A direct-drive ball screw steering engine output characteristic calibration device and method

Abstract

The application discloses a kind of direct push type ball screw steering engine output characteristic calibration device and method, the device includes bottom plate;Fixed in one end of bottom plate, for direct push type ball screw steering engine is installed on bottom plate;Lead screw is movably assembled on bottom plate, to drive the linear motion of sliding nut installed on lead screw;Dynamic support lug is fixedly installed on sliding nut;Shear force sensor is rod-shaped, installed on the push rod of direct push type ball screw steering engine and assembled on dynamic support lug;Photoelectric sensor is installed on the side of dynamic support lug, for measuring the distance between fixed support lug and dynamic support lug;Driving motor is installed on the other end of bottom plate, for lead screw rotary motion;Host computer is used to send signal or receive feedback information to shear force sensor, driving motor, photoelectric sensor and angle sensor installed on direct push type ball screw steering engine.

Description

Technical Field

[0001] This invention belongs to the field of aerospace and equipment, and specifically relates to a device and method for calibrating the output characteristics of a direct-drive ball screw servo motor. Background Technology

[0002] Direct-drive ball screw servos, also known as "electric cylinders" (hereinafter referred to as "direct-drive servos"), have advantages such as high output torque, high transmission accuracy, and good transmission stability. They are widely used in various equipment with high output power requirements and also have many applications in civilian fields such as vehicles, transportation, and robotics. When direct-drive servos are applied to the guidance and control unit of intelligent equipment, their output characteristics directly affect the attitude adjustment accuracy of the missile. Therefore, direct-drive servos are a core component of missiles.

[0003] Electrical zero-position / mechanical zero-position consistency and mechanical travel are two key output characteristic indicators of direct-drive servos. Direct-drive servos with inaccurate zero-position or mechanical travel that does not meet the servo wing rotation angle requirements cannot complete the projectile attitude adjustment task. However, these two indicators are currently mostly measured and calibrated manually, which is inefficient and inaccurate.

[0004] Direct-drive servos have high output power. When internal transmission components have problems such as dimensional deviations, poor assembly precision, or poor surface roughness, they are prone to causing transmission irregularities, jamming, or even stalling. Due to various assembly gaps within the transmission system and the tolerance range of machined parts, it is currently impossible to quantitatively evaluate the transmission friction resistance characteristics of direct-drive servos theoretically and experimentally. Summary of the Invention

[0005] The purpose of this invention is to provide a calibration device and method for the output characteristics of a direct-drive ball screw servo motor, which can be used for batch and quantitative evaluation of the transmission characteristics of direct-drive servo motors.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] A calibration device for the output characteristics of a direct-push ball screw servo includes a base plate; a fixed support is fixed to one end of the base plate for mounting the direct-push ball screw servo on the base plate; a screw is movably mounted on the base plate to drive a sliding nut mounted on the screw to move linearly; a movable support is fixedly mounted on the sliding nut; a shear force sensor, in the form of a rod, is mounted on the push rod of the direct-push ball screw servo and mounted on the movable support; a photoelectric sensor is mounted on the side of the movable support for measuring the distance between the fixed and movable support; a drive motor is mounted on the other end of the base plate for rotating the screw; and a host computer is used to send signals or receive feedback information to the shear force sensor, drive motor, photoelectric sensor, and angle sensor mounted on the direct-push ball screw servo.

[0008] Furthermore, the fixed end of the direct-push ball screw servo is installed in the mounting groove of the fixed end seat by bolts and sliding nuts, and the moving end of the push rod of the direct-push ball screw servo is installed in the mounting hole of the moving end seat by shear force sensor; by customizing the hole diameter and mounting groove width of the mounting holes of the fixed end seat and the moving end seat, different types of direct-push ball screw servos can be adapted.

[0009] Furthermore, when the drive motor drives the push rod of the direct-push ball screw servo to extend and retract, the shear force sensor measures the reverse transmission friction resistance of the internal transmission components of the direct-push ball screw servo, and the photoelectric sensor can measure the distance between the fixed support and the movable support. The host computer sends a position signal to the drive motor, causing the movable support to drive the push rod of the direct-push ball screw servo to move to the designated position, thereby realizing the semi-automatic zero-position calibration of the direct-push ball screw servo.

[0010] Furthermore, driven by the drive motor, the moving support lug drives the push rod of the direct-drive ball screw servo to continuously extend and retract; the moment when the frictional resistance suddenly and rapidly increases, fed back by the shear force sensor, is used as the criterion for the push rod to reach the limit, thereby realizing the mechanical stroke calibration of the direct-drive ball screw servo.

[0011] Furthermore, after measuring the mechanical stroke of the direct-drive ball screw servo, the host computer sends a command signal, which drives the sliding nut and moving lug to move to the calculated mechanical zero position by the drive motor, thereby realizing the automatic zero-position calibration of the direct-drive ball screw servo.

[0012] A method for calibrating the output characteristics of a direct-drive ball screw servo motor, comprising:

[0013] The direct-drive ball screw servo to be calibrated is installed on the base plate, and the push rod is connected to the moving support seat using a shear force sensor. The host computer is connected to the angle sensor, shear force sensor, photoelectric sensor and drive motor of the direct-drive ball screw servo.

[0014] During automatic calibration of the mechanical stroke, the host computer outputs a unidirectional motion signal to cause the drive motor to continuously extend the push rod. During this process, the host computer continuously monitors the frictional resistance data fed back by the shear force sensor. When the frictional resistance suddenly and rapidly increases, the drive motor stops moving, and the host computer records the current position of the push rod as the extension limit position of the direct-push ball screw servo. The reversal of the above operation can obtain the retraction limit position of the direct-push ball screw servo. The difference between the extension limit position and the retraction limit position is the mechanical stroke of the direct-push ball screw servo.

[0015] Furthermore, during the automatic calibration of electrical zero point / mechanical zero point:

[0016] After the mechanical stroke calibration is completed, the position at 1 / 2 of the mechanical stroke is the mechanical zero position of the direct-drive ball screw servo. The host computer calculates the position of the mechanical zero position, and then the drive motor drives the push rod to reach the mechanical zero position. After that, a zeroing signal is sent to the angle sensor of the direct-drive ball screw servo, and the automatic calibration of the electrical zero position / mechanical zero position is completed.

[0017] Furthermore, when calibrating the frictional resistance of reverse transmission:

[0018] A verified direct-drive ball screw servo is installed on the device. The host computer sends a sine wave, square wave, or triangular wave command signal, which drives the push rod to move according to the command signal. The force-displacement curve fed back by the shear force sensor is the friction resistance change curve of the internal transmission component of the direct-drive ball screw servo under reverse transmission. Using this curve as a reference, the transmission performance of other direct-drive ball screw servos to be verified is evaluated.

[0019] Compared with the prior art, the present invention has the following technical features:

[0020] 1. This device utilizes the non-locking characteristic of ball screw transmission, and uses a drive motor, sliding nut and screw 5 to make the push rod of the direct-drive servo motor extend and retract, thereby completing the subsequent output characteristic calibration work.

[0021] 2. This device can achieve semi-automatic calibration of electrical zero position / mechanical zero position by moving the push rod of the direct-drive servo to a designated position and using the host computer to assign a zero value to the angle sensor.

[0022] 3. This device determines the extension (retraction) limit position of the push rod of a direct-drive servo by rapidly increasing the thrust (pull force), thereby enabling the calibration of the mechanical stroke of the direct-drive servo.

[0023] 4. After the mechanical stroke calibration is completed, this device can automatically calibrate the electrical zero position / mechanical zero position by automatically returning the push rod to the zero position of the mechanical stroke and then assigning a zero value to the angle sensor through the host computer.

[0024] 5. This device can obtain the thrust (pull) applied to the sensor by the push rod of a typical qualified product during the movement, thereby further obtaining the reverse transmission friction resistance inside the direct-drive servo under different types of command signals. The relevant data can be used to evaluate the quality of the transmission characteristics of direct-drive servos in batches.

[0025] 6. This device can calibrate the output characteristics of different types of direct-drive servo motors by replacing the fixed and moving lugs of different specifications. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the device of the present invention.

[0027] The numbers in the diagram are as follows: 1. Base plate, 2. Fixed support lug, 3. Moving support lug, 4. Sliding nut, 5. Lead screw, 6. Shear force sensor, 7. Drive motor, 8. Photoelectric sensor, 9. Host computer, 10. Direct-drive ball screw servo motor. Detailed Implementation

[0028] This invention provides a calibration device and method for the output characteristics of a direct-drive ball screw servo motor. It can conveniently, quickly, and systematically complete the automatic calibration of the electrical / mechanical zero-position consistency and mechanical stroke of the direct-drive servo motor. It can also obtain the transmission friction resistance variation law of typical qualified products from the push rod. The device includes a base plate 1, a fixed support lug 2, a movable support lug 3, a sliding nut 4, a lead screw 5, a shear force sensor 6, a drive motor 7, a photoelectric sensor 8, and a host computer 9, wherein:

[0029] A fixed support 2 is fixed to one end of the base plate 1 and is used to mount the direct-drive ball screw servo 10 on the base plate 1. The screw 5 is mounted on the base plate 1 through bearings at both ends. A sliding nut 4 is mounted on the screw 5 and contains components such as balls and a return ball device, which can move linearly with the rotation of the screw 5. A movable support 3 is fixedly mounted on the sliding nut 4. A shear force sensor 6 is rod-shaped and is mounted on the push rod of the direct-drive ball screw servo 10 and assembled in the mounting hole of the movable support 3. A photoelectric sensor 8 is mounted on the side of the movable support 3 and is used to measure the distance between the fixed support 2 and the movable support 3. A drive motor 7 is mounted on the other end of the base plate 1, and the output shaft of the drive motor 7 is fixedly connected to the end of the screw 5, driving the screw 5 to rotate. A host computer 9 is used to send signals or receive feedback information to the shear force sensor 6, the drive motor 7, the photoelectric sensor 8, and the angle sensor mounted on the direct-drive ball screw servo 10.

[0030] The fixed end of the direct-push ball screw servo motor 10 is fixed to the base plate 1 by bolts and sliding nuts in the mounting groove of the fixed end seat 2; the moving end of the push rod of the direct-push ball screw servo motor 10 is installed in the mounting hole of the moving end seat 3 by shear force sensor 6; by customizing the interface dimensions such as the hole diameter and mounting groove width of the mounting holes of the fixed end seat 2 and the moving end seat 3, different types of direct-push ball screw servo motors 10 can be adapted.

[0031] The drive motor 7 drives the lead screw 5 to reciprocate, which in turn causes the sliding nut 4 to drive the moving support 3 to reciprocate linear motion. Since the ball screw pair composed of the lead screw 5 and the sliding nut 4 has no self-locking transmission characteristics, the push rod of the direct-push ball screw servo motor 10 can extend and retract along a straight line.

[0032] When the drive motor 7 drives the push rod of the direct-push ball screw servo 10 to extend and retract, the shear force sensor 6 can measure the reverse transmission friction resistance of the internal transmission components of the direct-push ball screw servo 10, while the photoelectric sensor 8 can measure the distance between the fixed support 2 and the movable support 3. By sending a position signal to the drive motor 7 through the host computer 9, the movable support 3 can drive the push rod of the direct-push ball screw servo 10 to move to a designated position, thereby realizing the semi-automatic zero-position calibration of the direct-push ball screw servo 10.

[0033] Driven by the drive motor 7, the moving support 3 drives the push rod of the direct-drive ball screw servo motor 10 to continuously shorten (extend); the moment when the frictional resistance suddenly and rapidly increases, fed back by the shear force sensor 6, is used as the criterion for the push rod to reach the limit, thereby realizing the mechanical stroke calibration of the direct-drive ball screw servo motor 10.

[0034] After measuring the mechanical stroke of the direct-drive ball screw servo motor 10, the host computer 9 sends a command signal, which drives the sliding nut 4 and the moving support 3 to move to the calculated mechanical zero position by the drive motor 7, thereby realizing the automatic zero-position calibration of the direct-drive ball screw servo motor 10.

[0035] The host computer 9 sends typical command signals such as sine wave, square wave, and triangle wave. With the help of the drive motor 7, the push rod of the direct-drive ball screw servo motor 10 moves in extension and retraction following the command signal. The real-time friction resistance change curve can be obtained through the shear force sensor 6, thereby realizing the calibration of the reverse transmission friction resistance characteristics of a typical qualified direct-drive ball screw servo motor 10.

[0036] Based on the above technical solution, the present invention further provides a method for calibrating the output characteristics of a direct-push ball screw servo. Before starting the output characteristic calibration, the fixed end of the direct-push ball screw servo 10 is fixed in the mounting groove of the fixed end seat 2 by bolts and sliding nuts; the shear force sensor 6 is passed through the moving end of the push rod of the direct-push ball screw servo 10 and the mounting hole of the moving end seat 3; the host computer 9 is connected to the angle sensor, shear force sensor 6, photoelectric sensor 8 and drive motor 7 of the direct-push ball screw servo 10 through an electrical interface.

[0037] (1) Semi-automatic calibration of electrical zero position / mechanical zero position.

[0038] The distance between the fixed support 2 and the movable support 3 is read by the photoelectric sensor 8, and this value is the current position of the push rod of the direct-drive ball screw servo 10. The push rod position signal corresponding to the mechanical zero position of the direct-drive ball screw servo 10 is output by the host computer 9. Then, the drive motor 7 moves the push rod to the mechanical zero position. The host computer 9 then sends a zeroing signal to the angle sensor of the direct-drive ball screw servo 10, and the semi-automatic calibration of the electrical zero position / mechanical zero position is completed. This semi-automatic calibration process can use the calibration data of qualified servos to calibrate the servo to be calibrated.

[0039] (2) Automatic calibration of mechanical stroke.

[0040] Using the host computer 9 to output a unidirectional motion signal, the drive motor 7 drives the push rod to extend slowly and continuously. During this process, the host computer 9 continuously monitors the frictional resistance data fed back by the shear force sensor 6. When the frictional resistance suddenly and rapidly increases (the rate of increase is greater than the set threshold), the drive motor 7 stops moving, and the host computer 9 records the current position of the push rod as the extension limit position of the direct-push ball screw servo motor 10. The reversal of the above operation can obtain the retraction limit position of the direct-push ball screw servo motor 10. The difference between the extension limit position and the retraction limit position is the mechanical stroke of the direct-push ball screw servo motor 10.

[0041] (3) Automatic calibration of electrical zero position / mechanical zero position.

[0042] After the mechanical stroke calibration is completed, the position of 1 / 2 of the mechanical stroke is the mechanical zero position of the direct-drive ball screw servo motor 10. The host computer 9 calculates the position of the mechanical zero position, and then the drive motor 7 drives the push rod to reach the mechanical zero position and sends a zeroing signal to the angle sensor of the direct-drive ball screw servo motor 10. Thus, the automatic calibration of the electrical zero position / mechanical zero position is completed.

[0043] (4) Calibration of frictional resistance in reverse transmission.

[0044] A verified direct-drive ball screw servo motor 10 is installed on this device. The host computer 9 sends a sine wave, square wave, or triangular wave command signal, and the drive motor 7 drives the push rod to move according to the command signal. The force-displacement curve fed back by the shear force sensor 6 is the friction resistance change curve of the internal transmission component of the direct-drive ball screw servo motor 10 under reverse transmission. Using this set of data as a reference, the transmission performance of other direct-drive ball screw servo motors 10 to be verified can be evaluated.

[0045] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A calibration device for the output characteristics of a direct-drive ball screw servo motor, characterized in that, Includes a base plate (1); a fixed support (2) fixed to one end of the base plate (1) for mounting a direct-drive ball screw servo (10) on the base plate (1); a screw (5) movably mounted on the base plate to drive a sliding nut (4) mounted on the screw (5) to move linearly; a movable support (3) fixedly mounted on the sliding nut (4); a shear force sensor (6) in the shape of a rod, mounted on the push rod of the direct-drive ball screw servo (10) and mounted on the movable support (3); a photoelectric sensor (8) mounted on the side of the movable support (3) for measuring the distance between the fixed support (2) and the movable support (3); a drive motor (7) mounted on the other end of the base plate (1) for rotating the screw (5); and a host computer (9) for sending signals or receiving feedback information to the shear force sensor (6), the drive motor (7), the photoelectric sensor (8), and the angle sensor mounted on the direct-drive ball screw servo (10). When the drive motor (7) drives the push rod of the direct-drive ball screw servo (10) to extend and retract, the shear force sensor (6) measures the reverse transmission friction resistance of the internal transmission components of the direct-drive ball screw servo (10), and the photoelectric sensor (8) can measure the distance between the fixed support (2) and the movable support (3); the force-displacement curve fed back by the shear force sensor (6) is the friction resistance change curve of the internal transmission components of the direct-drive ball screw servo (10) under reverse transmission; the host computer (9) sends a position signal to the drive motor (7) so that the movable support (3) drives the push rod of the direct-drive ball screw servo (10) to move to the designated position, thereby realizing the semi-automatic zero-position calibration of the direct-drive ball screw servo (10); Driven by the drive motor (7), the moving support (3) drives the push rod of the direct-push ball screw servo motor (10) to continuously extend and retract; the moment when the frictional resistance suddenly rises rapidly, fed back by the shear force sensor (6), is used as the criterion for the push rod to reach the limit, thereby realizing the mechanical stroke calibration of the direct-push ball screw servo motor (10).

2. The direct-drive ball screw servo motor output characteristic calibration device according to claim 1, characterized in that, The fixed end of the direct-drive ball screw servo (10) is installed in the mounting groove of the fixed end seat (2) by bolts and sliding nuts. The moving end of the push rod of the direct-drive ball screw servo (10) is installed in the mounting hole of the moving end seat (3) by shear force sensor (6). By defining the hole diameter and mounting groove width of the mounting holes of the fixed end seat (2) and the moving end seat (3), different types of direct-drive ball screw servos (10) can be adapted.

3. The direct-drive ball screw servo motor output characteristic calibration device according to claim 1, characterized in that, After measuring the mechanical stroke of the direct-drive ball screw servo (10), the host computer (9) sends a command signal, which drives the sliding nut (4) and the moving support (3) to move to the calculated mechanical zero position by the drive motor (7), thereby realizing the automatic zero-position calibration of the direct-drive ball screw servo (10).

4. A method for calibrating the output characteristics of a direct-drive ball screw servo motor, characterized in that, include: Install the direct-drive ball screw servo motor (10) to be calibrated on the base plate, and connect the push rod to the moving support (3) using the shear force sensor (6). Connect the host computer (9) to the angle sensor, shear force sensor (6), photoelectric sensor (8) and drive motor (7) of the direct-drive ball screw servo motor (10). During the automatic calibration of the mechanical stroke, the host computer (9) outputs a unidirectional motion signal to drive the push rod to continuously extend. During the automatic calibration of the mechanical stroke, the host computer (9) continuously detects the frictional resistance data fed back by the shear force sensor (6). When the frictional resistance suddenly rises rapidly, the drive motor (7) stops moving, and the host computer (9) records the current position of the push rod as the extension limit position of the direct-push ball screw servo (10). The retraction limit position of the direct-push ball screw servo (10) can be obtained by controlling the drive motor (7) in the reverse direction. The difference between the extension limit position and the retraction limit position is the mechanical stroke of the direct-push ball screw servo (10). When calibrating the frictional resistance of reverse transmission: A verified direct-drive ball screw servo motor (10) is installed on the device. The host computer (9) sends a sine wave, square wave, or triangular wave command signal. The drive motor (7) drives the push rod to move according to the command signal. The force-displacement curve fed back by the shear force sensor (6) is the friction resistance change curve of the internal transmission component of the direct-drive ball screw servo motor (10) under reverse transmission. Using this curve as a reference, the transmission performance of other direct-drive ball screw servo motors (10) to be verified is evaluated.

5. The method for calibrating the output characteristics of a direct-drive ball screw servo motor according to claim 4, characterized in that, When performing automatic calibration of electrical zero point / mechanical zero point: After the mechanical stroke calibration is completed, the position of 1 / 2 of the mechanical stroke is the mechanical zero position of the direct-drive ball screw servo (10). The host computer (9) calculates the position of the mechanical zero position, and then the drive motor (7) drives the push rod to reach the mechanical zero position and sends a zero signal to the angle sensor of the direct-drive ball screw servo (10). Then the automatic calibration of the electrical zero position / mechanical zero position is completed.

Images