CN106981944A - Linear drive apparatus - Google Patents
Linear drive apparatus Download PDFInfo
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- CN106981944A CN106981944A CN201710330126.9A CN201710330126A CN106981944A CN 106981944 A CN106981944 A CN 106981944A CN 201710330126 A CN201710330126 A CN 201710330126A CN 106981944 A CN106981944 A CN 106981944A
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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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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Abstract
本发明公开了一种直线驱动装置，包括导轨、驱动电机、电机盖、滑块、滚珠丝杆、锁紧块，控制系统，所述导轨上开设有长滚珠槽，所述电机盖固定安装在所述驱动电机两端，所述电机盖上开设有轴承孔，所述转子两端穿过所述轴承孔与所述电机盖转动连接，所述滑块设置在所述导轨上，且与所述导轨滑动连接，所述滑块上开设在有容纳槽，滚珠丝杆位于所述容纳槽内，所述锁紧块位于所述滑块下方，且固定安装在所述滑块上，所述转子与所述滚珠丝杆之间设置有联轴器，所述滚珠丝杆的两端分别依次套设有滚珠循环器、压力轴承、轴承挡板，所述轴承挡板与所述滚珠丝杆转动连接；本发明可实现超长行程，同时保证了滚珠丝杠的高精度。
The invention discloses a linear driving device, which comprises a guide rail, a driving motor, a motor cover, a slider, a ball screw, a locking block, and a control system. A long ball groove is provided on the guide rail, and the motor cover is fixedly installed on the The two ends of the driving motor are provided with bearing holes on the motor cover, and the two ends of the rotor pass through the bearing holes and are rotatably connected with the motor cover. The guide rail is slidingly connected, the slider is provided with a receiving groove, the ball screw is located in the receiving groove, the locking block is located under the slider, and is fixedly installed on the slider, the A coupling is arranged between the rotor and the ball screw, and the two ends of the ball screw are respectively provided with a ball circulator, a pressure bearing, and a bearing baffle in sequence, and the bearing baffle and the ball screw Rotational connection; the present invention can realize super-long stroke while ensuring the high precision of the ball screw.
Description
技术领域technical field
本发明涉及直线驱动设备，尤其是一种适合超长行程的直线驱动装置。The invention relates to a linear drive device, in particular to a linear drive device suitable for super long strokes.
背景技术Background technique
目前，现有机床上用于直线位移驱动的普遍是滚珠丝杆、齿轮齿条驱动、同步皮带驱动、梯形丝杆驱动。滚珠丝杆精度高、耐久性好，但是不能应用于长行程的设备，同样同步皮带和梯形丝杆也无法使用在长行程的领域，超长行程会造成丝杆或皮带自重过大，变形量大，震动大，往复定位精度降低。齿轮齿条传动适合超长行程的应用，齿条可以无限接长，但是齿轮和齿条啮合会存在间隙，而且长时间使用磨损造成更大的回转间隙，精度低。故行业内需要设计一种适于超长行程且精度高的直线驱动装置，以克服现有技术的不足。At present, ball screw, rack and pinion drive, synchronous belt drive, and trapezoidal screw drive are generally used for linear displacement drive on existing machine tools. The ball screw has high precision and good durability, but it cannot be applied to long-stroke equipment. Similarly, synchronous belts and trapezoidal screws cannot be used in long-stroke fields. Ultra-long strokes will cause excessive weight and deformation of the screw or belt. Large, large vibration, reduced reciprocating positioning accuracy. Rack and pinion drive is suitable for ultra-long stroke applications. The rack can be extended indefinitely, but there will be gaps between the gear and the rack, and long-term wear and tear will cause a larger rotation gap and low precision. Therefore, it is necessary to design a linear drive device suitable for ultra-long strokes and high precision in order to overcome the deficiencies of the prior art.
发明内容Contents of the invention
为了解决现有技术存在的问题，本发明提供了一种直线驱动设备。In order to solve the problems existing in the prior art, the present invention provides a linear drive device.
为实现上述目的，本发明采取的技术方案是直线驱动装置，包括：In order to achieve the above object, the technical solution adopted by the present invention is a linear drive device, comprising:
导轨，开设有长滚珠槽；The guide rail has a long ball groove;
驱动电机，包括定子、转子，所述定子与所述导轨滑动连接，所述转子套设在所述定子内；The driving motor includes a stator and a rotor, the stator is slidingly connected to the guide rail, and the rotor is sleeved in the stator;
电机盖，固定安装在所述驱动电机两端，所述电机盖上开设有轴承孔，所述转子两端穿过所述轴承孔与所述电机盖转动连接；The motor cover is fixedly installed at both ends of the drive motor, the motor cover is provided with bearing holes, and the two ends of the rotor pass through the bearing holes and are rotatably connected to the motor cover;
滑块，设置在所述导轨上，与所述导轨滑动连接，所述滑块上开设在有容纳槽；The slider is arranged on the guide rail and is slidably connected with the guide rail, and the slider is provided with a receiving groove;
滚珠丝杆，位于所述容纳槽内；以及a ball screw located in the receiving groove; and
锁紧块，位于所述滑块下方，且固定安装在所述滑块上；The locking block is located below the slider and is fixedly installed on the slider;
其中，所述转子与所述滚珠丝杆之间设置有联轴器，所述滚珠丝杆的两端分别依次套设有滚珠循环器、压力轴承、轴承挡板，所述滚珠循环器、压力轴承、轴承挡板均位于所述长滚珠槽内，所述轴承挡板与所述滚珠丝杆转动连接。Wherein, a shaft coupling is provided between the rotor and the ball screw, and the two ends of the ball screw are respectively provided with a ball circulator, a pressure bearing, and a bearing baffle in turn. The ball circulator, the pressure Both the bearing and the bearing baffle are located in the long ball groove, and the bearing baffle is rotatably connected with the ball screw.
于本发明一实施例中，所述定子上开设有转子槽，所述转子槽的截面为圆弧形，所述转子位于所述转子槽与所述长滚珠槽所形成的空间内。In one embodiment of the present invention, a rotor slot is opened on the stator, the section of the rotor slot is arc-shaped, and the rotor is located in the space formed by the rotor slot and the long ball slot.
于本发明一实施例中，所述电机盖包括第一电机盖、第二电机盖，所述第一电机盖、第二电机盖套设在所述转子两端，所述第一电机盖、第二电机盖分别固定安装在所述定子的两端面。In one embodiment of the present invention, the motor cover includes a first motor cover and a second motor cover, the first motor cover and the second motor cover are sleeved on both ends of the rotor, the first motor cover, The second motor cover is respectively fixedly installed on the two end surfaces of the stator.
于本发明一实施例中，所述第一电机盖、第二电机盖上均设有轴承座，所述轴承座位于所述导轨的长滚珠槽内，所述轴承孔开设在所述轴承座上，所述轴承孔内设置有轴承，所述轴承内套设有所述转子。In one embodiment of the present invention, the first motor cover and the second motor cover are provided with a bearing seat, the bearing seat is located in the long ball groove of the guide rail, and the bearing hole is opened in the bearing seat Above, a bearing is arranged in the bearing hole, and the rotor is sleeved in the bearing.
于本发明一实施例中，所述第二电机盖包括端靠板、连接板，所述端靠板与连接板固定连接，所述端靠板固定连接在所述定子的一端面上，所述连接板与所述滑块的一端面固定连接。In an embodiment of the present invention, the second motor cover includes an end support plate and a connection plate, the end support plate is fixedly connected to the connection plate, the end support plate is fixedly connected to one end surface of the stator, and the The connecting plate is fixedly connected with one end surface of the slider.
于本发明一实施例中，所述连接板为L型连接板。L型连接板为两个，对称分布在端靠板的两侧，其中L竖向对应的L型连接板的部分与所述端靠板固定相连接。In one embodiment of the present invention, the connecting plate is an L-shaped connecting plate. There are two L-shaped connecting plates, symmetrically distributed on both sides of the end-to-board, wherein the part of the L-shaped connecting plate corresponding to the L vertical direction is fixedly connected to the end-to-plate.
于本发明一实施例中，所述滑块上的两端开设有挡板槽，所述轴承挡板位于所述挡板槽内，且与所述滑块固定连接。In one embodiment of the present invention, two ends of the slider are provided with baffle grooves, and the bearing baffle is located in the baffle groove and fixedly connected with the slider.
于本发明一实施例中，所述导轨上设有耳翼，所述耳翼与所述导轨固定连接，所述滑块上开设有卡合口，所述卡合口的高度小于或等于所述耳翼的厚度，所述卡合口与所述耳翼相配合，所述导轨在所述耳翼上滑动。所述锁紧块对称安装在所述导轨的两侧的所述滑块下方。In one embodiment of the present invention, the guide rail is provided with ear flaps, the ear flaps are fixedly connected to the guide rail, and the slider is provided with a locking opening, the height of the locking opening is less than or equal to that of the ear. The thickness of the wing, the snap-fit opening matches the ear wing, and the guide rail slides on the ear wing. The locking blocks are symmetrically installed under the sliders on both sides of the guide rail.
于本发明一实施例中，所述转子上设置有编码器，所述编码器与所述转子转动连接，所述编码器固定安装在所述第一电机盖上。In an embodiment of the present invention, an encoder is provided on the rotor, the encoder is rotatably connected to the rotor, and the encoder is fixedly mounted on the first motor cover.
于本发明一实施例中，还包括控制系统，所述驱动电机、编码器均与所述控制系统电连接。In an embodiment of the present invention, a control system is also included, and the driving motor and the encoder are both electrically connected to the control system.
本技术方案具有以下有益效果：The technical solution has the following beneficial effects:
套设在滚珠丝杆两端端部的压力轴承和轴承挡板使得滚珠丝杆能稳定地被限定在滑块的容纳槽内，即滚珠丝杆在滑块内部只能转动不能水平移动，且能够与滑块同时移动。设置在滑块下方的锁紧块用于“拉住”滑块和滚珠丝杆，使滑块紧贴导轨，给在滑块和滚珠丝杆之间的滚珠以预压力，避免了滚珠之间发生间隙滚动。同时，在导轨上开设有长滚珠槽，该长滚珠槽为沟槽，所述定子、滚珠丝杆部分位于沟槽内，并能够在沟槽内转动。驱动电机、滑块均一起相对与导轨滑动运动，锁紧块与所述滑块一起发生位置移动。定子上开设有转子槽，所述转子槽为截面为半圆状，转子位于转子槽与长滚珠槽所形成的空间内。可旋转的编码器用于反馈转子转动角度信号，反馈给控制系统用于控制驱动电机的转动。The pressure bearings and bearing baffles sleeved at both ends of the ball screw enable the ball screw to be stably confined in the accommodation groove of the slider, that is, the ball screw can only rotate but not move horizontally inside the slider, and Able to move at the same time as the slider. The locking block set under the slider is used to "pull" the slider and the ball screw, so that the slider is close to the guide rail, and pre-loads the balls between the slider and the ball screw, avoiding the gap between the balls Gap scrolling occurs. At the same time, a long ball groove is opened on the guide rail, and the long ball groove is a groove, and the stator and the ball screw part are located in the groove and can rotate in the groove. The drive motor and the slide block slide relative to the guide rail together, and the locking block moves together with the slide block. A rotor slot is provided on the stator, and the rotor slot has a semicircular cross-section, and the rotor is located in the space formed by the rotor slot and the long ball slot. The rotatable encoder is used to feed back the rotor rotation angle signal, which is fed back to the control system to control the rotation of the drive motor.
本发明通过驱动电机直接驱动滑块内部的滚珠丝杆，转动部件短小，转动惯量小，同时导轨可以通过对接实现超长行程，保证了滚珠丝杠的高精度。In the present invention, the ball screw inside the slider is directly driven by the driving motor, the rotating parts are short and small, and the moment of inertia is small. At the same time, the guide rail can realize a super long stroke through docking, which ensures the high precision of the ball screw.
附图说明Description of drawings
图1是本发明一实施例的爆炸图；Fig. 1 is an exploded view of an embodiment of the present invention;
图2是本发明的图1爆炸图的另一个视角的视图；Fig. 2 is the view of another angle of view of Fig. 1 exploded view of the present invention;
图3是本发明一实施例的结构示意图；Fig. 3 is a schematic structural view of an embodiment of the present invention;
图4是本发明一实施例的剖视图。Fig. 4 is a cross-sectional view of an embodiment of the present invention.
1、导轨；2、驱动电机；4、滑块；6、锁紧块；7、长滚珠槽；21、定子；22、转子；23、转子槽；31、第一电机盖；32、第二电机盖；33、轴承座；34、轴承孔；35、轴承；8、端靠板；9、L型连接板；10、容纳槽；11、滚珠丝杆；12、锁紧块；13、联轴器；14、滚珠循环器；15、压力轴承；16、轴承挡板；17、挡板槽；18、耳翼；41、卡合口；20、编码器；1211、U型循环器；1222、滚珠槽。1. Guide rail; 2. Driving motor; 4. Slider; 6. Locking block; 7. Long ball groove; 21. Stator; 22. Rotor; 23. Rotor slot; 31. First motor cover; 32. Second Motor cover; 33, bearing seat; 34, bearing hole; 35, bearing; 8, end plate; 9, L-shaped connecting plate; 10, accommodation groove; 11, ball screw; 12, locking block; 13, joint Shaft device; 14. Ball circulator; 15. Pressure bearing; 16. Bearing baffle; 17. Baffle groove; 18. Ear wing; 41. Snap-in port; 20. Encoder; ball groove.
具体实施方式detailed description
下面结合实施例及附图1至4对本发明作进一步描述。The present invention will be further described below in conjunction with the embodiments and accompanying drawings 1 to 4 .
本发明所涉及的直线驱动装置，包括导轨1、驱动电机2、电机盖、滑块4、滚珠丝杆11、锁紧块6，控制系统。所述导轨1上开设有长滚珠槽7，所述长滚珠槽7为半圆形沟槽，沟槽内设置有螺纹线。所述驱动电机2包括定子21、转子22，所述定子21与所述导轨1滑动连接，所述转子22套设在所述定子21内；所述定子21上开设有转子槽23，所述转子槽23为圆弧形凹槽，所述转子22位于所述转子槽23与所述长滚珠槽7所形成的空间内并与定子21相对转动。The linear driving device involved in the present invention includes a guide rail 1, a driving motor 2, a motor cover, a slider 4, a ball screw 11, a locking block 6, and a control system. The guide rail 1 is provided with a long ball groove 7, and the long ball groove 7 is a semicircular groove, and threaded lines are arranged in the groove. The driving motor 2 includes a stator 21 and a rotor 22, the stator 21 is slidingly connected with the guide rail 1, the rotor 22 is sleeved in the stator 21; a rotor slot 23 is provided on the stator 21, and the The rotor groove 23 is an arc-shaped groove, and the rotor 22 is located in the space formed by the rotor groove 23 and the long ball groove 7 and rotates relative to the stator 21 .
所述定子21的两端安装分别安装有第一电机盖31、第二电机盖32，所述第一电机盖31、第二电机盖32分别固定安装在所述定子21的两端面上。所述第一电机盖31、第二电机盖32上均设有轴承座33，所述轴承座33上开设在有轴承孔34，所述第一电机盖31、第二电机盖32分别通过轴承孔34套设在所述转子22的两端，轴承孔34内设置有轴承35。安装到所述定子21上的轴承座位33于所述导轨1的长滚珠槽7内。Both ends of the stator 21 are respectively installed with a first motor cover 31 and a second motor cover 32 , and the first motor cover 31 and the second motor cover 32 are respectively fixedly installed on both ends of the stator 21 . The first motor cover 31 and the second motor cover 32 are all provided with a bearing seat 33, and the bearing seat 33 is provided with a bearing hole 34, and the first motor cover 31 and the second motor cover 32 pass through the bearing respectively. Holes 34 are sheathed at both ends of the rotor 22 , and bearings 35 are disposed in the bearing holes 34 . The bearing seat 33 mounted on the stator 21 is in the long ball groove 7 of the guide rail 1 .
所述第二电机盖32还包括端靠板8、两个L型连接板9，所述两个L型连接板9对称、且L的横向呈背离状分布在所述端靠板8的两侧、均与所述端靠板8固定连接，三者也可以是通过一体成型方式制得。其中L型连接板9L竖向对应的的部分与所述端靠板8固定相连接，所述端靠板8通过螺钉等连接件固定连接在所述定子21的一端面上，所述L型连接板9的L横向对应的的部分与所述滑块4的一端面通过螺钉等连接件固定连接。The second motor cover 32 also includes an end support plate 8 and two L-shaped connecting plates 9, the two L-shaped connecting plates 9 are symmetrical, and the lateral direction of the L is in the shape of deviating from the two sides of the end support plate 8. The side and side are fixedly connected with the end support plate 8, and the three can also be made by integral molding. Wherein the vertically corresponding part of the L-shaped connecting plate 9L is fixedly connected to the end support plate 8, and the end support plate 8 is fixedly connected to one end surface of the stator 21 through a connecting piece such as a screw. The part of the connecting plate 9 corresponding to the L transverse direction is fixedly connected with one end surface of the slider 4 through a connecting piece such as a screw.
所述滑块4放置在所述导轨1上，与所述导轨1滑动连接，所述滑块1上开设在有容纳槽10；所述滚珠丝杆11位于所述容纳槽10内与所述导轨1的长滚珠槽7所形成的空间中。所述滑块1下方设置有锁紧块12，锁紧块12包括U型循环器1211和滚珠槽1222，U型循环器1211和滚珠槽1222之间固定连接。所述锁紧块12固定安装在所述滑块1上，用于给容纳槽10中的滚珠以一定的预压力，避免间隙滚动的发生。The slider 4 is placed on the guide rail 1 and is slidably connected with the guide rail 1. The slider 1 is provided with a receiving groove 10; the ball screw 11 is located in the receiving groove 10 and is connected to the In the space formed by the long ball groove 7 of the guide rail 1. A locking block 12 is arranged below the slider 1, and the locking block 12 includes a U-shaped circulator 1211 and a ball groove 1222, and the U-shaped circulator 1211 and the ball groove 1222 are fixedly connected. The locking block 12 is fixedly installed on the sliding block 1, and is used to give a certain preload to the balls in the receiving groove 10, so as to avoid the occurrence of backlash rolling.
所述转子22与所述滚珠丝杆11之间通过联轴器13进行连接，通过驱动电机直接驱动滑块4内部的滚珠丝杆5，转动部件短小，转动惯量小，精度高。所述滚珠丝杆5的两端分别依次套设有滚珠循环器14、压力轴承15、轴承挡板16，所述滑块1上的两端开设有挡板槽17，所述轴承挡板16位于所述挡板槽17内、与所述滑块1固定连接，所述轴承挡板16套与所述滚珠丝杆11转动连接。The rotor 22 is connected to the ball screw 11 through a coupling 13, and the ball screw 5 inside the slider 4 is directly driven by a driving motor, so that the rotating parts are short, the moment of inertia is small, and the precision is high. Both ends of the ball screw 5 are provided with a ball circulator 14, a pressure bearing 15, and a bearing baffle 16 respectively in turn, and the two ends of the slider 1 are provided with baffle grooves 17, and the bearing baffle 16 Located in the baffle groove 17 and fixedly connected with the slider 1 , the bearing baffle 16 is rotatably connected with the ball screw 11 .
所述导轨1上设有耳翼18，所述耳翼18与所述导轨1固定连接，也可以是一体成型。所述滑块4上开设有卡合口41，所述卡合口41的高度小于或等于所述耳翼18的厚度，便于当所述滑块4放置在所述导轨1上时所述卡合口41与所述耳翼18相配合，所述卡合口41两侧壁与所述耳翼18相贴合，进一步能够沿着耳翼18滑动。此时，既能保证在滑块4下方两侧安装锁紧块12，又能够使整个滑块4的重量最小，减小了震动，提高了精度。所述锁紧块12对称安装在位于所述导轨1两侧耳翼处的滑块4下方，固定方式可以通过螺钉等连接件进行，从而使滑块4和滚珠丝杆贴紧导轨，保证滚珠在它们之间有一个预压力。The guide rail 1 is provided with ear flaps 18, and the ear flaps 18 are fixedly connected with the guide rail 1, and may also be integrally formed. The slider 4 is provided with a locking opening 41, the height of the locking opening 41 is less than or equal to the thickness of the ear flap 18, so that when the slider 4 is placed on the guide rail 1, the locking opening 41 Cooperating with the ear flap 18 , the two side walls of the engaging opening 41 fit the ear flap 18 and can slide along the ear flap 18 . At this time, it can not only ensure that the locking blocks 12 are installed on both sides below the slider 4, but also minimize the weight of the entire slider 4, reduce the vibration, and improve the precision. The locking block 12 is symmetrically installed under the slider 4 located at the ear wings on both sides of the guide rail 1, and the fixing method can be carried out by connecting parts such as screws, so that the slider 4 and the ball screw are close to the guide rail to ensure that the balls are on the guide rail. There is a pre-pressure between them.
所述转子22上还设置有编码器20，所述编码器20套设在转子22上、且与所述转子22转动连接，所述编码器20固定连接在所述第一电机盖31上，所述驱动电机2、编码器20均与所述控制系统电连接，可旋转的编码器20用于反馈转子转动角度信号，反馈给控制系统用于控制驱动电机的转动。The rotor 22 is also provided with an encoder 20, the encoder 20 is sheathed on the rotor 22 and connected to the rotor 22 in rotation, the encoder 20 is fixedly connected to the first motor cover 31, Both the drive motor 2 and the encoder 20 are electrically connected to the control system, and the rotatable encoder 20 is used to feed back the rotor rotation angle signal, which is fed back to the control system for controlling the rotation of the drive motor.
本实施例中，所述定子21相当于普通电机的定子切掉一半，转子还是完整的转子，一半的定子照样能够驱动转子22旋转(驱动方式还是像普通步进电机，采用交流异步电机原理或是同步电机驱动原理)，同时尾部的旋转编码器反馈转动角度信号。线路控制上和普通的伺服电机完全一样，不需要更改现有控制。In the present embodiment, the stator 21 is equivalent to cutting off half of the stator of an ordinary motor, and the rotor is still a complete rotor, and half of the stator can still drive the rotor 22 to rotate (the driving mode is still like an ordinary stepping motor, using the principle of an AC asynchronous motor or It is the principle of synchronous motor drive), and the rotary encoder at the tail feeds back the rotation angle signal. The line control is exactly the same as the common servo motor, and there is no need to change the existing control.
本发明通过简单合理的结构，设计出更适合超长行程的直线驱动装置，精度上能够媲美滚珠丝杠，同时又能无限对接，实现超长行程。Through a simple and reasonable structure, the present invention designs a linear drive device that is more suitable for ultra-long strokes. The precision can be comparable to that of a ball screw, and at the same time, it can be connected infinitely to realize an ultra-long stroke.
上述具体实施例只是用来解释说明本发明，而非是对本发明进行限制，在本发明的宗旨和权利要求的保护范围内，对本发明做出的任何不付出创造性劳动的替换和改变，皆落入本发明专利的保护范围。The specific embodiments above are only used to explain the present invention, rather than to limit the present invention. Within the scope of protection of the purpose of the present invention and the claims, any replacement and change that does not pay creative work to the present invention shall fall within the scope of the present invention. Into the protection scope of the patent of the present invention.
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| JP2009115523A (en) * | 2007-11-05 | 2009-05-28 | Toyota Motor Corp | Fatigue test linear actuator |
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