CN107116575B - Integrated rotary driving actuator - Google Patents
Integrated rotary driving actuator Download PDFInfo
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- CN107116575B CN107116575B CN201710416180.5A CN201710416180A CN107116575B CN 107116575 B CN107116575 B CN 107116575B CN 201710416180 A CN201710416180 A CN 201710416180A CN 107116575 B CN107116575 B CN 107116575B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 86
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- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 9
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- 239000002184 metal Substances 0.000 description 3
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- 229910003460 diamond Inorganic materials 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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- 210000003205 muscle Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
- B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means
Abstract
The invention discloses an integrated rotary driving actuator, which comprises a motor, a coaxial speed reducer and a shaft flange; the motor is provided with a motor encoder and is driven by the driving circuit board; the input end of the coaxial speed reducer is matched with the motor, and the coaxial speed reducer is provided with a speed reducer encoder; the shaft flange is an output shaft provided with a flange plate, the flange plate is matched with the output end of the coaxial speed reducer, and the output shaft outputs a rotation signal. When the driving actuator works, the driving circuit board drives the motor, the rotating speed of the motor and the rotating speed of the output end of the coaxial speed reducer can be obtained through the encoder, and the rotating speed can be regulated through the driving circuit board according to the rotating speed condition, so that accurate control is realized. The driving actuator integrates the driver, the motor, the encoder and the coaxial speed reducer into a small and flexible whole, and improves the convenience of installation and use. The driving actuator has the advantages of compact structure, small volume, large output torque, easy control, high control precision and high safety.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an integrated rotary driving actuator.
Background
In recent years, with the development of industrial technology, intelligent robots have come into more contact with people in the fields of industry, medical treatment, service and the like.
Traditional robots employ rigid joints with motor-decelerator-load linear drive. The rigid joint has the advantages of simple structure, compact volume, accurate positioning and the like, and can meet the requirements of industrial production. However, the rigid joints cannot respond to the external environment in time, so that the robot carrying the rigid joints has poor compatibility, low energy efficiency and high energy consumption, and expensive equipment or people and livestock can be damaged when the robot collides with the environment in a rigid manner.
At present, the servo is generally formed by separating a driver from a motor, and the driver and the motor are connected through cables, so that the connecting wires are more, the wiring is troublesome, the circuits are easily interfered by the outside, and the integral operation is easily affected by poor contact or aging. In particular, as the distance of the encoder line increases, the external environment interference increases, and the communication quality is significantly reduced.
The existing servo mostly adopts an inner rotor motor, and has the advantages of high cost, large volume, small torque and weak overload capacity. The motor, driver and encoder are separated, so that the clutter anti-interference capability of the circuit is weak, and the whole volume is large.
The existing servo has large whole volume, low cost performance, low energy utilization rate and low safety.
Disclosure of Invention
The invention aims to provide an integrated rotary driving actuator which has compact structure, integration, miniaturization, low cost, high performance, flexible control and other advanced control.
In order to achieve the technical aim, the invention provides an integrated rotary driving actuator, which comprises a motor, a coaxial reducer and a shaft flange; the motor is provided with a motor encoder and is driven by a driving circuit board; the input end of the coaxial speed reducer is matched with the motor, and the coaxial speed reducer is provided with a speed reducer encoder; the shaft flange is an output shaft provided with a flange plate, the flange plate is matched with the output end of the coaxial speed reducer, and the output shaft outputs a rotation signal.
Optionally, the coaxial speed reducer is a harmonic drive speed reducer, and the harmonic drive speed reducer sequentially comprises an inner ring cam, a flexible bearing, an upper steel wheel and a lower steel wheel from inside to outside; the inner ring cam is the input end and is matched with the motor; the lower steel wheel is connected with the shell, and the upper steel wheel is the output end and is connected with the flange plate.
Optionally, still be equipped with torsional spring buffer and end encoder, the inner circle of torsional spring buffer with the output shaft cooperation, the outer lane flange output rotation signal of torsional spring buffer.
Optionally, a first end cover, a second end cover, a third end cover and a fourth end cover are sequentially arranged on the outer side of the flange plate from bottom to top; the first end cover and the second end cover are positioned outside the flange plate, and a crossed roller bearing is arranged between the first end cover and the second end cover and between the first end cover and the flange plate; the third end cover and the fourth end cover are positioned at the outer side of the torsion spring buffer, and a crossed roller bearing is arranged between the third end cover and the fourth end cover and the torsion spring buffer.
Optionally, an encoder circuit board is arranged between the flange plate and the torsion spring buffer, and the encoder circuit board is positioned between the second end cover and the third end cover; the rotor of the speed reducer encoder is arranged on the upper end surface of the flange plate, and the stator of the speed reducer encoder is arranged on the lower side of the encoder circuit board; the lower end face of the outer ring flange is provided with a rotor of the end encoder, and a stator of the end encoder is arranged on the upper side of the encoder circuit board.
Optionally, the encoder circuit board is communicated with the driving circuit board through a passage, and the passage sequentially penetrates through the third cover plate, the second cover plate, the first cover plate and the shell from top to bottom.
Optionally, the coaxial speed reducer is a planetary speed reducer, and the planetary speed reducer sequentially comprises a sun gear, a planet gear, a retainer and an inner gear ring from inside to outside; the sun gear is the input end and is matched with the motor; the inner gear ring is connected with the shell, the retainer is the output end and is connected with the flange plate.
Optionally, the coaxial speed reducer is a cycloidal pin gear speed reducer, and the cycloidal pin gear speed reducer comprises an eccentric shaft, a cycloidal disc, an output retainer and a pin gear shell; the eccentric shaft is the input end and is matched with the motor; the pin gear shell is connected with the shell, the output retainer is the output end and is connected with the flange plate.
Optionally, the motor is arranged on the upper side of the driving circuit board, the rotor of the motor encoder is arranged on the lower end face of the rotor of the motor, and the stator of the motor encoder is arranged on the upper side of the driving circuit board.
Optionally, a structural member is sleeved on the outer side of the rotor of the motor encoder.
Optionally, the motor and the rotating shaft are arranged in parallel, the rotor of the motor drives the rotating shaft to rotate through the synchronous transmission mechanism, and the rotating shaft is matched with the input end of the coaxial speed reducer.
Optionally, the motor and the rotating shaft are both located on the upper side of the driving circuit board; the rotor of the motor encoder is arranged on the lower end face of the rotor of the motor, and the stator of the motor encoder is arranged on the upper side of the driving circuit board; the rotating shaft is provided with a rotating shaft encoder, a rotor of the rotating shaft encoder is arranged on the lower end face of the rotating shaft, and a stator of the rotating shaft encoder is arranged on the upper side of the driving circuit board.
The invention provides an integrated rotary driving actuator, which comprises a motor, a coaxial speed reducer and a shaft flange; the motor is provided with a motor encoder and is driven by the driving circuit board; the input end of the coaxial speed reducer is matched with the motor, and the coaxial speed reducer is provided with a speed reducer encoder; the shaft flange is an output shaft provided with a flange plate, the flange plate is matched with the output end of the coaxial speed reducer, and the output shaft outputs a rotation signal.
When the integrated rotary driving actuator works, the driving circuit board drives the motor, the motor drives the coaxial speed reducer and the shaft flange after being started, and the rotary signal is output through the output shaft of the shaft flange after the speed of the coaxial speed reducer is reduced. The motor is provided with a motor encoder, the coaxial speed reducer is provided with a speed reducer encoder, the rotating speed of the motor and the rotating speed of the output end of the speed reducer can be obtained through the encoder, and the rotating speed can be regulated through the driving circuit board according to the rotating speed condition, so that accurate control is realized. The driving actuator integrates the driver, the motor, the encoder and the coaxial speed reducer into a small and flexible whole, and improves the convenience of installation and use. The driving actuator has the advantages of compact structure, small volume, large output torque, easy control, high control precision and high safety.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.
FIG. 1 is a cross-sectional view of a first embodiment of an integrated rotary drive actuator provided by the present invention;
FIG. 2 is a perspective view of another cross-section of the integrated rotary drive actuator shown in FIG. 1;
FIG. 3 is a cross-sectional view of a second embodiment of an integrated rotary drive actuator provided by the present invention;
wherein, the correspondence between the reference numerals and the component names in fig. 1 to 3 is as follows:
a motor 1; a drive circuit board 11; an encoder circuit board 12; a structural member 13;
a coaxial speed reducer 2; an inner ring cam 21; a flexible bearing 22; an upper steel wheel 23; a lower steel wheel 24;
a shaft flange 3; a flange 31; an output shaft 32;
a torsion spring buffer 4; an inner ring 41; an outer ring flange 42;
a housing 5; a first end cap 51; a second end cap 52; a third end cap 53; a fourth end cap 54; a cross roller bearing 55; a passageway 56;
a synchronous transmission mechanism 6;
a rotating shaft 7; a rotary shaft encoder 71.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Referring to fig. 1 to 3, fig. 1 is a cross-sectional view of a first embodiment of an integrated rotary driving actuator according to the present invention, fig. 2 is a perspective view of another cross-section of the integrated rotary driving actuator shown in fig. 1, and fig. 3 is a cross-sectional view of a second embodiment of the integrated rotary driving actuator according to the present invention.
In a specific embodiment, the invention provides an integrated rotary drive actuator comprising a motor 1, a coaxial reducer 2 and a shaft flange 3; the motor 1 is provided with a motor encoder and is driven by a driving circuit board 11; the input end of the coaxial speed reducer 2 is matched with the motor 1, and the coaxial speed reducer 2 is provided with a speed reducer encoder; the shaft flange 3 is an output shaft 32 provided with a flange plate 31, the flange plate 31 is matched with the output end of the coaxial speed reducer 2, and the output shaft 32 outputs a rotation signal.
When the integrated rotary driving actuator works, the driving circuit board 11 drives the motor 1, the motor 1 drives the shaft flange 3 through the coaxial speed reducer 2 after being started, and a rotation signal is output through the output shaft 32 of the shaft flange 3 after the motor is decelerated through the coaxial speed reducer 2. The motor 1 is provided with a motor encoder, the coaxial speed reducer 2 is provided with a speed reducer encoder, the rotating speed of the motor 1 and the rotating speed of the output end of the coaxial speed reducer 2 can be obtained through the two encoders, and the rotating speed can be adjusted through the driving circuit board 11 according to the rotating speed condition, so that accurate control is realized.
The integrated rotary driving actuator integrates the driver, the motor 1, the encoder and the coaxial reducer 2 into a small and flexible whole, improves the convenience of installation and use, has small volume and high interference resistance, and is convenient to connect. The cost is low, the precision is high, the driving adopts a design scheme with low cost and high performance, and the driving circuit board 11 is designed, so that the performance is optimized and improved.
Preferably, the motor 1 is a brushless motor, and an external rotor motor is adopted, and the rotor is arranged outside, so that the magnetic torque radius is large, and the torque density is high. The structure can be made flat, thus being suitable for a hollow shaft, having large outer diameter, being capable of using a larger code disc, and having higher resolution of the encoder. The inertia of the rotor is large, and the overload capacity of the motor is strong.
The integrated rotary driving actuator has the advantages of compact structure, small volume, large output torque, easy control, high control precision and high safety.
It should be noted that, the coaxial speed reducer 2 may be a harmonic drive speed reducer, a planetary speed reducer or a cycloidal pin gear speed reducer, or other speed reducers capable of realizing coaxial speed reduction, and the technical scheme of the present invention will be specifically described below by taking the harmonic drive speed reducer as an example.
In a preferred embodiment, the coaxial speed reducer 2 is a harmonic drive speed reducer, and the harmonic drive speed reducer sequentially comprises an inner ring cam 21, a flexible bearing 22, an upper steel wheel 23 and a lower steel wheel 24 from inside to outside; the inner ring cam 21 is an input end and is matched with the motor 1; the lower steel wheel 24 is connected with the shell 5, and the upper steel wheel 23 is an output end and is connected with the flange plate 31.
As shown in fig. 1, the transmission shaft of the motor 1 is matched with the inner ring cam 21, the upper steel wheel 23 is connected with the flange 31, and the lower steel wheel 24 is connected with the shell 5. When the transmission shaft of the motor 1 drives the inner ring cam 21 to rotate, the lower steel wheel 24 is kept still, and the inner ring cam 21 drives the upper steel wheel 23 to rotate in a differential speed through the flexible bearing 22, so that the effect of reducing the speed is achieved. The harmonic drive speed reducer has the advantages of large drive speed ratio, small volume, high drive precision, high drive efficiency and stable movement.
In a further specific embodiment, a torsion spring buffer 4 and an end encoder are further provided, an inner ring 41 of the torsion spring buffer 4 is matched with the output shaft 32, and an outer ring flange 42 of the torsion spring buffer 4 outputs a rotation signal.
The torsion spring buffer 4 adopts a torsion spring as an energy storage mechanism to buffer abrupt change of external load, and the magnitude of the external load can be measured through relative rotation of the torsion spring. The torsion spring buffer 4 can play a role in flexible buffering, the deformation of the torsion spring buffer 4 can be known through the cooperation of the speed reducer encoder and the tail end encoder, further the torque output by the tail end is known, and various advanced controls such as flexible control and the like can be realized; it is also possible to know whether the decelerator 2 is operating normally or not based on the deformation state of the torsion spring buffer 4. The torque is subjected to stepless regulation by sensing the output torque in real time, so that the control of the flexibility performance similar to that of muscles can be achieved, and the driving actuator can be used for rotating actuating mechanisms such as a turntable, a rotary cylinder, a stepping motor and the like in automatic equipment at joints of a robot. The intelligent sensing of the load is realized through the cooperation of the encoder and the torsion spring buffer 4, and collision can be prevented.
In a specific embodiment, the outer side of the flange 31 is provided with a first end cover 51, a second end cover 52, a third end cover 53 and a fourth end cover 54 in sequence from bottom to top; the first end cover 51 and the second end cover 52 are positioned outside the flange plate 31, and a crossed roller bearing 55 is arranged between the first end cover 51 and the flange plate 31; the third end cover 53 and the fourth end cover 54 are positioned outside the torsion spring damper 4, and a crossed roller bearing 55 is arranged between the third end cover 53 and the torsion spring damper 4.
As shown in fig. 1, the shaft flange 3 is fixed by a first end cap 51 and a second end cap 52, and the torsion spring damper 4 is fixed by a third end cap 53 and a fourth end cap 54. Between the shaft flange 3 and the end cover, the torsional spring buffer 4 and the end cover are respectively provided with a crossed roller bearing 55, and the crossed roller bearing 55 can bear loads in multiple directions and can bear larger axial loads and radial loads.
The outer circle Zhou Kaicao of the shaft flange 3 is used as an inner circle of the crossed roller bearing 55, and the inner circumferences of the first end cover 51 and the second end cover 52 are respectively grooved to jointly form an outer circle of the crossed roller bearing 55, so that the installation size of the crossed roller bearing 55 is reduced, the space is saved, and the whole size of the driving actuator is further reduced.
Similarly, the outer circle Zhou Kaicao of the torsion spring damper 4, which serves as the inner circle of the crossed roller bearing 55, is respectively grooved on the inner circumferences of the third end cover 53 and the fourth end cover 54, and together forms the outer circle of the crossed roller bearing 55, further reduces the overall size of the driving actuator.
In a further preferred embodiment, an encoder circuit board 12 is provided between the flange 31 and the torsion spring buffer 4, and the encoder circuit board 12 is located between the second end cover 52 and the third end cover 53; the rotor of the speed reducer coder is arranged on the upper end surface of the flange plate 31, and the stator of the speed reducer coder is arranged on the lower side of the coder circuit board 12; the lower end face of the outer ring flange 42 is provided with a rotor of an end encoder, and a stator of the end encoder is provided on the upper side of the encoder circuit board 12.
The encoder circuit board 12 is arranged between the flange plate 31 and the torsion spring buffer 4, and can respectively acquire the rotating speed of the flange plate 31 and the rotating speed of the outer ring flange 42 of the torsion spring buffer 4, so that the deformation of the torsion spring can be obtained, and the output torque can be obtained.
The stator of the decelerator encoder and the stator of the end encoder are both disposed on the encoder circuit board 12. When the shaft flange 3 rotates, the rotor positioned on the upper end surface of the flange plate 31 is matched with the stator positioned on the lower side of the encoder circuit board to convert the angular displacement into an electric signal; when the outer ring flange 42 of the torsion spring damper 4 rotates, the rotor of the end encoder at the lower side of the outer ring flange 42 cooperates with the stator at the upper side of the encoder circuit board to convert the angular displacement into an electrical signal.
In a specific embodiment, the encoder circuit board 12 communicates with the driving circuit board 11 through a passage 56, and the passage 56 passes through the third cover plate 53, the second cover plate 52, the first cover plate 51, and the housing 5 in this order from top to bottom.
As shown in fig. 2, the passage 56 sequentially passes through the third cover plate 53, the second cover plate 52, the first cover plate 51 and the housing 5 from top to bottom, connects the encoder circuit board 12 with the driving circuit board 11, and the driving circuit board 11 adjusts the rotation speed of the motor 1 according to the feedback speed of each encoder, so that the output rotation speed, torque and the like can be precisely controlled.
By providing the via 56, the encoder circuit board 12 is directly connected to the drive circuit board 11, thereby eliminating the disorder of a plurality of wires and enhancing the anti-interference capability. Meanwhile, the motor, the drive and the encoder are integrated in a metal shell, and the single bus connection is adopted, so that electromagnetic interference can be shielded, the stability and reliability of the system are ensured, and interference to the outside is avoided.
In a second preferred embodiment, the coaxial reducer 2 is a planetary reducer, and the planetary reducer sequentially comprises a sun gear, a planet gear, a retainer and an annular gear from inside to outside; the sun gear is an input end and is matched with the motor 1; the ring gear is connected with the housing, the retainer is an output end, and is connected with the flange 31.
The transmission shaft of the motor 1 drives the sun wheel to rotate, the planetary wheels rotate in a differential mode between the sun wheel and the annular gear to play a role in reducing speed, the annular gear is connected with the shell to be kept motionless, and the retainer connected with each planetary wheel outputs rotation and is connected with the flange plate 31.
In a third preferred embodiment, the coaxial reducer 2 is a cycloidal pin gear reducer, and the cycloidal pin gear reducer comprises an eccentric shaft, a cycloidal disc, an output retainer and a pin gear housing; the eccentric shaft is an input end and is matched with the motor 1; the needle gear housing is connected to the outer housing, and the output holder is an output end and is connected to the flange 31.
The motor 1 drives the eccentric shaft to rotate, the eccentric shaft drives the cycloid disc to rotate in a differential speed and eccentrically move, meanwhile, the cycloid disc is matched with the pin gear shell, the pin gear shell is connected with the shell to be kept still, and the rotation of the cycloid disc is output through the output retainer.
In each of the above-described specific embodiments, the motor 1 is provided on the upper side of the drive circuit board 11, the rotor of the motor encoder is provided on the lower end surface of the rotor of the motor 1, and the stator of the motor encoder is provided on the upper side of the drive circuit board 11.
The rotor of the motor encoder is stuck to the lower end face of the rotor of the motor 1, and meanwhile, the stator of the motor encoder is arranged on the upper side of the driving circuit board 11, and when the rotor of the motor encoder rotates along with the rotor of the motor 1, the rotor of the motor encoder can be matched with the stator to obtain the rotation condition of the motor 1.
In a further specific embodiment, the structural member 13 is sleeved outside the rotor of the motor encoder.
As shown in fig. 1, the rotor of the motor encoder is sleeved with the structural member 13, and the structural member 13 can enlarge the attachment area of the rotor and improve the installation precision, the bonding strength, the stability and the accuracy of the motor encoder.
In summary, the main motion process of the driving actuator is that the motor 1 drives the inner ring cam 21 to rotate through shaft input to generate harmonic waves, and drives the flexible gear of the speed reducer to engage the upper steel wheel 23 and the lower steel wheel 24 through the flexible bearing 22, so that the upper steel wheel and the lower steel wheel generate relative differential rotation to reduce the speed reduction and the torque increase. The end load is driven by an outer ring flange 42 of the torsion spring buffer 4 through the speed reduction output of the shaft flange 3 to the torsion spring buffer 4.
The third end cap 53, the fourth end cap 54 and the torsion spring damper 4 form a diamond track, and crossed roller bearings are arranged to bear axial force and radial force and various end loads. The first end cover 51, the second end cover 52 and the shaft flange 3 form a diamond track, and crossed roller bearings are also arranged, so that the torsional spring buffer 4 can bear axial force and radial force, and can only bear torsion moment and not bear end load axial force.
The motor, drive, encoder are integrated into a metal housing. The metal shell is fully wrapped to form an electromagnetic shielding layer, so that the anti-interference capability is strong, and interference to external electric appliances can be avoided.
In a specific embodiment, the motor 1 and the coaxial reducer 2 may be directly matched, or may be indirectly matched through other structures, as shown in fig. 3.
In another preferred embodiment, the motor further comprises a synchronous transmission mechanism 6 and a rotating shaft 7, the motor 1 and the rotating shaft 7 are arranged in parallel, the rotor of the motor 1 drives the rotating shaft 7 to rotate through the synchronous transmission mechanism 6, and the rotating shaft 7 is matched with the input end of the coaxial speed reducer 2.
By arranging the synchronous transmission mechanism 6, the motor 1 and the coaxial speed reducer 2 are arranged in parallel, so that the whole thickness of the driving actuator is thinner, and the structure can meet the use requirements of certain special structures. The synchronous drive 6 may be a belt drive, a gear drive, or other mechanism that may achieve synchronous drive.
In a further specific embodiment, the motor 1 and the rotating shaft 7 are both positioned on the upper side of the driving circuit board 11; the rotor of the motor encoder is arranged on the lower end face of the rotor of the motor 1, and the stator of the motor encoder is arranged on the upper side of the driving circuit board 11; the rotary shaft 7 is provided with a rotary shaft encoder 71, a rotor of the rotary shaft encoder 71 is provided on a lower end surface of the rotary shaft 7, and a stator of the rotary shaft encoder 71 is provided on an upper side of the driving circuit board 11.
The motor 1 drives the rotating shaft 7 to rotate through the synchronous transmission mechanism 6, the rotating shaft 7 is matched with the coaxial speed reducer 2, encoders are respectively arranged for the motor 1 and the rotating shaft 7, the actual rotation conditions of the motor 1 and the rotating shaft 7 are obtained, whether the rotating shaft 7 is synchronous with the motor 1 or not in the rotation process can be judged, whether delay exists or not, and accurate control on output is facilitated.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (8)
1. An integrated rotary driving actuator is characterized by comprising a shell, a motor, a coaxial speed reducer, a shaft flange, a torsion spring buffer and a tail end encoder; the motor is provided with a motor encoder and is driven by a driving circuit board; the input end of the coaxial speed reducer is matched with the motor, and the coaxial speed reducer is provided with a speed reducer encoder; the shaft flange is an output shaft provided with a flange plate, the flange plate is matched with the output end of the coaxial speed reducer, and the output shaft outputs a rotation signal;
an inner ring of the torsion spring buffer is matched with the output shaft, and an outer ring flange of the torsion spring buffer outputs a rotation signal;
the outer side of the flange plate is sequentially provided with a second end cover and a third end cover from bottom to top; the second end cover is positioned at the outer side of the flange plate, and the third end cover is positioned at the outer side of the torsion spring buffer;
an encoder circuit board is arranged between the flange plate and the torsion spring buffer, and is positioned between the second end cover and the third end cover; the rotor of the speed reducer encoder is arranged on the upper end surface of the flange plate, and the stator of the speed reducer encoder is arranged on the lower side of the encoder circuit board; the rotor of the end encoder is arranged on the lower end face of the outer ring flange, and the stator of the end encoder is arranged on the upper side of the encoder circuit board.
2. The integrated rotary drive actuator of claim 1, wherein the coaxial reducer is a harmonic drive reducer, and the harmonic drive reducer comprises an inner ring cam, a flexible bearing, an upper steel wheel and a lower steel wheel from inside to outside in sequence; the inner ring cam is the input end and is matched with the motor; the lower steel wheel is connected with the shell, and the upper steel wheel is the output end and is connected with the flange plate.
3. The integrated rotary drive actuator of claim 1, further comprising a first end cap and a fourth end cap, wherein the first end cap, the second end cap, the third end cap and the fourth end cap are disposed outside the flange in sequence from bottom to top; the first end cover and the second end cover are positioned outside the flange plate, and a crossed roller bearing is arranged between the first end cover and the second end cover and between the first end cover and the flange plate; the third end cover and the fourth end cover are positioned at the outer side of the torsion spring buffer, and a crossed roller bearing is arranged between the third end cover and the fourth end cover and the torsion spring buffer.
4. The integrated rotary drive actuator of claim 3, wherein the encoder circuit board communicates with the drive circuit board through a passageway that passes through the third end cap, the second end cap, the first end cap, and the housing in sequence from top to bottom.
5. The integrated rotary drive actuator of claim 1, wherein the coaxial reducer is a planetary reducer, and the planetary reducer comprises a sun gear, a planet gear, a retainer and an annular gear in sequence from inside to outside; the sun gear is the input end and is matched with the motor; the inner gear ring is connected with the shell, the retainer is the output end and is connected with the flange plate.
6. The integrated rotary drive actuator of claim 1, wherein the coaxial reducer is a cycloidal pin gear reducer comprising an eccentric shaft, a wobble plate, an output cage, and a pin housing; the eccentric shaft is the input end and is matched with the motor; the pin gear shell is connected with the shell, the output retainer is the output end and is connected with the flange plate.
7. The integrated rotary actuator according to any one of claims 1 to 6, wherein the motor is provided on an upper side of a drive circuit board, a rotor of the motor encoder is provided on a lower end surface of the rotor of the motor, and a stator of the motor encoder is provided on an upper side of the drive circuit board.
8. The integrated rotary drive actuator of claim 7, wherein the outer side of the rotor of the motor encoder is sleeved with structural members.
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| CN201710416180.5A CN107116575B (en) | 2017-06-06 | 2017-06-06 | Integrated rotary driving actuator |
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| CN201710416180.5A CN107116575B (en) | 2017-06-06 | 2017-06-06 | Integrated rotary driving actuator |
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| CN107116575A CN107116575A (en) | 2017-09-01 |
| CN107116575B true CN107116575B (en) | 2023-07-21 |
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| CN107962406A (en) * | 2017-10-24 | 2018-04-27 | 广州市昊志机电股份有限公司 | A kind of low-speed direct driving large torque numerical control rotating platform |
| CN108161728A (en) * | 2017-12-26 | 2018-06-15 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Polish rotary table and burnishing device |
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