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

Abstract

A six-degree-of-freedom platform and automatic calibration system for motor systems is provided, which ensures that the motor input shaft always remains coaxial with the gearbox high-speed shaft, has a dynamic compensation effect, and effectively increases the service life of the equipment. [Solution] A six-degree-of-freedom platform and automatic calibration system for a motor system includes a motor and an elastic support compensator attached to the bottom of the motor for adjusting the axial and radial positions of the motor transmission shaft, the elastic support compensator including a lower base and an upper base attached to the bottom of the motor, the lower base and the upper base being connected by three sets of adjustment assemblies. The invention detects the axial / radial deviation between the motor input shaft and the gearbox high-speed shaft in real time, and controls the movement of the six-degree-of-freedom platform based on the axial / radial deviation data to complete six-degree-of-freedom movement in space.

Description

[Technical Field]

[0001] The present invention relates to the technical field of motor shaft calibration, and more particularly to a six-degree-of-freedom platform and automatic calibration system used in motor systems. [Background technology]

[0002] As an important means of addressing the global energy crisis and environmental issues, the new energy industry shows broad prospects for development. Driven by a combination of various factors, including strong policy support, continuous technological innovation, and sustained growth in market demand, it is expected to maintain its momentum of rapid development. In particular, in the field of wind power generation, as the core force of the new energy industry, with the constant advancement of technology and the passage of time, its internal structure and transmission system are continuously upgraded and optimized. However, there is still room for improvement in terms of the alignment between the generator and the gearbox high-speed shaft. Whether it is a large unit or a small unit, currently, the methods for dealing with generator alignment issues mainly rely on manual calibration, and differences in the alignment skills of technicians will lead to inconsistencies in the alignment results. Such inconsistencies not only affect the actual service life of the generator or gearbox, but may also cause a large difference between its service life and the expectations at the initial design stage. Summary of the Invention

[0003] In view of the problems that exist in the six-degree-of-freedom platform and automatic calibration system used in the above-mentioned conventional motor systems, the present invention is proposed.

[0004] Therefore, the present invention aims to provide a six-degree-of-freedom platform and an automatic calibration system for use in a motor system.

[0005] In order to solve the above technical problems, the present invention provides the following technical solution: A six-degree-of-freedom platform used in a motor system, which includes: A motor; an elastic support compensator attached to the bottom of the motor and used to adjust the axial and radial positions of the motor transmission shaft; The elastic support compensation unit includes a lower base and an upper base attached to the bottom of the motor, and the lower base and the upper base are connected by three sets of adjustment assemblies.

[0006] In one preferred embodiment of the six-degree-of-freedom platform used in the motor system of the present invention, there are two sets of the elastic support compensators, each set having two components, which are symmetrically mounted on both sides of the bottom of the motor.

[0007] In one preferred embodiment of the 6-DOF platform used in the motor system of the present invention, the lower base includes a support plate and a hexagonal through-hole opened on the surface of the support plate, and two reinforcing ribs are provided inside the hexagonal through-hole, and the vertex angle between the two reinforcing ribs is 60°.

[0008] In one preferred embodiment of the 6-DOF platform used in the motor system of the present invention, the support plate includes a bottom edge and a top edge, and short legs are fixed to both sides of the two bottom edges, and the two short legs are connected to both ends of the top edge via long legs.

[0009] In one preferred embodiment of the 6-DOF platform used in the motor system described in the present invention, the base is equal in length to the two long legs, the two short legs are equal in length to the top, and the length of the top is 1 / 3 of the total length of the base.

[0010] In one preferred embodiment of the six-degree-of-freedom platform used in the motor system of the present invention, the structure of the lower base is identical to the structure of the upper base, and when assembled, the top edge of the upper base faces the bottom edge of the lower base.

[0011] In one preferred embodiment of the six-degree-of-freedom platform used in the motor system described in the present invention, the adjustment assembly includes an upper hinge support and a lower hinge support, and an extension member is rotatably connected between the upper hinge support and the lower hinge support.

[0012] In one preferred embodiment of the 6-DOF platform used in the motor system described in the present invention, there are three sets of upper hinge supports, two in each set, attached to the bottom of the upper base at positions corresponding to the two short legs and the bottom edge, respectively; and there are three sets of lower hinge supports, two in each set, attached to the bottom of the lower base at positions corresponding to the two short legs and the bottom edge, respectively.

[0013] In one preferred embodiment of the six-degree-of-freedom platform used in the motor system of the present invention, each of the two adjacent telescopic members has a "V" shape.

[0014] 1. An automatic calibration system for controlling a six degree of freedom platform used in a motor system, comprising: a detection unit for detecting whether or not the axial / radial deviation between the gearbox high speed shaft and the motor input shaft exceeds a limit; a main control module that receives the detection data from the detection unit and generates compensation commands based on the axial / radial deviation data; and an execution unit for executing a compensation command operation, which is used to control the synchronous driving and compensation of the four elastic support compensation units.

[0015] The beneficial effects of the present invention are as follows: the present invention detects the axial / radial deviation between the motor input shaft and the gearbox high-speed shaft in real time, controls the movement of the 6-DOF platform based on the axial / radial deviation data, and can complete the 6-DOF movement in space, ensuring that the motor input shaft always remains coaxial with the gearbox high-speed shaft, which has a dynamic compensation effect and effectively increases the service life of the device. [Brief explanation of the drawings]

[0016] In order to more clearly describe the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments are briefly described below. The drawings described below are only a part of the embodiments of the present invention, and it is obvious that those skilled in the art can derive other drawings based on these drawings without any creative work.

[0017] [Figure 1] 1 is a schematic diagram of the overall structure of a six-degree-of-freedom platform used in the motor system of the present invention; [Figure 2] 2 is a structural schematic diagram of an elastic support compensation part in a six-degree-of-freedom platform used in the motor system of the present invention; [Figure 3] 2 is a structural schematic diagram of the lower base of the six-degree-of-freedom platform used in the motor system of the present invention; [Figure 4] 1 is a structural schematic diagram of an adjustment assembly in a six-degree-of-freedom platform used in a motor system in accordance with the present invention; [Figure 5] 2 is a structural schematic diagram of a telescopic member in a six-degree-of-freedom platform used in the motor system of the present invention; FIG. [Figure 6] 1 is a schematic frame diagram of an automatic calibration system used in a motor system according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0018] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below with reference to the drawings in the specification.

[0019] Although the following description sets forth numerous specific details to provide a thorough understanding of the present invention, the present invention may be embodied in other forms different from those described herein, and those skilled in the art will be able to make similar applications without violating the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

[0020] Next, the term "one embodiment" or "embodiment" as used herein refers to a particular feature, configuration, or characteristic that may be included in at least one implementation of the present invention. The appearance of the phrase "in one embodiment" in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to an embodiment that is mutually exclusive with other embodiments, either singly or alternatively.

[0021] The present invention will now be described in detail with reference to the schematic drawings. For the sake of convenience, when describing the embodiments of the present invention, the cross-sectional views showing the structure of the components are not generally scaled to scale. The schematic drawings are merely examples and should not be construed as limiting the scope of protection of the present invention. In addition, the actual construction should include three-dimensional spatial dimensions of length, width, and depth.

[0022] Example 1 Referring to Figures 1-3, a six-degree-of-freedom platform for use in a motor system is provided. a motor 100; an elastic support compensator 200 attached to the bottom of the motor 100 and used to adjust the axial and radial positions of the transmission shaft of the motor 100; The elastic support compensation unit 200 includes a lower base 201 and an upper base 202 attached to the bottom of the motor 100 , and the lower base 201 and the upper base 202 are connected by three sets of adjustment assemblies 203 .

[0023] Specifically, the lower base 201 is fixed to the ground with bolts, and the leveling of the lower base 201 is driven by controlling the operation of three sets of leveling assemblies 203, ultimately achieving leveling of the input shaft of the motor 100. When docking with the gearbox high-speed shaft, the position of the input shaft of the motor 100 can be adjusted according to the position of the high-speed shaft, enabling rapid installation and preventing damage to the device due to non-coaxial connections.

[0024] Furthermore, two sets of elastic support compensators 200 are provided, with two in each set, and are symmetrically attached to both sides of the bottom of the motor 100.

[0025] Furthermore, the lower base 201 includes a mounting plate 201a and a hexagonal through window 201b opened on the surface of the mounting plate 201a, and two reinforcing ribs 201c are provided inside the hexagonal through window 201b, and the apex angle formed by the two reinforcing ribs 201c is 60°.

[0026] Specifically, the mounting plate 201a and the reinforcing rib 201c are both made of stainless steel, and are integrally pressure-molded using a pressure molding process. The two reinforcing ribs 201c divide the hexagonal through window 201b into one triangular and three parallelogram-shaped windows. This structure maximizes space utilization and can withstand high mechanical pressure.

[0027] Furthermore, the mounting plate 201a includes a bottom edge 201a-1 and a top edge 201a-2, and short legs 201a-3 are fixed to both sides of the two bottom edges 201a-1, and the two short legs 201a-3 are connected to both ends of the top edge 201a-2 via long legs 201a-4.

[0028] Furthermore, the base 201a-1 is equal in length to the two long legs 201a-4, the two short legs 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 base 201a-1.

[0029] Specifically, the structure of the lower base 201 is the same as that of the upper base 202, and when assembled, the top edge 201a-2 of the upper base 202 faces the bottom edge 201a-1 of the lower base 201, and thus the three sets of adjustment assemblies 203 are staggered and distributed. By adjusting the three sets of adjustment assemblies 203 that are staggered and distributed, the horizontal adjustment of the motor 100 is achieved.

[0030] Example 2 4-5, this embodiment differs from the first embodiment in the following respects: The adjustment assembly 203 includes an upper hinge support 203a and a lower hinge support 203b, and an elastic member 203c is rotatably connected between the upper hinge support 203a and the lower hinge support 203b.

[0031] Furthermore, there are three sets of upper hinge supports 203a, two in each set, which are attached to the bottom of the upper base 202 at positions corresponding to the two short legs 201a-3 and the bottom edge 201a-1, and there are three sets of lower hinge supports 203b, two in each set, which are attached to the bottom of the lower base 201 at positions corresponding to the two short legs 201a-3 and the bottom edge 201a-1.

[0032] Specifically, each adjustment assembly 203 is arranged with six telescopic members, and two adjacent telescopic members 203c are both "V" shaped. By controlling the telescopic change motion of each telescopic member 203c, six degrees of freedom of movement in space can be realized. By controlling the amount of extension and contraction of the six telescopic members 203c, the motor 100 can be driven to complete six degrees of freedom of movement in space, including translational movement along the three coordinate axes of x, y, and z, and rotational movement around these three coordinate axes. This adjustment method is highly accurate and flexible, and the horizontal adjustment of the motor 100 is easy to control.

[0033] The telescopic member 203c includes an outer cylinder 203c-1, a lead screw 203c-2 rotatably connected inside the outer cylinder 203c-1, the lead screw 203c-2 is driven by a servo motor 203c-3, a helical insert 203c-4 is threaded onto the lead screw 203c-2, an extensible rod 203c-5 is inserted into one end of the outer cylinder 203c-1, the bottom end of the extensible rod 203c-5 and the helical insert 203c-4 are fixedly connected via a connection block 203c-6, a guide sleeve 203c-7 is fitted to the outside of the extensible rod 203c-5, and the guide sleeve 203c-7 is fixed inside the outer cylinder 203c-1. When controlling the extension / retraction amount, the operation of the servo motor 203c-3 is controlled to drive the rotation of the lead screw 203c-2, and the helical insert 203c-4 is restricted by the telescopic rod 203c-5 via the connecting block 203c-6 and does not rotate. Therefore, when the lead screw 203c-2 moves forward or backward, the helical insert 203c-4 realizes linear displacement along the rotation direction of the thread of the lead screw 203c-2. When the helical insert 203c-4 displaces back and forth, it drives the telescopic rod 203c-5 to perform extension / retraction movement. The thread dimensions of the lead screw 203c-2 are fixed dimensions, so the displacement amount per rotation is constant.

[0034] The other structures are the same as those in the first embodiment.

[0035] Example 3 6, this embodiment differs from the above embodiments in the following respects: This embodiment discloses an automatic calibration system for controlling a six-degree-of-freedom platform used in a motor system, including a detection unit, a main control module, and an execution unit.

[0036] The detection unit is used to detect whether the axial / radial deviation between the gearbox high speed shaft and the motor 100 input shaft exceeds the limit. Specifically, the detection element of the detection unit adopts a laser collimator, which is divided into two parts: the equipment side and the motor side. The equipment side is attached to the end of the high-speed shaft of the gearbox, and the motor side is attached to the input end of the motor 100. The main function of the equipment side is to emit infrared rays, which can penetrate through space and transmit important information. The motor side is responsible for receiving these infrared rays. After the motor side successfully receives the infrared rays, it can go through a series of complex analysis processes to determine the current radial and axial deviation degrees of the device. From this deviation degree data, the current operating status and potential problems of the device can be easily grasped.

[0037] The main control module receives the detection data from the detection unit and generates a compensation command based on the axial / radial deviation data; Specifically, the main control module is connected to an external monitoring terminal and establishes two-way interaction with the external monitoring terminal, helping the operator to easily grasp the calibration progress and results. The intuitive interface and instant feedback information allow the operator to quickly grasp the status of the device and make corresponding adjustments and optimizations, not only improving work efficiency but also reducing the possibility of operation errors.

[0038] The execution unit executes the compensation command operation and is used to control the synchronous driving and compensation of the four elastic support compensation units 200.

[0039] Specifically, the execution unit performs control in the form of an industrial computer (IPC) + multi-axis motion controller, which can control different amounts of expansion and contraction to achieve six degrees of freedom of horizontal adjustment.

[0040] This design monitors the positions of the motor 100 input shaft and the gearbox high-speed shaft in real time, and can timely detect whether the axial / radial deviation between the two shafts exceeds the limit. Once the axial / radial deviation exceeds the limit, the data is transmitted to the main control module, which sends a command to the execution unit, which then controls the elastic support compensation unit to perform compensation, finally realizing six degrees of freedom of movement in space and completing the level adjustment. At the time of the reparations movement: If there is a deviation in the X-axis, control the elastic support compensator to turn synchronously to the right (negative compensation in the X-axis), or control the elastic support compensator to turn synchronously to the left (positive compensation in the X-axis); When there is a deviation in the Y-axis, the elastic support compensator is controlled to move closer to the driving end (negative compensation in the Y-axis), or the elastic support compensator is controlled to move away from the driving end (positive compensation in the Y-axis); If axial and radial deviations occur simultaneously, axial compensation is performed before X-axis and Y-axis compensation.

[0041] The other structures are the same as those in the second embodiment.

[0042] It is important to note that the structures and arrangements of the present application as shown in several different exemplary embodiments are merely illustrative. While the disclosure herein details only a few embodiments, those reading this disclosure will readily appreciate that numerous modifications (e.g., changes in the dimensions, scale, structure, shape, and proportions of various components, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) are possible, provided the novel teachings and advantages do not materially depart from the subject matter described herein. For example, a component shown as being integrally formed may be composed of multiple parts or components, the position of a component may be inverted or otherwise altered, and the nature, number, or location of discrete elements may be varied or changed. Therefore, all such variations are intended to be within the scope of the present invention. The order or sequence of any process or method steps may be varied or reordered based on alternative embodiments. In utility claims, any clause relating to "apparatus having a function" is intended to encompass structures performing the function described herein, including not only structurally equivalent but also equivalent structures. The design, operation, and arrangement of the exemplary embodiments may be subject to other substitutions, modifications, changes, and omissions without departing from the scope of the present invention, and therefore the present invention is not limited to a specific embodiment, but can extend to various modifications that fall within the scope of the appended utility model claims.

[0043] Also, in order to briefly describe the exemplary embodiments, it is not necessary to describe all features of the actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to the realization of the invention).

[0044] It will be appreciated that many specific implementation decisions may be made in the development of any practical embodiment, e.g., at any step or design stage. While such a development effort might be complex and time-consuming, for those of ordinary skill in the art having the benefit of this disclosure, it will nevertheless be a routine undertaking of design, fabrication, and production that does not require undue experimentation.

[0045] It should be noted that the above embodiments are only for illustrating the technical solutions of the present invention, rather than for limiting them. Although the present invention has been described in detail with reference to the preferred embodiments, it is understood by those skilled in the art that the technical solutions of the present invention may be modified or replaced with equivalents without departing from the spirit and scope thereof, all of which shall fall within the scope of the present utility model claims.

Claims

1. A motor (100); an elastic support compensator (200) attached to the bottom of the motor (100) and used to adjust the axial and radial positions of the transmission shaft of the motor (100); The elastic support compensation unit (200) includes a lower base (201) and an upper base (202) attached to the bottom of the motor (100), and the lower base (201) and the upper base (202) are connected by three sets of adjustment assemblies (203). A six-degree-of-freedom platform for use in a motor system.

2. The six-degree-of-freedom platform used in the motor system of claim 1, characterized in that there are two sets of elastic support compensation parts (200), each set consisting of two parts, which are symmetrically attached to both sides of the bottom of the motor (100).

3. 3. A six-degree-of-freedom platform for a motor system according to claim 2, wherein the lower base (201) comprises a mounting plate (201a) and a hexagonal through-window (201b) opened on the surface of the mounting plate (201a), and two reinforcing ribs (201c) are provided inside the hexagonal through-window (201b), and the apex angle formed by the two reinforcing ribs (201c) is 60°.

4. The six-degree-of-freedom platform used in the motor system of claim 3, characterized in that the mounting plate (201a) includes a bottom edge (201a-1) and a top edge (201a-2), and short legs (201a-3) are fixed to both sides of the two bottom edges (201a-1), and the two short legs (201a-3) and both ends of the top edge (201a-2) are connected via long legs (201a-4).

5. The six-degree-of-freedom platform used in the motor system of claim 4, characterized in that the base (201a-1) is equal in length to the two long legs (201a-4), the two short legs (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 base (201a-1).

6. 6. The six-degree-of-freedom platform used in the motor system of claim 5, wherein the structure of the lower base (201) is consistent with the structure of the upper base (202), and when assembled, the top edge (201a-2) of the upper base (202) faces the bottom edge (201a-1) of the lower base (201).

7. 7. The six-degree-of-freedom platform used in the motor system of claim 6, wherein the adjustment assembly (203) includes an upper hinge support (203a) and a lower hinge support (203b), and an expansion member (203c) is rotatably connected between the upper hinge support (203a) and the lower hinge support (203b).

8. The six-degree-of-freedom platform used in the motor system of claim 7, characterized in that there are three sets of upper hinge supports (203a), two in each set, and each set is attached to a position corresponding to the two short legs (201a-3) and the bottom edge (201a-1) at the bottom of the upper base (202), and there are three sets of lower hinge supports (203b), two in each set, and each set is attached to a position corresponding to the two short legs (201a-3) and the bottom edge (201a-1) at the bottom of the lower base (201).

9. 9. The six-degree-of-freedom platform used in a motor system according to claim 8, wherein each of the adjacent two telescopic members (203c) is V-shaped.

10. a detection unit for detecting whether the axial / radial deviation between the gearbox high speed shaft and the motor (100) input shaft exceeds the limit; a main control module that receives the detection data from the detection unit and generates compensation commands based on the axial / radial deviation data; an execution unit for executing a compensation command operation, which is used to control the synchronous driving and compensation of four elastic support compensation units (200); An automatic calibration system for realizing a six-degree-of-freedom platform used in a motor system according to any one of claims 1 to 9, comprising:

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