, comprising a device platform, a fixed limit bar, a mounting base, a planetary roller screw and a support pad, wherein the four support pads are fixed to the four corners of the bottom of the device platform, the support pads are symmetrically arranged, the two fixed limit bars are fixed to both sides of the top of the device platform, the fixed limit bars on both sides are symmetrically arranged, the mounting base is fixed to the top of the device platform and plays a fixed limit effect through the fixed limit bars on both sides, and the mounting base is fixed to the top of the device platform and plays a fixed limit effect through the fixed limit bars on both sides. Three module bases are installed on the top of the mounting base, and vertical support column plates are fixed at the bottom of the three module bases. A brake is installed in the support column plate on one side, and a brake connector is installed at the front end of the brake. A drive motor is installed in the support column plate on the other side, and the front end of the drive motor is powered by a transmission shaft, and a transmission cone is installed on the top of the transmission shaft. The planetary roller screw is installed between the brake connector and the transmission cone, and stabilizing rods are installed on both sides between the support column plates on each side, and the stabilizing rods have the effect of stabilizing the installation.

[0008] Preferably, a plurality of array mounting holes opening outward are provided on both sides of the top of the mounting base, and the array mounting holes on both sides are arranged in an array and symmetrically distributed. A detection module base is installed on one side of the bottom of the mounting base, and mounting connectors are installed between the detection module base and the module bases on each side and the array mounting holes.

[0009] Preferably, an axial displacement sensor bracket is installed between the brake and the brake connector.

[0010] Preferably, a screw tail cover is fixedly provided at one end of the planetary roller screw, and the screw tail cover contacts and abuts against the top of the transmission cone to achieve a transmission effect.

[0011] Preferably, a precision bearing seat is installed in the middle position of the support column plate on the middle side, the planetary roller screw passes through the interior of the precision bearing seat, and a temperature sensor detector is installed at the bottom of the precision bearing seat.

[0012] Preferably, a detachable infrared monitoring bracket is installed on the top of the supporting column plate on the middle side, the infrared monitoring bracket is U-shaped, and a horizontal infrared monitoring spot rod is fixedly provided on the bottom of the infrared monitoring bracket.

[0013] Preferably, vertically erected ring support bases are fixed on both sides of the bottom of the detection module base, and the ring support bases on both sides are symmetrically arranged. The ring support bases on both sides are directly fixed with circular annular temperature sensors, and a screw nut is installed on one side of the surface of the planetary roller screw, and the annular temperature sensor is sleeved on the outer end of the screw nut.

[0014] Preferably, two outward-opening grooves are provided in the middle of the bottom inner portion of the mounting base, and the opening grooves on both sides are symmetrically arranged. A movable slider is provided in the opening groove, and the movable sliders are fixed with an L-shaped connecting arm close to one side.

[0015] Preferably, arc-shaped detection bars are installed on the side where the connecting arms on both sides are close to each other, and the side where the arc-shaped detection bars are close to each other is arc-shaped, and angle encoders distributed in a ring array are installed on the surface of the arc-shaped detection bars.

[0016] Preferably, a base cavity is provided at the bottom of the mounting base, and electric propellers are symmetrically installed on both sides of the base cavity. Electric push rods that can be telescopically moved are installed on one side of the electric propellers away from each other, and the electric push rods are respectively installed and connected to the movable sliders.

[0017] (3) Beneficial effects

[0018] The present invention provides a real-time compensation device for eccentricity error of a planetary roller screw pair.

[0019] Beneficial effects:

[0020] 1. The present invention integrates a laminated piezoelectric ceramic actuator and an inductive displacement sensor to construct an axial and radial dual-channel monitoring system, achieving submicron-level real-time capture of eccentricity and nanometer-level position correction, significantly improving the accuracy of dynamic compensation for transmission errors, making this solution significantly superior to traditional mechanical compensation solutions.

[0021] 2. The present invention combines the data acquisition system of the PRSM comprehensive performance test bench to transmit the monitoring data of the inductive displacement sensor, temperature sensor detector, infrared monitoring bracket and angle encoder to the main controller in the base cavity in real time, and runs the eccentricity error compensation algorithm through the main controller. According to the real-time monitored axial eccentricity, temperature, rotation angle and other information, the compensation amount of the laminated piezoelectric ceramics in the drive shaft and the braking parameters of the brake are dynamically adjusted to achieve closed-loop control.

[0022] 3. The present invention constructs a dual-temperature zone monitoring network through an integrated temperature sensor detector and an annular temperature sensor connected to a precision bearing seat. Combined with the brake thermal protection mechanism, emergency braking is activated when the temperature is abnormal, effectively avoiding positioning errors caused by thermal drift.

[0023] 4. The present invention forms a standard interface system through array mounting holes and mounting connectors, realizing plug-and-play of core components such as module base and detection module, improving module replacement efficiency, and being able to adapt to module replacement of planetary roller screws of different specifications and sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the appearance structure of the present invention;

[0025] Figure 2 This is the main view of the appearance structure of the present invention;

[0026] Figure 3 This is a front view of the appearance structure of the present invention;

[0027] Figure 4 A top view of the appearance structure of the present invention;

[0028] Figure 5 This is a side view of the appearance structure of the present invention;

[0029] Figure 6 For the present invention Figure 4 Cross-sectional view in the AA direction;

[0030] Figure 7 For the present invention Figure 4 Cross-sectional view in the middle BB direction;

[0031] Figure 8 For the present invention Figure 2 Schematic diagram of the enlarged structure of the central axial displacement sensor bracket component.

[0032] In the figure: 101, device platform; 102, fixed limit bar; 103, mounting base; 104, module base; 105, brake; 106, axial displacement sensor bracket; 108, brake connector; 109, planetary roller screw; 110, collar support base; 111, annular temperature sensor; 112, infrared monitoring bracket; 113, support column plate; 114, temperature sensor detector; 115, screw tail cover; 116, transmission cone; 117, transmission Shaft; 118, drive motor; 119, precision bearing seat; 120, open slot; 121, moving slider; 122, mounting connector; 123, array mounting hole; 124, support foot pad; 126, lead screw nut; 127, stabilizing rod; 128, infrared monitoring spot rod; 129, base cavity; 130, electric propeller; 131, connecting arm; 132, arc detection strip; 133, angle encoder; 134, electric push rod; 135, detection module base. DETAILED DESCRIPTION

[0033] The embodiment of the present invention provides a real-time compensation device for eccentricity error of a planetary roller screw pair, such as Figure 1-8 As shown, it includes a device platform 101, a fixed limit bar 102, a mounting base 103, a planetary roller screw 109 and a support pad 124. The four support pads 124 are fixed to the four corners of the bottom of the device platform 101. The support pads 124 are symmetrically arranged. The two fixed limit bars 102 are fixed to both sides of the top of the device platform 101. The fixed limit bars 102 on both sides are symmetrically arranged. The mounting base 103 is fixed to the top of the device platform 101 and has a fixed limit effect through the fixed limit bars 102 on both sides. Three module bases 104 are installed on the top of the mounting base 103. The three module bases 104 are installed on the top of the mounting base 103. A vertical support column plate 113 is fixed at the bottom. A brake 105 is installed in the support column plate 113 on one side. A brake connector 108 is installed at the front end of the brake 105. A drive motor 118 is installed in the support column plate 113 on the other side. The front end of the drive motor 118 is connected to a transmission shaft 117. A transmission cone 116 is installed on the top of the transmission shaft 117. A planetary roller screw 109 is installed between the brake connector 108 and the transmission cone 116. Stabilizing rods 127 are installed on both sides between the support column plates 113 on each side to provide a stable installation.

[0034] Furthermore, a plurality of array mounting holes 123 opening outward are provided on both sides of the top of the mounting base 103. The array mounting holes 123 on both sides are arranged in an array and symmetrically distributed. A detection module base 135 is installed on one side of the bottom of the mounting base 103. Mounting connectors 122 are installed between the detection module base 135 and the module bases 104 on each side and the array mounting holes 123.

[0035] It should be further explained that the installation connector 122 has the effect of stabilizing the installation connection, thereby facilitating the installation and removal of the module base 104 and the detection module base 135.

[0036] Furthermore, an axial displacement sensor bracket 106 is installed between the brake 105 and the brake connector 108 .

[0037] Furthermore, a screw tail cover 115 is fixedly provided at one end of the planetary roller screw 109 , and the screw tail cover 115 contacts and abuts against the top of the transmission cone 116 to achieve a transmission effect.

[0038] It should be further explained that the transmission cone 116 is in the shape of a pointed cone, and inductive displacement sensors are respectively installed in the axial displacement sensor bracket 106 and in the transmission shaft 117 for monitoring the axial and radial eccentricity respectively.

[0039] It is worth further explaining that the transmission shaft 117 is embedded with laminated piezoelectric ceramics to achieve nanometer-level axial position adjustment, and at the same time, the brake 105 can achieve a braking stop effect when it is activated.

[0040] It is worth noting that when the driving motor 118 is started, it can drive the transmission cone 116 to rotate through the transmission shaft 117, and the transmission cone 116 and the screw tail cover 115 are in contact and resist each other to achieve a power transmission effect.

[0041] Furthermore, a precision bearing seat 119 is installed in the middle position of the support column plate 113 on the middle side, the planetary roller screw 109 passes through the interior of the precision bearing seat 119, and a temperature sensor detector 114 is installed at the bottom of the precision bearing seat 119.

[0042] It should be further explained that the sensing contact of the temperature sensor detector 114 passes through the precision bearing seat 119 and is used to monitor the surface temperature of the planetary roller screw 109 passing through the interior of the precision bearing seat 119 .

[0043] Furthermore, a detachable infrared monitoring bracket 112 is installed on the top of the supporting column plate 113 on the middle side. The infrared monitoring bracket 112 is U-shaped, and a horizontal infrared monitoring spot rod 128 is fixed to the bottom of the infrared monitoring bracket 112.

[0044] It should be further explained that the infrared monitoring bracket 112 is used to monitor the displacement of the installed planetary roller screw 109 through an infrared distance detector.

[0045] Furthermore, vertically erected ring support bases 110 are fixed on both sides of the bottom of the detection module base 135. The ring support bases 110 on both sides are symmetrically arranged. The ring support bases 110 on both sides are directly fixed with circular annular temperature sensors 111. A screw nut 126 is installed on one side of the surface of the planetary roller screw 109, and the annular temperature sensor 111 is sleeved on the outer end of the screw nut 126.

[0046] It should be further explained that the annular temperature sensor 111 is used to monitor the surface temperature of the screw nut 126 .

[0047] Furthermore, two outward-facing opening slots 120 are provided in the middle of the bottom of the mounting base 103. The opening slots 120 on both sides are symmetrically arranged. A movable slider 121 is provided in the opening slot 120. The movable sliders 121 are fixed with an L-shaped connecting arm 131 close to one side.

[0048] Furthermore, arc-shaped detection bars 132 are installed on the side of the connecting arms 131 on both sides close to each other. The arc-shaped detection bars 132 are curved on the side close to each other. Angle encoders 133 distributed in a ring array are installed on the surface of the arc-shaped detection bars 132.

[0049] It should be further explained that the angle encoder 133 is used to accurately obtain the real-time rotation angle of the planetary roller screw 109 through multi-angle monitoring, and outputs the inherited image through information processing of the arc detection bar 132.

[0050] Furthermore, a base cavity 129 is provided at the bottom of the mounting base 103, and symmetrical electric propellers 130 are installed on both sides of the base cavity 129. A telescopic electric push rod 134 is installed on one side away from the electric propellers 130, and the electric push rod 134 is respectively installed and connected to the movable slider 121.

[0051] It should be further explained that when the electric propeller 130 is started, it can drive the electric push rod 134 to move and the moving slider 121 to move, and then drive the arc detection bar 132 to move closer or farther away from each other through the connecting arm 131, thereby adapting to planetary roller screws 109 of different diameters, and can improve the monitoring accuracy of the real-time rotation angle of the planetary roller screw 109 by adjusting the position of the angle encoder 133.

[0052] It is worth further explaining that a main controller is provided in the base cavity 129 and realizes data connection with the monitoring elements on each side.

[0053] When using this solution, first place the device platform 101 as a whole to the working position and connect the power supply. After starting the power supply, the electric propeller 130 drives the electric push rod 134 to extend outward, pushing the movable sliders 121 on both sides to drive the arc detection bar 132 away from the initial position, reserving space for the installation of the planetary roller screw 109, and then passing the planetary roller screw 109 through the interior of the precision bearing seat 119 so that the screw nut 126 on its surface forms an annular contact with the annular temperature sensor 111. At this time, the sensing contact of the temperature sensor detector 114 automatically fits the surface of the planetary roller screw 109 to complete the initialization of the temperature monitoring system. At the same time, the infrared distance detector is fixed to the top of the support column plate 113 through the U-shaped slot of the infrared monitoring bracket 112, and the horizontality of the infrared monitoring spot rod 128 is adjusted to ensure that the monitoring spot is aligned with the axis of the planetary roller screw 109.

[0054] Subsequently, the inductive displacement sensor in the axial displacement sensor bracket 106 is started to monitor the axial eccentricity. At the same time, the laminated piezoelectric ceramic in the transmission shaft 117 enters the standby state. The transmission shaft 117 drives the transmission cone 116 to rotate, and the planetary roller screw 109 reaches a predetermined speed through the contact transmission between the screw tail cover 115 and the conical surface of the transmission cone 116. At this time, the angle encoder 133 starts to collect rotation angle data. At the same time, the annular array angle encoder 133 on the surface of the arc detection bar 132 generates 360 sets of angle encoding signals per rotation through the multi-light path reflection principle, which are processed into digital angle values ​​by the built-in microprocessor of the arc detection bar 132.

[0055] When the inductive displacement sensor detects that the axial eccentricity exceeds the set threshold, the electric propeller 130 immediately starts reverse drive. At this time, the electric push rod 134 contracts and drives the movable slider 121 to move toward the center. The connecting arm 131 pushes the arc detection bar 132 to form an adaptive clamping force. At the same time, the angle encoder 133 adjusts the monitoring spot to the error area. Then the laminated piezoelectric ceramic completes nanometer-level axial displacement compensation within 10ms.

[0056] The infrared monitoring data of the infrared monitoring bracket 112 provides real-time feedback of the axial displacement of the planetary roller screw 109. When the displacement returns to the allowable range, the electric propeller 130 stops moving and maintains the current compensation state.

[0057] If the temperature sensor 114 detects that the temperature inside the precision bearing seat 119 is abnormally high, the drive motor 118 stops driving immediately, and the brake 105 enters the full braking mode to prevent mechanical interference caused by thermal deformation.

[0058] This solution combines the data acquisition system of the PRSM comprehensive performance test bench to transmit the monitoring data of the inductive displacement sensor, temperature sensor detector 114, infrared monitoring bracket 112 and angle encoder 133 to the main controller in the base cavity 129 in real time. The main controller runs the eccentricity error compensation algorithm and dynamically adjusts the compensation amount of the laminated piezoelectric ceramics in the drive shaft 117 and the braking parameters of the brake 105 based on the real-time monitored axial eccentricity, temperature, rotation angle and other information to achieve closed-loop control.

[0059] At the same time, this solution regularly replaces module bases 104 of different specifications through the array mounting interface of the array mounting holes 123 to adapt to different working conditions, and at the same time uses the installation connection of the installation connector 122 to achieve rapid modular replacement.

[0060] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A real-time compensation device for eccentricity error of a planetary roller screw pair, comprising a device platform (101), a fixed limit bar (102), a mounting base (103), a planetary roller screw (109) and a support pad (124), characterized in that: The four supporting foot pads (124) are fixed to the four corners of the bottom of the device platform (101), and the supporting foot pads (124) are symmetrically arranged. The two fixed limit bars (102) are fixed to the two sides of the top of the device platform (101), and the fixed limit bars (102) on both sides are symmetrically arranged. The mounting base (103) is fixed to the top of the device platform (101) and plays a fixed and limited role through the fixed limit bars (102) on both sides. Three module bases (104) are installed on the top of the mounting base (103), and the bottom of the three module bases (104) are fixed with vertically set support column plates ( 113), a brake (105) is installed in the support column plate (113) on one side, and a brake connector (108) is installed at the front end of the brake (105), and a drive motor (118) is installed in the support column plate (113) on the other side, and the front end of the drive motor (118) is connected to a transmission shaft (117) for power, and a transmission cone (116) is installed on the top of the transmission shaft (117), and the planetary roller screw (109) is installed between the brake connector (108) and the transmission cone (116), and a stabilizing rod (127) is installed on both sides between the support column plates (113) on each side.

2. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: A plurality of array mounting holes (123) opening outward are provided on both sides of the top of the mounting base (103), and the array mounting holes (123) on both sides are arranged in an array and symmetrically distributed. A detection module base (135) is installed on one side of the bottom of the mounting base (103), and mounting connectors (122) are installed between the detection module base (135) and the module bases (104) on each side and the array mounting holes (123).

3. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: An axial displacement sensor bracket (106) is installed between the brake (105) and the brake connector (108).

4. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: A screw tail cover (115) is fixedly provided at one end of the planetary roller screw (109), and the screw tail cover (115) contacts and abuts against the top of the transmission cone (116) to achieve a transmission effect.

5. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: A precision bearing seat (119) is installed in the middle position of the support column plate (113) on the middle side, the planetary roller screw (109) passes through the interior of the precision bearing seat (119), and a temperature sensor detector (114) is installed at the bottom of the precision bearing seat (119).

6. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 5, characterized in that: A detachable infrared monitoring bracket (112) is installed on the top of the supporting column plate (113) on the middle side. The infrared monitoring bracket (112) is U-shaped, and an infrared monitoring spot rod (128) is fixedly provided on the bottom of the infrared monitoring bracket (112).

7. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: Ring support bases (110) are fixedly provided on both sides of the bottom of the detection module base (135), and the ring support bases (110) on both sides are symmetrically arranged. An annular temperature sensor (111) is directly fixed on the ring support bases (110) on both sides, and a screw nut (126) is installed on one side of the surface of the planetary roller screw (109), and the annular temperature sensor (111) is sleeved on the outer end of the screw nut (126).

8. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 1, characterized in that: Two outward-opening slots (120) are provided in the middle of the bottom of the mounting base (103), and the opening slots (120) on both sides are symmetrically arranged. A movable slider (121) is provided in the opening slot (120), and a connecting arm (131) is fixedly provided on one side of the movable slider (121) close to each other.

9. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 8, characterized in that: The connecting arms (131) on both sides are provided with arc-shaped detection bars (132) on the sides close to each other. The arc-shaped detection bars (132) are curved on the sides close to each other. Angle encoders (133) distributed in a ring array are provided on the surface of the arc-shaped detection bars (132).

10. The real-time compensation device for eccentricity error of a planetary roller screw pair according to claim 9, characterized in that: A base cavity (129) is provided at the bottom of the mounting base (103), and electric propellers (130) are respectively installed on both sides of the base cavity (129) in symmetrical positions. An electric push rod (134) is installed on one side of the electric propellers (130) away from each other, and the electric push rods (134) are respectively installed and connected to the movable slider (121).

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