CN1067769A - A kind of differential reducing is exported the numerical control servo unit outward - Google Patents
A kind of differential reducing is exported the numerical control servo unit outward Download PDFInfo
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- CN1067769A CN1067769A CN91103850A CN91103850A CN1067769A CN 1067769 A CN1067769 A CN 1067769A CN 91103850 A CN91103850 A CN 91103850A CN 91103850 A CN91103850 A CN 91103850A CN 1067769 A CN1067769 A CN 1067769A
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Abstract
A kind of differential outer output deceleration numerical control servo unit, it is applicable to the actuator of doing in the various electromechanical integration equipments.It has numerical control operating motor, input gear, planetary gear, fixed gear ring, output gear etc., it is characterized in that; Fixed gear ring is coaxial with output gear and the number of teeth is mutually a little bit poorer, and fixed gear ring and reducer shell are fixed, and switches through the anglometer counting apparatus behind the numerical control operating motor.Start and stop and rotating speed by control numerical control operating motor satisfy various numerical control servo requirements.Use special differential speed reducer can obtain very big output torque and big speed reducing ratio.
Description
A kind of differential reducing is exported the numerical control servo unit outward, it is a kind of complete electric numerical control final controlling element, can be used in the various electromechanical integration equipments, do various actuators, as the automation pipeline carry or chemical system in valve control executing mechanism etc. and various aviation, navigation steering wheel, elevator elevation and subsidence mechanical etc.
In various automations or semi-automatic equipment, for finishing exercises, need various actuators, and these mechanisms require can numerical control, and require to have bigger implementation capacity or moment.In existing equipment, use the design that all-electric control system can simplified control system, reach the purpose of direct numerical control.In the present complete automatically controlled digital control system, be to adopt stepping motor to make prime mover, use decelerator to slow down, realize the rotational angle of digital control output.But because the restriction of stepping motor structure, power output can not be very big.This makes that the implementation capacity of all-electric control system is little, can only be used for some small-sized machines, and not fit into the actuator of doing large scale system, and as the switching mechanism of large-scale pipeline valve, the feed mechanism of large-scale steering wheel etc.Simultaneously, used decelerator does not fit into high pulling torque output yet in the complete now automatically controlled digital control system.In order to obtain big speed reducing ratio (as greater than 1: 100), and don't increase the physical dimension of decelerator, state-of-the-art method is to use harmonic gear reducer.It uses differential mode to slow down, and utilizes the tooth difference between rigidity gear ring and flexible gear ring to slow down, and can accomplish that the speed ratio that single-stage is slowed down surpasses 100.But owing to will lean on the distortion of flexible gear ring to come work, thereby to the specification requirement height of flexible gear ring, and be subjected to the restriction of flexible gear ring intensity, output torque can not be too high.And general decelerator then needs to use and multistagely just can reach big deceleration speed ratio, so structure is huge.To the control executing mechanism that big power output or moment require, mostly present method is to adopt hydraulic pressure to expand power actuator, uses the control mode of numerical control hydraulic servo valve, with the execution of directly exerting oneself of hydraulic jack or hydraulic motor.Though hydraulic way can be exported very big power or moment, and do not re-use deceleration device, must increase by a cover hydraulic power source equipment, thereby hydraulic way is bulky.The leakage problems of hydraulic means etc. bring very big difficulty also for work such as maintenance, manufacturing.And this mode also is unfavorable for the decentralized control of orthicon pipeline conveying system etc.
The objective of the invention is to invent a kind of numerical control differential reducing servo unit of full electricity.It uses the numerical control actuating motor to do power source, utilizes the differential reducing mode to slow down, and does not use flexible gear ring, very big speed reducing ratio and very big output torque is arranged, compact conformation.
Structure of the present invention as shown in Figure 1.It has power shaft 1, output gear 2, fixed gear ring 3, planetary gear 4, input gear 5, planetary gear retainer 6, retainer fixed block 7, output wheel disc 8, motor 9 is characterized in that: planetary gear 4 is made of two face of gears up and down, output gear 2 is fixed on the output wheel disc 8, and two face of gears of planetary gear 4 mesh with output gear 2 and fixed gear ring 3 respectively, one of them face of gear of planetary gear 4 and 5 engagements of input gear, fixed gear ring 3 is affixed with reducer shell, fixed gear ring 3 has Z1 tooth, and output gear 2 has Z2 tooth, and Z1 and Z2 differ from 1 tooth, planetary gear 4 has two or more, motor 9 is numerical control actuating motors, is fixed with outer corner measurement dish 10 on motor 9 afterbody rotors, and in electronic housing relevant position photoelectricity counting device 11 is housed.
Operation principle of the present invention is as follows: power shaft 1 links to each other with the output shaft of motor 9, and when work, the driving torque of the higher speed of motor 9 outputs drives input gear 5 by power shaft 1 and rotates.Because fixed gear ring 3 maintains static, input gear 5 makes planetary gear 4 both self rotate, also revolution in fixed gear ring 3 when rotating.Because the number of teeth of fixed gear ring 3 is Z1, the number of teeth of output gear 2 is Z2, and both differ 1 tooth, thereby when planetary gear 4 public affairs turn around, output gear 2 and fixed gear ring 3 relative differential teeth.Affixed because of fixed gear ring 3 and reducer shell again, output gear 2 drives output wheel disc 8 and has rotated a tooth for some reason.
Speed ratio relation of the present invention is calculated as follows.
The number of teeth of supposing planetary gear 4 is Z3, and the number of teeth of input gear 5 is Z4, and the rotating speed of the external tooth of input gear 5 is n4, and the rotation rotating speed of planetary gear 4 is n3, and the rotating speed of output gear 2 is n2, and following relational expression is arranged:
n3＝n4＊Z4/（Z4+Z2）
Concern by Z1 and Z2 differential:
n1＝n3/Z2
So have:
n2＝n4＊Z4/Z2＊（Z4+Z2）
In the ordinary course of things, can design and make Z2=100, thus make speed reducing ratio also greater than 100(because Z4+Z2＞Z4, so speed reducing ratio＞Z2).
Among the present invention, motor 9 uses the numerical control actuating motor, and the structure such as the patent No. are the patent of CN89216856.It forms a permanent magnet motor by rare-earth permanent magnet rotor and wound stator, uses the numerical control solid-state module to do power supply, can regulate its start and stop and rotating speed by numerically controlled mode.On motor 9 afterbody rotors, be connected to an outer corner measurement dish 10, and photoelectricity counting device 11 be housed at the motor field frame corresponding site.Outer corner measurement dish 10 can be made up of light and dark striped, also can be made up of the striped of printing opacity shading.In when work, the variation that records reflection or transmitted ray by the photo-sensitive cell on the photoelectricity counting device 11, thereby the angle that the numeration motor has rotated, and can feed back to controlling organization, to reach the purpose of closed-loop control, improve control precision.
The present invention can have very big power output owing to adopt rare-earth permanent magnet motor to make prime mover, does not need hydraulic pressure expansion power etc., is full electric control gear.And rare-earth permanent magnet motor has bigger starting torque and braking moment, can adapt to the frequent control of actuator, can control speed governing, to obtain various execution curve movements.
The end face output form of output wheel disc 8 is used in output of the present invention, can export affixed shaft joint ring flange on the wheel disc 8; Also can directly become displacement output with dead man, connecting rod or fork etc.; Can also be at the affixed flank of tooth of output wheel disc 8 outer rims, by flank of tooth output torque; Also can use output wheel disc 8 directly to drive elevating drum, finish folding and unfolding the lift rope chain.
The present invention has used differential principle, when planetary gear 4 revolution, because of fixed gear ring 3 and output gear 2 differ from a tooth, so after every revolution one, week will turn over the angle of a tooth between the two relatively.Simultaneously, do not use flexible tooth at work, all adopt rigid gear, very high intensity is arranged.When transmission, therefore the revolution of planetary gear 4 does not have the planetary gear efficiency just as middle transition yet.Input and output are at same axis, so compact conformation of the present invention, and mechanism is simple.For increasing transmitted power, can use three, four or more planetary gear.
Among the present invention, output gear 2 tooth number Z 2 can be than fixed gear ring 3 tooth number Z more than 1 one teeth or a few tooth.When a few tooth, the input direction of rotation is identical with the output direction of rotation, and during many teeth, the input direction of rotation is with to export direction of rotation opposite.Because the number of teeth of output gear 2 and fixed gear ring 3 is unequal, with planetary gear 4 identical centre-to-centre spacing is arranged all for keeping both, can use the profile modified gear technology.Can allow dedendum flank and all displacements of input gear 5 on output gear 2, fixed gear ring 3, the planetary gear 4, like this, the modification coefficient of each gear is all little, to keep the stationarity of motion.Also can be only to output gear 2 and planetary gear 4, the centre-to-centre spacing correction is carried out in the flank of tooth displacement that is engaged with, and makes processing and easy to assembly.Keep centre-to-centre spacing between output gear 2 and the planetary gear 4 and fixed gear ring 3 to equate that with centre-to-centre spacing between the planetary gear 4 method that also can adopt oblique gear spiral angle to vary in size is adjusted.The flank of tooth that is meshed with it on output gear 2 and the planetary gear 4 uses helical gear.The adjustment of centre-to-centre spacing can also be adjusted with the method for non-standard modulus.
Fix for two about planetary gear retainer 6 use retainer fixed blocks 7 make among the present invention, available securing member such as screw, bolt etc. also can be riveted.Require fixation, two retainer sheets can not relatively rotate phenomenon up and down.Among the present invention, all bearings, bearing and planetary gear 4 bearings as 3 of power shaft 1 bearing, output wheel disc 8 bearings, output gear 2 and fixed gear rings can use rolling bearing or sliding bearing.Grease lubrication can be used, also oil lubrication can be used.Between retainer 6 and power shaft 1, can add radial journal bearing, to keep certain axial location of planetary gear 4, particularly when the helical gear transmission, the axial force that is used to bear planetary gear 4.Adopt the cantilever support structure shown in the accompanying drawing 1 between fixed gear ring 3 and output gear 2, the cantilever amount of output gear 2 is little.Output wheel disc 8 and 1 of center power shaft can adopt the double base bearing, increase the axial length of bearing-surface, thereby increase the rigidity of output gear 2.Also can use needle roller, biserial stick roller bearing.Among the present invention, the bearing between fixed gear ring 3 and the output gear 2 can be used sliding bearing, also can be rolling bearing or other bearing, to reduce radial dimension for well.
The present invention solves the cantilever design of planetary gear 4 for increasing the rigidity of planetary gear 4, can adopt the version of accompanying drawing 2.Gear ring 3 is bearing on two end caps of reducer shell.Planetary gear retainer 6 is in the both sides of planetary gear 4.
Claims (1)
1, a kind of differential outer output deceleration numerical control servo unit, it has power shaft 1, output gear 2, fixed gear ring 3, planetary gear 4, input gear 5, planetary gear retainer 6, retainer fixed block 7, output wheel disc 8, motor 9 is characterized in that: planetary gear 4 is made of two face of gears up and down, and output gear 2 is fixed on the output wheel disc 8, two face of gears of planetary gear 4 mesh with output gear 2 and fixed gear ring 3 respectively, one of them face of gear of planetary gear 4 and 5 engagements of input gear, fixed gear ring 3 is affixed with reducer shell, and fixed gear ring 3 has Z1 tooth, output gear 2 has Z2 tooth, Z1 and Z2 differ from 1 tooth, and planetary gear 4 has two or more, and motor 9 is numerical control actuating motors, on motor 9 afterbody rotors, be fixed with outer corner measurement dish 10, and photoelectricity counting device 11 be housed in electronic housing relevant position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN91103850A CN1067769A (en) | 1991-06-17 | 1991-06-17 | A kind of differential reducing is exported the numerical control servo unit outward |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN91103850A CN1067769A (en) | 1991-06-17 | 1991-06-17 | A kind of differential reducing is exported the numerical control servo unit outward |
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| Publication Number | Publication Date |
|---|---|
| CN1067769A true CN1067769A (en) | 1993-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN91103850A Pending CN1067769A (en) | 1991-06-17 | 1991-06-17 | A kind of differential reducing is exported the numerical control servo unit outward |
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| CN (1) | CN1067769A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128028A (en) * | 2015-09-07 | 2015-12-09 | 谷逍驰 | Multi-face cascadable steering engine with position feedback center output shaft |
| CN109991439A (en) * | 2019-04-24 | 2019-07-09 | 苏州科美澄汽车科技有限公司 | A kind of device of electric card pincers motor speed measurement and corresponding control method |
-
1991
- 1991-06-17 CN CN91103850A patent/CN1067769A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128028A (en) * | 2015-09-07 | 2015-12-09 | 谷逍驰 | Multi-face cascadable steering engine with position feedback center output shaft |
| CN109991439A (en) * | 2019-04-24 | 2019-07-09 | 苏州科美澄汽车科技有限公司 | A kind of device of electric card pincers motor speed measurement and corresponding control method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |