CN105680622A - Compact servo torque precise driving unit - Google Patents
Compact servo torque precise driving unit Download PDFInfo
- Publication number
- CN105680622A CN105680622A CN201610207231.9A CN201610207231A CN105680622A CN 105680622 A CN105680622 A CN 105680622A CN 201610207231 A CN201610207231 A CN 201610207231A CN 105680622 A CN105680622 A CN 105680622A
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- China
- Prior art keywords
- rotor
- decelerator
- motor
- angular transducer
- flange
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention relates to a power part applied to a rotation pair and specifically relates to a high-precision compact servo torque precise driving unit, which has the function of motion output terminal position detection, large-torque and large inertia output and a braking function. The compact servo torque precise driving unit comprises a speed reducer and a motor. The compact servo torque precise driving unit is characterized in that the compact servo torque precise driving unit is provided with a motion output transmission rod (2) and a first angle sensor (15), wherein the motion output transmission rod (2) is arranged on a motion output flange (3); the motion output transmission rod (2) passes through a reducer hollow input shaft (17) and extends out of the reducer hollow input shaft (17); and the first angle sensor (15) is arranged at the end of the motion output transmission rod (2). The compact servo torque precise driving unit can realize a compact torque output unit, which has large torque, large inertia, precise driving and the brake function.
Description
Technical field
The present invention relates to a kind of power part that applies to revolute pair, be specifically related to one and there is the detection of movement output terminal position, high-torque, large inertia are exported, and have the servo moment driver element of high accuracy, compact of brake function, are called for short servo moment gear unit below.
Background technology
Kinematic pair is made up of moving sets and revolute pair mostly, the revolute pair in the high-precision equipments such as robot, multi-axis NC Machine Tools, measurement mechanism, the pattern of its motion generally: 1) control motor direct-drive; 2) control motor and drive decelerator motion.
Control motor direct-drive, there is high, the fireballing advantage of precision, but its output torque and rotary inertia are less than normal. Drive decelerator motion output torque larger although control motor, exist following not enough:
The first, the strain between foozle, the actuated element of decelerator causes movement output precision limited.
Second, for improving movement output precision, the general output setting angle sensor at decelerator, but do like this, generation adverse influence has: at the output setting angle sensor of decelerator, structurally inconvenience realizes, and has increased physical dimension, and in the occasion of some limited space, even cannot install.
The 3rd, to control motor reducer structure is installed, its overall dimensions is bigger than normal, and number of parts is many:
(1), except the bearing of decelerator, also need 2 bearings of motor; And the accurate gear unit of the servo moment of the compact of innovative design can reduce the bearing that motor is installed.
(2) the accurate gear unit of the servo moment of the compact of innovative design is installed the structure on decelerator than controlling motor, and its connection, sealing etc. are all optimized and simplify, and have further reduced number of parts, and structure is compacter.
4) utilize heat-barrier material, the heat that reduction motor stator produces is in the course of the work passed to high-accuracy decelerator, and the gap producing to prevent high-accuracy decelerator to be heated between part changes, and avoids causing adverse effect.
Modern high end numerical control equipment, need to have good overall target at aspects such as high accuracy, cost performance, compact conformations, needs innovative design to realize for this reason.
Goal of the invention
The object of this invention is to provide the accurate gear unit of the servo moment of a kind of compact, can realize the moment output unit of high-torque, large inertia, accurately transmission, strap brake function, compact.
The object of the invention is to be achieved through the following technical solutions, the accurate gear unit of the servo moment of compact, comprise decelerator and motor, it is characterized in that, be provided with movement output transmission lever, the first angular transducer, movement output transmission lever is arranged on movement output flange, and movement output transmission lever extends to the hollow power shaft of decelerator outer end through the hollow power shaft of decelerator; The first angular transducer is arranged on movement output transmission lever end.
Preferably, be provided with the dividing plate of band shoulder, dividing plate is bolted with motor housing, motor rear cover respectively, and the structure of its band shoulder plays the role of positioning; Pad empty set is in movement output transmission lever, and the dividing plate of takeing on band by bolt is connected; The first angular transducer is arranged in movement output transmission lever, and is connected with pad by bolt; Nut plays axial restraint effect to the first angular transducer; Rotor is magnetic material, and rotor directly sticks on the Step Shaft of reducer input shaft; Braking components is contained on the Step Shaft of reducer input shaft, and is bolted on dividing plate.
Preferably, rotor, by being arranged on the Step Shaft of reducer input shaft, transmits circular motion by key or frictional force, and locking nut or Spring Card play axial restraint to rotor; The first angular transducer is arranged on the Step Shaft of movement output transmission lever, and is placed in the internal cavities of rotor, and is connected with motor rear cover by bolt.
Preferably, the first angular transducer is arranged on the Step Shaft of movement output transmission lever, and is placed in the internal cavities of rotor, and the first angular transducer is connected with sensor outer end fixed bar by bolt; Rotor connector is arranged on rotor, realize the axial location at rotor by its shoulder, rotor connector is realized and the circumferential location of rotor by key, and band shoulder nut and rotor are threaded connection, and rotor connector is played to axial restraint effect; Sensor outer end fixed bar extends to motor rear cover by the endoporus of rotor connector, and by sensor hold-down nut, motor rear cover, sensor outer end fixed bar is linked together; Braking components is arranged on rotor connector, and fixes by bolt and motor rear cover.
Preferably, be provided with the second angular transducer, the second angular transducer is arranged on the Step Shaft of reducer input shaft, and is bolted on dividing plate.
Preferably, be provided with the second angular transducer, the second angular transducer is arranged on the Step Shaft of rotor connector, and is connected with motor rear cover by bolt.
Preferably, between rotor and motor stator or motor housing, bearing is installed.
Preferably,, motor stator and motor housing are integrated, and are connected with reducer shell by the bolt in its bolt hole.
Preferably, between motor flange and decelerator rear flange, there is heat-barrier material to separate; Between electric machine casing and motor rear cover, there is heat-barrier material to separate.
Preferably, on reducer shell, there are decelerator forward flange and decelerator rear flange, on decelerator forward flange, there are decelerator forward flange hole and bolt hole, breach on decelerator rear flange is just to decelerator forward flange hole, motor flange and decelerator rear flange coordinate by seam, both breach are to breach, and bolt hole, to bolt hole, is bolted.
Compared with prior art, the present invention has following beneficial effect:
First, design a movement output transmission lever, rotor cavity by end movement state transfer to servomotor, and at movement output transmission lever setting angle sensor, the position signalling of movement output accurately detecting is delivered to driver by sensor, by the motion of driver drives rotor, thereby realize the accurate control of movement output end. Like this, the impact of the strain of foozle, actuated element that can avoid decelerator on kinematic accuracy.
The second, by decelerator and servomotor organic combination, reduce number of parts, reduce axial length, structure is compacter.
The 3rd, the rotor cavity to different-diameter, different running precision requirements, designed multiple technologies scheme, to guarantee the feasibility of technology.
The 4th, utilize heat-barrier material, while reducing motor stator work, heat is passed to the decelerator of front end, produces temperature distortion, thereby be unfavorable for work with the parts that prevent high accurate speed reducer.
Brief description of the drawings
Fig. 1 is the structural representation of the first embodiment of the accurate gear unit of the servo moment of compact of the present invention;
Fig. 2 is the structural representation of the second embodiment of the accurate gear unit of the servo moment of compact of the present invention;
Fig. 3 is the structural representation of the third embodiment of the accurate gear unit of the servo moment of compact of the present invention;
Fig. 4 is the structural representation of the 4th kind of embodiment of the accurate gear unit of the servo moment of compact of the present invention;
Fig. 5 is the structural representation of the 5th kind of embodiment of the accurate gear unit of the servo moment of compact of the present invention;
In figure: sealing ring 1, movement output transmission lever 2, on movement output flange 3, reducer shell 4, decelerator forward flange hole 5, flange breach 6, heat-barrier material 7, motor stator 8, motor housing 9, dividing plate 10, motor rear cover 11, braking components 12, pad 13, nut 14, the first angular transducer 15, rotor 16, reducer input shaft 17, motor flange 18, decelerator rear flange 19, decelerator forward flange 20, band shoulder nut 30, locking nut 31, rotor connector 32, sensor hold-down nut 33, sensor outer end fixed bar 34, the second angular transducer 51.
Detailed description of the invention
The scheme of the accurate gear unit of the servo moment of compact of the present invention is described
One, the layout of angular transducer
(1) single angular transducer and layout thereof
Single angular transducer is mounted on the Step Shaft of movement output transmission lever 2, to accurately measure the position signalling of movement output. As larger in the inner chamber of electronics rotor 16, angular transducer can be placed on the inner chamber of electronics rotor 16 to reduce axial length; Otherwise, be arranged on electronics rotor 16 outsides.
(2) double angle sensor and layout thereof
The setting of double angle sensor, the 1st angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, and the second angular transducer 51 is arranged on the rotor 16 of motor. Like this, 2 angular transducers can form the test circuit of closed loop, and precision is further promoted.
Two, reduce the method for the installation diameter of axle of brake and angular transducer
The diameter of axle that brake and angular transducer are installed is larger, the cost of its brake and angular transducer is higher, and radial dimension is larger, for this reason ad hocly count corresponding structure: rotor connector 32 is arranged on rotor 16, realize the axial location at rotor 16 by its shoulder, rotor connector 32 is realized and the circumferential location of rotor 16 by key, and band shoulder nut 30 and rotor 16 are threaded connection, and to 32 its axial restraint effects of rotor connector; Sensor outer end fixed bar 34 extends to motor rear cover 11 by the endoporus of rotor connector 32, and by sensor hold-down nut 33, motor rear cover 11, sensor outer end fixed bar 34 is linked together; Braking components 12 is arranged on rotor connector 32, and fixing by bolt and motor rear cover 11.
Three, the setting of heat-barrier material
Because decelerator of the present invention is high-accuracy grade, the precision of decelerator part is high, between gap little, the impact that the motor feels hot as being subject to, to change rational gap between decelerator part, cause adverse effect, for this reason, between the housing and rotor of decelerator, heat-barrier material is installed between decelerator bonnet and rotor, the impact of the heat producing when reducing motor stator work on decelerator: between motor flange 18 and decelerator rear flange 19, heat-barrier material separates; Between electric machine casing 8 and motor rear cover 11, there is heat-barrier material to separate.
Four, the installation of rotor
Rotor and reducer input shaft have multiple connected mode:
The magnetic material of 1 rotor 16, directly sticks on the Step Shaft of reducer input shaft 17;
2 rotors 16 are realized circumferentially fixing by key and reducer input shaft 17, and realize axial restraint by Spring Card or nut.
Five, the connection of motor and decelerator
The syndeton of electric machine casing and reducer shell has directly affected the radial dimension of the moment driver element of convenience that both are connected and hollow, for this reason, special in decelerator partial design two flange arrangements; Decelerator forward flange is for the installation of the moment driver element of hollow; Decelerator rear flange is used for the connection of electric machine casing and reducer shell: on reducer shell 4, have decelerator forward flange 20 and decelerator rear flange 19, on decelerator forward flange 20, have decelerator forward flange hole 5 and bolt hole, the breach 6 on decelerator rear flange 19 is just to decelerator forward flange hole 5; Motor flange 18 and decelerator rear flange 19 coordinate by seam, and both breach are to breach, and bolt hole, to bolt hole, is bolted.
As shown in Figure 1, the accurate gear unit of the servo moment of compact, movement output transmission lever 2 is arranged on movement output flange 3, and movement output transmission lever 2 extends to its outer end through the hollow power shaft 17 of decelerator; On reducer shell 4, there are decelerator forward flange 20 and decelerator rear flange 19, on decelerator forward flange 20, there are decelerator forward flange hole 5 and bolt hole, breach 6 on decelerator rear flange 19 is just to decelerator forward flange hole 5, motor flange 18 and decelerator rear flange 19 coordinate by seam, both breach are to breach, bolt hole, to bolt hole, is bolted; The magnetic material of rotor 16, directly sticks on the Step Shaft of reducer input shaft 17; Motor stator 8 is arranged on motor housing 9; The dividing plate 10 of band shoulder is bolted with motor housing 9, motor rear cover 11 respectively, and the structure of its band shoulder plays the role of positioning; Pad 13 empty sets are in movement output transmission lever 2, and the dividing plate 10 of takeing on band by bolt is connected; The first angular transducer 15 is arranged in movement output transmission lever 2, and is connected with pad 13 by bolt; Nut 14 is to first angular transducer 15 its axial restraint effects.
As shown in Figure 2, rotor 16, by being arranged on the Step Shaft of reducer input shaft 17, transmits circular motion by key or frictional force, and locking nut 31 or Spring Card are to 16 axial restraints of rotor; The first angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, and is placed in the internal cavities of rotor 16, and is connected with motor rear cover 11 by bolt.
As shown in Figure 1, braking components 12 is contained on the Step Shaft of reducer input shaft 17, and is bolted on dividing plate 10.
Motor stator 8 and motor housing 9 are integrated, and are connected with reducer shell 4 by the bolt in its bolt hole.
Between motor flange 18 and decelerator rear flange 19, there is heat-barrier material to separate; Between electric machine casing 9 and motor rear cover 11, there is heat-barrier material to separate.
As shown in Figure 3, the second angular transducer 51 is arranged on the Step Shaft of reducer input shaft 17, and is bolted on dividing plate 10.
As shown in Figure 4, the first angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, and is placed in the internal cavities of rotor 16, and the first angular transducer 15 is connected with sensor outer end fixed bar 34 by bolt; Rotor connector 32 is arranged on rotor 16, realize the axial location at rotor 16 by its shoulder, rotor connector 32 is realized and the circumferential location of rotor 16 by key, and band shoulder nut 30 and rotor 16 are threaded connection, and rotor connector 32 is played to axial restraint effect; Sensor outer end fixed bar 34 extends to motor rear cover 11 by the endoporus of rotor connector 32, and by sensor hold-down nut 33, motor rear cover 11, sensor outer end fixed bar 34 is linked together; Braking components 120 is arranged on rotor connector 32, and fixing by bolt and motor rear cover 11.
As shown in Figure 5, the second angular transducer 51 is arranged on the Step Shaft of rotor connector 32, and is connected with motor rear cover 11 by bolt.
Between rotor 16 and motor stator 8 or motor housing 9, bearing is installed.
Claims (10)
1. the accurate gear unit of the servo moment of compact, comprise decelerator and motor, it is characterized in that, be provided with movement output transmission lever (2), the first angular transducer (15), movement output transmission lever (2) is arranged on (3) on movement output flange, and movement output transmission lever (2) extends to the hollow power shaft of decelerator (17) outer end through the hollow power shaft of decelerator (17); The first angular transducer (15) is arranged on movement output transmission lever (2) end.
2. the accurate gear unit of the servo moment of compact according to claim 1, it is characterized in that, be provided with the dividing plate (10) of band shoulder, dividing plate (10) respectively and motor housing (9), motor rear cover (11) be bolted, the structure of its band shoulder plays the role of positioning; Pad (13) empty set is upper in movement output transmission lever (2), and is connected with the dividing plate (10) of band shoulder by bolt; It is upper that the first angular transducer (15) is arranged on movement output transmission lever (2), and be connected with pad (13) by bolt; Nut (14) plays axial restraint effect to the first angular transducer (15); Rotor (16) is magnetic material, and rotor (16) directly sticks on the Step Shaft of reducer input shaft (17); Braking components (12) is contained on the Step Shaft of reducer input shaft (17), and is bolted on dividing plate (10).
3. the accurate gear unit of the servo moment of compact according to claim 1, it is characterized in that, rotor (16) is by being arranged on the Step Shaft of reducer input shaft (17), transmit circular motion by key or frictional force, locking nut (31) or Spring Card play axial restraint to rotor (16); The first angular transducer (15) is arranged on the Step Shaft of movement output transmission lever (2), and is placed in the internal cavities of rotor (16), and is connected with motor rear cover (11) by bolt.
4. the accurate gear unit of servo moment according to claim 1, it is characterized in that, the first angular transducer (15) is arranged on the Step Shaft of movement output transmission lever (2), and being placed in the internal cavities of rotor (16), the first angular transducer (15) is connected with sensor outer end fixed bar (34) by bolt; Rotor connector (32) is arranged on rotor (16), realize the axial location in rotor (16) by its shoulder, rotor connector (32) is realized by key and the circumferential location of rotor (16), band shoulder nut (30) and rotor (16) are threaded connection, and rotor connector (32) is played to axial restraint effect; Sensor outer end fixed bar (34) extends to motor rear cover (11) by the endoporus of rotor connector (32), and by sensor hold-down nut (33), motor rear cover (11), sensor outer end fixed bar (34) is linked together; It is upper that braking components (12) is arranged on rotor connector (32), and fixing by bolt and motor rear cover (11).
5. the accurate gear unit of servo moment according to claim 2, it is characterized in that, be provided with the second angular transducer (51), the second angular transducer (51) is arranged on the Step Shaft of reducer input shaft (17), and is bolted on dividing plate (10).
6. the accurate gear unit of servo moment according to claim 4, it is characterized in that, be provided with the second angular transducer (51), the second angular transducer (51) is arranged on the Step Shaft of rotor connector (32), and is connected with motor rear cover (11) by bolt.
7. according to the accurate gear unit of servo moment described in claim 1,2,3,4,5 or 6, it is characterized in that, between rotor (16) and motor stator (8) or motor housing (9), bearing is installed.
8. according to the accurate gear unit of the servo moment of compact described in claim 1,2,3,4,5 or 6, it is characterized in that, motor stator (8) and motor housing (9) are integrated, and are connected with reducer shell (4) by the bolt in its bolt hole.
9. according to claim 1,2,3,4, the accurate gear unit of the servo moment of 5 or 6 compact, it is characterized in that, between motor flange (18) and decelerator rear flange (19), have heat-barrier material to separate; Between electric machine casing (9) and motor rear cover (11), there is heat-barrier material to separate.
10. according to claim 1,2,3,4, the accurate gear unit of the servo moment of 5 or 6 compact, it is characterized in that, on reducer shell (4), there are decelerator forward flange (20) and decelerator rear flange (19), on decelerator forward flange (20), there are decelerator forward flange hole (5) and bolt hole, breach (6) on decelerator rear flange (19) is just to decelerator forward flange hole (5), motor flange (18) and decelerator rear flange (19) coordinate by seam, both breach are to breach, bolt hole, to bolt hole, is bolted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610207231.9A CN105680622B (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610207231.9A CN105680622B (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo torque |
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| Publication Number | Publication Date |
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| CN105680622A true CN105680622A (en) | 2016-06-15 |
| CN105680622B CN105680622B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610207231.9A Active CN105680622B (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo torque |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107040085A (en) * | 2017-05-04 | 2017-08-11 | 北京精密机电控制设备研究所 | A kind of dual sensor reducing motor structure |
| CN107654620A (en) * | 2017-10-30 | 2018-02-02 | 湖南五新隧道智能装备股份有限公司 | A kind of drill jumbo and its can setting angle sensor rotary reducer |
| CN107877545A (en) * | 2016-09-30 | 2018-04-06 | 精工爱普生株式会社 | Force checking device, driver element and robot |
| CN108199524A (en) * | 2018-03-27 | 2018-06-22 | 河南凌翼智联装备有限公司 | Coaxial servo drive |
| WO2020244188A1 (en) * | 2019-06-05 | 2020-12-10 | 珠海格力电器股份有限公司 | Harmonic speed reducer and wave generator assembly thereof |
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| CN200990542Y (en) * | 2006-10-10 | 2007-12-12 | 綦学尧 | Direct coupling pulsation and rotary drum washing machine speed reducing motor |
| CN103095035A (en) * | 2013-02-04 | 2013-05-08 | 潍柴动力股份有限公司 | Motor system and new energy resource vehicle |
| CN205725308U (en) * | 2016-04-05 | 2016-11-23 | 姜铭 | The accurate gear unit of compact servo moment |
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| FR2714135B1 (en) * | 1993-12-20 | 1996-03-08 | Crouzet Automatismes | Flat gearmotor. |
| US6310455B1 (en) * | 1999-04-19 | 2001-10-30 | Max Stegmann Gmbh Antriebstechnik-Elektronik | Positioning and actuating drive |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877545A (en) * | 2016-09-30 | 2018-04-06 | 精工爱普生株式会社 | Force checking device, driver element and robot |
| CN107877545B (en) * | 2016-09-30 | 2022-05-06 | 精工爱普生株式会社 | Force detection device, drive unit, and robot |
| CN107040085A (en) * | 2017-05-04 | 2017-08-11 | 北京精密机电控制设备研究所 | A kind of dual sensor reducing motor structure |
| CN107654620A (en) * | 2017-10-30 | 2018-02-02 | 湖南五新隧道智能装备股份有限公司 | A kind of drill jumbo and its can setting angle sensor rotary reducer |
| CN108199524A (en) * | 2018-03-27 | 2018-06-22 | 河南凌翼智联装备有限公司 | Coaxial servo drive |
| CN108199524B (en) * | 2018-03-27 | 2024-04-05 | 河南凌翼智联装备有限公司 | Coaxial servo driving device |
| WO2020244188A1 (en) * | 2019-06-05 | 2020-12-10 | 珠海格力电器股份有限公司 | Harmonic speed reducer and wave generator assembly thereof |
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|---|---|
| CN105680622B (en) | 2018-06-26 |
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Effective date of registration: 20191212 Address after: 225800 embroidery embroidery Industrial Park, Jinxiu Road, Lu duo Town, Baoying, Yangzhou, Jiangsu Patentee after: Yangzhou Guofeng arts and Crafts Co., Ltd. Address before: Guangling District of Jiangsu city in Yangzhou province 225000 five Mountain Grand Hyatt Washington 8-701 Patentee before: Jiang Ming |
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