TWI881362B - Linear Actuator Intelligent Mechanical Performance Monitoring System - Google Patents

Abstract

The present invention discloses an intelligent mechanical performance monitoring system for a linear actuator, which includes a linear actuator, a driving module, a friction sensing module, an angle sensing module and an information processing module. The driving module is used to drive the transmission component of the linear actuator to rotate, so that the transmission component drives the carrier to perform linear reciprocating movement. The friction sensing module is used to generate a friction sensing signal. The angle sensing module is used to sense the end rotation sensing signal. The information processing module is used to sequentially convert the friction sensing signal and the end-end rotation sensing signal into the friction force value and the end-end rotation angle value, and compare the end-end rotation angle value with the starting end rotation angle value of the transmission component to obtain the deviation angle value between the rotation angles of the two ends of the transmission component, and then obtain the mechanical performance status information of the linear actuator during operation based on the comparison relationship between the friction force value and the deviation angle value, so as to detect whether the linear actuator is out of step during operation through the sensing function setting of the friction force and the angle difference between the two ends of the transmission component, so as to improve the lack of operation stability caused by the inability of the known linear actuator to effectively detect the friction force change or the out-of-step state.

Description

Linear actuator intelligent mechanical performance monitoring system

The present invention relates to an intelligent mechanical performance monitoring system for a linear actuator, and in particular to a mechanical performance monitoring technology for a linear actuator that can use friction and the angle deviation between the two ends of a transmission component as a basis for determining whether the linear actuator is out of step during operation.

Linear actuators, also known as electric screws, electric cylinders, or electric push rods, are linear motion devices that use electricity to replace traditional hydraulic and cylinders. They can be powered by a controller to produce linear reciprocating push-pull movements. Among them, the most commonly used linear actuator in the field of mechanical processing is the lead screw, which is generally divided into two types: closed nut lead screws and ball lead screws. Closed nut lead screws are used in general traditional lathes for manual thread turning, or in the automatic feed mechanism of traditional machinery. As for ball screws, they are used in numerical control machinery (CNC control machinery); or in robotic arms, etc. Ball screws are mainly used to drive the slide to make linear reciprocating movements along the guide rails on the machine.

Furthermore, with the significant advancement of technology, the current machine tool technology is developing towards high speed and high precision, and the most important linear transmission mechanism of machine tools is the ball screw. Among them, the representative patent of the known ball screw technology is shown in the patent of invention announcement No. I476334 "Simple ball screw", which includes components such as screw, nut and ball. The ball screw can obtain linear reciprocating driving force through the threaded contact between the screw and the nut. However, under the two requirements of high speed and high precision, if a higher speed is to be achieved, it is inevitable that a greater friction force will be generated between the motor power output mechanism, coupling, screw and nut, which will lead to the generation of friction heat. Moreover, the friction heat will cause the screw to expand and deform, causing the positioning accuracy to change and failing to achieve the purpose of high precision. In addition, The patent will also cause the starting and ending ends of the transmission components composed of the motor power output mechanism, coupling and screw to have a rotation angle deviation (i.e., a step-out phenomenon). Since the patent and the known ball screw technology do not have a sensor function for the friction force and the angle difference between the two ends of the transmission component, it is impossible to effectively detect the lack of operation stability caused by the change of friction force or the step-out state, thus causing inconvenience and trouble in use. Therefore, how to develop a linear actuator mechanical performance monitoring technology that can detect the friction force change or step-out state of the ball screw has indeed become a technical issue that the relevant industry and academics are eager to solve and challenge.

In view of this, the above-mentioned ball screw technology and the aforementioned patent are indeed not perfect in terms of friction force change and out-of-step state detection, and there is still a need for further improvement. In addition, based on the urgent needs of the relevant industry, the inventors of the present invention have finally developed a set of inventions that are different from the above-mentioned prior art and the aforementioned patent after continuous efforts in research and development.

The first purpose of the present invention is to provide an intelligent mechanical performance monitoring system for a linear actuator, which can mainly detect whether the linear actuator is out of step during operation by setting up a sensing function for the friction force and the angle difference between the two ends of the transmission component, so as to improve the problem of insufficient operation stability caused by the inability to effectively detect friction changes or out of step conditions in conventional linear actuators. The technical means for achieving the above-mentioned first purpose include a linear actuator, a drive module, a friction force sensing module, an angle sensing module, and an information processing module. The drive module is used to drive the transmission component of the linear actuator to rotate, and the transmission component drives the carrier to perform linear reciprocating movement. The friction force sensing module is used to generate a friction sensing signal. The angle sensing module is used to sense the end rotation sensing signal. The information processing module is used to sequentially convert the friction sensing signal and the end-end rotation sensing signal into the friction force value and the end-end rotation angle value, and compare the end-end rotation angle value with the starting end rotation angle value of the transmission component to obtain the deviation angle value between the rotation angles of the two ends of the transmission component, and then obtain the mechanical performance status information of the linear actuator during operation based on the comparison relationship between the friction force value and the deviation angle value.

The second purpose of the present invention is to provide an intelligent mechanical performance monitoring system for a linear actuator that can simulate the actual load operation state of the linear actuator by selecting the required load center of gravity point and load state to improve the operation stability. The technical means to achieve the aforementioned second purpose include a linear actuator, a drive module, a friction force sensing module, an angle sensing module and an information processing module. The drive module is used to drive the transmission component of the linear actuator to rotate, and the transmission component drives the carrier to perform linear reciprocating movement. The friction force sensing module is used to generate a friction sensing signal. The angle sensing module is used to sense the end rotation sensing signal. The information processing module is used to convert the friction sensing signal and the end-end rotation sensing signal into friction force value and end-end rotation angle value in sequence, and compare the end-end rotation angle value with the starting-end rotation angle value of the transmission component to obtain the deviation angle value between the rotation angles of the two ends of the transmission component, and then obtain the mechanical performance status information of the linear actuator during operation based on the corresponding relationship between the friction force value and the deviation angle value. The device further includes a load applying device. A bearing surface on the top of the platform is divided into a plurality of load areas. The load applying device is used to apply load force to the plurality of load areas of the platform one by one, so as to simulate the reciprocating movement of the platform relative to the test platform. When the load force is applied to each load area in sequence, the mechanical performance status information of the linear actuator in each load area is obtained in sequence.

10: Linear actuator

11: Transmission parts

12: Motor

120: Power output mechanism

1: Linear screw

13: Coupling

14: Linear screw

15: Rotation angle feedback module

20:Drive module

30: Friction sensing module

40: Angle sensing module

50: Information processing module

51: Visual chart display module

60: Carrier

61:Testing platform

62: Slide rail assembly

63: Nut

70: Display device

71: Visual real-time monitoring chart

80: Load applying device

81: Load position adjustment mechanism

82: Pressure head

83:Transfer mechanism

A1~A5: Load area

O1~O5: Center point

Figure 1 is a schematic diagram of the appearance of the specific implementation structure of the present invention.

Figure 2 is a front view schematic diagram of the specific implementation structure of the present invention.

Figure 3 is a cross-sectional schematic diagram of another specific implementation structure of the present invention.

Figure 4 is a schematic diagram of the implementation of the present invention in dividing the load area on the carrier.

Figure 5 is a schematic diagram of the load intensity applied in each load area of the present invention compared with the benchmark mechanical performance state data.

Figure 6 is a schematic diagram of the functional blocks of the specific implementation architecture of the present invention.

Figure 7 is a schematic diagram of a specific implementation of the visualized real-time monitoring chart of the present invention.

In order to allow the Honorable Review Committee to further understand the overall technical features of the present invention and the technical means for achieving the purpose of the present invention, a specific embodiment is provided with accompanying drawings for detailed description:

Please refer to FIGS. 1-2 and 6 , a first specific embodiment for achieving the first purpose of the present invention includes a linear actuator 10, a driving module 20 (such as a controller; or a combination of a controller and a driving circuit; but not limited thereto), a friction sensing module 30, an angle sensing module 40 and an information processing module 50. The driving module 20 is used to drive the transmission component 11 of the linear actuator 10 to rotate, and the transmission component 11 drives the carrier 60 to perform linear reciprocating movement. The friction sensing module 30 is used to sense the rotation state of the transmission component 11 and generate a friction sensing signal. The angle sensing module 40 is used to sense the rotation angle state of the end of the transmission component 11 and generate an end rotation sensing signal. The information processing module 50 sequentially converts the friction sensing signal and the terminal rotation sensing signal into corresponding friction force values and terminal rotation angle values, and compares the terminal rotation angle value with the starting end rotation angle value of the transmission component 11 to obtain the deviation angle value between the two end rotation angles of the transmission component 11. Then, according to the corresponding relationship between the friction force value and the deviation angle value, the friction force value and the deviation angle value are compared with the preset experience valve value to obtain the mechanical performance state information of the linear actuator 10 during operation. The preset experience valve value includes a preset friction force valve value and a preset deviation angle valve value. In the specific operation, when the friction value exceeds the preset friction force valve value and the deviation angle value exceeds the preset angle valve value, the information processing module 50 determines that the mechanical performance state information of the linear actuator 10 during operation is abnormal state information of out of step; when the friction value is lower than the preset friction force valve value and the deviation angle value is lower than the preset angle valve value, the information processing module 50 determines that the mechanical performance state information of the linear actuator 10 during operation is normal state information.

Please refer to Figures 1-2 and 6 for the first application embodiment based on the first specific embodiment. This embodiment mainly defines the specific implementation structure of the linear actuator 10. The linear actuator 10 further includes a motor 12 (such as a servo motor) that can be driven by the driving module 20 to rotate, a coupling 13, and a linear screw 14 that is connected to the power output mechanism 120 of the motor 12 through the coupling 13. Therefore, the power output mechanism 120, the coupling 13 and the linear screw 14 together constitute the above-mentioned transmission component 11.

Specifically, the starting end of the transmission component 11 is between the power output mechanism 120 and the coupling 13, and the end of the linear actuator 10 is the end of the transmission component 11. Then, the starting end of the transmission component 11 is provided with a rotation angle feedback module 15 (which can be a rotation feedback module built into the servo motor; or an additional rotation feedback module; but not limited to this) for sensing the rotation state of the starting end of the transmission component 11 and generating a starting end rotation sensing signal, and the information processing module 50 is used to convert the starting end rotation sensing signal into a starting end rotation angle value.

Please refer to Figures 2 and 6 for a second application embodiment based on the first specific embodiment. This embodiment mainly defines the specific implementation and installation position of the friction sensing module 30. The friction sensing module 30 is a torque sensor. The torque sensor is arranged on the transmission component 11 to sense the torque of the transmission component 11. The change of the sensed torque is used to infer the change of the friction force. That is, when the friction force increases, the torque of the transmission component 11 increases because the friction between the linear screw 14 and the nut 63 increases.

Please refer to Figures 1 to 3, which are the third application embodiment based on the first specific embodiment. This embodiment mainly defines the specific assembly embodiment of the linear actuator 10. This embodiment further includes a test platform 61 for assembling the linear actuator 10. The test platform 61 is provided with a slide rail assembly 62 for the carrier 60 to slide linearly. The carrier 60 is provided with a nut 63 that is engaged with the linear screw 14 and can be displaced relative to the slide rail assembly 62.

Please refer to Figures 6 and 7 for the fourth application embodiment based on the first specific embodiment. This embodiment mainly defines the content of the visual chart display technology, and further includes a visual chart display module 51. The visual chart display module 51 is used to sequentially convert the friction value, the end rotation angle value, the starting end rotation angle value, and the correspondence between the friction value and the end rotation angle value into a visual real-time monitoring chart 71 that can be displayed on a display device 70.

Please refer to Figures 3 to 7 for a second specific embodiment for achieving the second purpose of the present invention. In addition to the overall technical content of the first specific embodiment, it further includes a load applying device 80. A load surface on the top of the carrier 60 is divided into a plurality of load areas A1 to A5. The load applying device 80 is used to sequentially apply loads to the center points O1 to O5 of the plurality of load areas A1 to A5 of the carrier 60 to simulate the reciprocating movement of the carrier 60 relative to the test platform 61. When a load is applied to each load area A1 to A5, the load is sequentially compared with each mechanical performance status data to obtain the mechanical performance status information of the linear actuator 10 of each load area A1 to A5.

Please refer to Figures 3 to 6, which are an application embodiment based on the second specific embodiment. The load applying device 80 further includes a load position adjustment mechanism 81, and the load position adjustment mechanism 81 is used to make a pressure head 82 of the load applying device 80 abut against one of the load areas A1 to A5 of the carrier 60. More specifically, the load applying device 80 is arranged on a transfer mechanism 83, and the transfer mechanism 83 can be driven by the drive module 20 and move synchronously with the carrier 60.

Therefore, after the detailed description of the above specific embodiments, the present invention does have the following characteristics:

1. The present invention can indeed detect whether a linear actuator is out of step during operation by setting up a sensing function for the friction force and the angle difference between the two ends of the transmission component, thereby improving the problem of insufficient operation stability caused by the inability to effectively detect friction force changes or out of step conditions in conventional linear actuators.

2. The present invention is indeed a method that can simulate the actual load operation state of the linear actuator by selecting the required load center of gravity point and load state to improve the operation stability of the linear actuator.

The above is only a feasible implementation example of the present invention and is not intended to limit the patent scope of the present invention. Any equivalent implementation based on the content, features and spirit described in the following claims shall be included in the patent scope of the present invention. The structural features of the present invention specifically defined in the claims are not seen in similar articles and are practical and progressive. They have met the requirements for invention patents. Therefore, we hereby submit an application in accordance with the law and sincerely request the Jun Bureau to grant the patent in accordance with the law to protect the legitimate rights and interests of the present applicant.

10: Linear actuator

11: Transmission parts

13: Coupling

14: Linear screw

40: Angle sensing module

63: Nut

Claims (10)

A linear actuator intelligent mechanical performance monitoring system, comprising: A linear actuator; A driving module, which is used to drive a transmission component of the linear actuator to rotate, so that the transmission component drives a carrier to perform linear reciprocating movement; A friction force sensing module, which is used to sense the rotation state of the transmission component and generate a friction sensing signal; An angle sensing module, which is used to sense the rotation angle state of the end end of the transmission component and generate an end end rotation sensing signal; and An information processing module is used to sequentially convert the friction sensing signal and the end-end rotation sensing signal into corresponding friction force values and end-end rotation angle values, and compare the end-end rotation angle value with the starting end rotation angle value of the transmission component to obtain a deviation angle value between the two end rotation angles of the transmission component, and then obtain the mechanical performance status information of the linear actuator when it is operating based on the comparison of the friction force value and the deviation angle value with the preset experience valve value. The linear actuator intelligent mechanical performance monitoring system as described in claim 1, wherein the preset experience valve value includes a preset friction valve value and a preset angle valve value; when the friction value exceeds the preset friction valve value and the deviation angle value exceeds the preset angle valve value, the information processing module determines that the mechanical performance state information of the linear actuator during operation is abnormal state information of loss of step; when the friction value is lower than the preset friction valve value and the deviation angle value is lower than the preset angle valve value, the information processing module determines that the mechanical performance state information of the linear actuator during operation is normal state information. The linear actuator intelligent mechanical performance monitoring system as described in claim 1, wherein the linear actuator further comprises a motor that can be driven by the drive module to rotate, a coupling and a linear screw connected to a power output mechanism of the motor through the coupling, so that the power output mechanism, the coupling and the linear screw together constitute the transmission component, the power output mechanism and the coupling are the starting end of the transmission component, and the end of the linear actuator is the end end of the transmission component. As described in claim 3, the linear actuator intelligent mechanical performance monitoring system, wherein the starting end of the transmission component is provided with a rotation angle feedback module for sensing the rotation state of the starting end of the transmission component and generating a starting end rotation sensing signal, and the information processing module is used to convert the starting end rotation sensing signal into the starting end rotation angle value. The linear actuator intelligent mechanical performance monitoring system as described in claim 3 further includes a test platform for assembling the linear actuator, the test platform is provided with a slide rail assembly for the carrier to slide linearly, and the carrier is provided with a nut that is threaded with the linear screw and can be displaced relative to the slide rail assembly. The linear actuator intelligent mechanical performance monitoring system as described in claim 5 further comprises a load applying device, wherein a load surface on the top of the carrier is divided into a plurality of load areas, and the load applying device is used to sequentially apply load forces to the center points of the plurality of load areas of the carrier respectively, so as to simulate the reciprocating movement of the carrier relative to the test platform, and sequentially compare the load force with each mechanical performance state data when each load area is loaded to obtain the mechanical performance state information of the linear actuator in each load area. As described in claim 6, the linear actuator intelligent mechanical performance monitoring system, wherein the load applying device further includes a load position adjustment mechanism, and the load position adjustment mechanism is used to abut a pressure head of the load applying device against one of the load areas of the carrier. The linear actuator intelligent mechanical performance monitoring system as described in claim 7, wherein the load applying device is arranged on a transfer mechanism, and the transfer mechanism can be driven by the drive module to move linearly synchronously with the carrier. As described in claim 1, the linear actuator intelligent mechanical performance monitoring system, wherein the friction force sensing module is a torque sensor, and the torque sensor is disposed on the transmission component. The linear actuator intelligent mechanical performance monitoring system as described in claim 1 further comprises a visualization chart display module, which is used to sequentially convert the friction force value, the end rotation angle value, the starting end rotation angle value, and the correspondence between the friction force value and the end rotation angle value into a visualized real-time monitoring chart that can be displayed on a display device.

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