CN110597308A - Servo device - Google Patents
Servo device Download PDFInfo
- Publication number
- CN110597308A CN110597308A CN201910840841.6A CN201910840841A CN110597308A CN 110597308 A CN110597308 A CN 110597308A CN 201910840841 A CN201910840841 A CN 201910840841A CN 110597308 A CN110597308 A CN 110597308A
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- servo
- servo motor
- circuit board
- actuating rod
- heat dissipation
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000017525 heat dissipation Effects 0.000 claims description 36
- 230000009467 reduction Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract description 7
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The embodiment of the application provides a servo device, including: a servo motor; an actuating rod; the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod; and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor. The embodiment of the application solves the technical problem that the traditional servo system is low in integration degree.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a servo device.
Background
A servo system (also called a servo system) is an automatic control system, which is a feedback control system used to accurately follow or reproduce a certain process. The servo system is an automatic control system which can make the output controlled quantity of the position, the direction, the state and the like of an object follow the arbitrary change of an input target (or a given value).
When the servo system is applied to the field of aircraft guidance and control, the servo system comprises a servo actuator and a control driver. The servo actuator and the control driver are respectively independent and distributed in a split mode and are connected through a cable. The servo actuator is an actuating mechanism, realizes the attitude control of the aircraft by driving a control surface or a spray pipe, and can be mainly divided into three types of pneumatic, hydraulic and electric servo mechanisms. The control driver is a control device of the servo actuator, and in the electric servo mechanism, the received control instruction is converted into a PWM three-phase voltage signal to be transmitted to a motor of the servo actuator, so that the motor is controlled to rotate, and the telescopic control of the servo actuator is realized.
Therefore, the conventional servo system has low integration degree, which is a technical problem that needs to be solved urgently by those skilled in the art.
The above information disclosed in the background section is only for enhancement of understanding of the background of the present application and therefore it may contain information that does not form the prior art that is known to those of ordinary skill in the art.
Disclosure of Invention
The embodiment of the application provides a servo device to solve the technical problem that a traditional servo system is low in integration degree.
The embodiment of the application provides a servo device, including:
a servo motor;
an actuating rod;
the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod;
and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor.
Due to the adoption of the technical scheme, the embodiment of the application has the following technical effects:
the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod, namely the actuating rod can do linear motion; because the magnetic encoder is arranged at the tail part of the servo motor, when the servo motor rotates, the magnetic encoder measures the displacement information of the servo motor; the displacement information of the servo motor is controlled output and returns to the input end as control, so that closed-loop control of the servo motor is realized, namely, automatic control of linear motion of the actuating rod is realized. Compared with the prior art in which the closed-loop control is realized by the motor rotary transformer and the sliding type linear displacement sensor, the servo device of the embodiment of the application adopts the magnetic encoder to measure the displacement of the servo motor, and then realizes the closed-loop control mode through the displacement information of the servo motor, so that the required devices are fewer, the installation space is smaller, the integration degree is higher, and the cost is also saved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a servo apparatus according to an embodiment of the present application;
fig. 2 is a sectional view a-a shown in fig. 1.
Description of reference numerals:
100 of the shell body, and a shell body,
210 servo motor, 220 actuating rod, 230 gear reducer, 240 planetary ball screw,
a screw nut of 250, an actuator cylinder of 260,
310 magnetic encoder, 320 control circuit board, 330 driving module, 340 driving circuit board,
350 of the connection of the interface, are connected,
410 heat dissipation bottom plate, 411 heat dissipation base, 420 shock absorber.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example one
FIG. 1 is a schematic diagram of a servo apparatus according to an embodiment of the present application; fig. 2 is a sectional view a-a shown in fig. 1.
As shown in fig. 1 and 2, the servo device of the embodiment of the present application includes a housing 100 and components disposed in the housing. The components disposed within the housing include:
the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor 210 into the linear motion of the actuating rod 220 along the length direction of the actuating rod 220;
the magnetic encoder 310 is installed at the tail of the servo motor 210, and the magnetic encoder 310 is used for measuring displacement information of the servo motor so as to realize closed-loop control of the servo motor.
The servo device of the embodiment of the application aims to realize the automatic control of the linear motion of the actuating rod. The rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod, namely the actuating rod can do linear motion; because the magnetic encoder is arranged at the tail part of the servo motor, when the servo motor rotates, the magnetic encoder measures the displacement information of the servo motor; the displacement information of the servo motor is controlled output and returns to the input end as control, so that closed-loop control of the servo motor is realized, namely, automatic control of linear motion of the actuating rod is realized. Compared with the prior art in which the closed-loop control is realized by the motor rotary transformer and the sliding type linear displacement sensor, the servo device of the embodiment of the application adopts the magnetic encoder to measure the displacement of the servo motor, and then realizes the closed-loop control mode through the displacement information of the servo motor, so that the required devices are fewer, the installation space is smaller, the integration degree is higher, and the cost is also saved.
In practice, as shown in fig. 1 and 2, the components disposed within the housing further comprise:
a control circuit board 320 for forming a control signal according to the displacement information and the time information of the servo motor;
the driving module 330 is configured to output a PWM three-phase voltage signal according to the control signal, where the PWM three-phase voltage signal is used to drive the servo motor;
and the driving circuit board 340 is configured to drive the driving module to work according to the control signal, and protect the driving module.
The control circuit board, the driver module and the driver circuit board function similarly to the control driver in the background art. The servo actuator and the control driver in the background technology are two independent split distributed devices which are connected through a cable, so that the integration degree of a servo system in the background technology is low; in the embodiment of the application, control circuit board, drive module and drive circuit board and servo motor make the pole, and rotatory change linear motion mechanism all sets up in same casing, promptly servo device is with integrated structure, and servo device's the degree of integrating is higher.
In implementation, the magnetic encoder is provided with a displacement information transmission line, and the displacement information transmission line is connected with the driving circuit board;
the drive circuit board is in communication connection with the control circuit board so that the displacement information is transmitted from the magnetic encoder to the control circuit board through the drive circuit board;
the motor is provided with a PWM three-phase voltage signal transmission line, and the PWM three-phase voltage signal transmission line is connected with the driving circuit board;
the driving module is electrically connected with the driving circuit board so that the PWM three-phase voltage signal is transmitted to the motor from the driving module through the driving circuit board;
the three-phase voltage signal of PWM (Pulse Width Modulation) is a three-phase voltage signal modulated by a Pulse Width Modulation technique.
The displacement information transmission line and the PWM three-phase voltage signal transmission line are connected with the driving circuit board, and the displacement information and the PWM three-phase voltage signal are transferred through the driving circuit board, so that the control circuit board, the driving module and the driving circuit board are integrated into a whole, the connection relation with the outside is simpler, the degree of connecting cables is favorably shortened, and the weight of the servo device is reduced; meanwhile, the connection between the control circuit board and the driving circuit board and the connection between the driving circuit board and the driving module are realized simultaneously through plugging, the integration degree is higher, the use of cables is reduced, and the weight of the servo device is reduced.
In implementation, as shown in fig. 1 and fig. 2, the displacement information transmission line and the PWM three-phase voltage signal transmission line are combined to form a two-in-one connector;
the driving circuit board has a connection interface 350, and the two-in-one connector is connected to the connection interface 350.
Through two unification joints and connection interface, the line of having simplified to the utmost has integrated the degree higher.
The driving module is a device with larger heat dissipation. The heat dissipation of the driving module is performed. As shown in fig. 1 and 2, the servo device further includes a heat-dissipating bottom plate 410 fixed to the inner bottom of the housing, the heat-dissipating bottom plate 410 covering the inner bottom of the housing 100;
the driving module 330 is fixed on the heat dissipation base plate 410, and the driving circuit board 340 is disposed on the driving module 330 at an interval.
Therefore, the driving module is fixed with the heat dissipation bottom plate, heat dissipation is facilitated, meanwhile, the driving circuit board and the driving module are arranged at intervals, heat dissipation of the driving module is facilitated, and influence of heat dissipation of the driving module on the driving circuit board is reduced.
In an implementation, the heat dissipation base plate is made of a metal material.
The heat dissipation bottom plate made of the metal material can play a good heat dissipation role.
In implementation, as shown in fig. 1 and fig. 2, the heat dissipation base 411 is convexly disposed on the heat dissipation bottom plate, the driving module 330 directly contacts with the heat dissipation base 411, and the heat dissipation base 411 is used for increasing a heat dissipation area and a height matched with the driving module;
the heat dissipation base plate 410 and the heat dissipation base 411 are integrally formed as a single body.
The heat dissipation base has a certain height, so that the side surface of the heat dissipation base can also play a role in heat dissipation.
In implementation, the upper surface of the heat dissipation base, which is in contact with the driving module, is a plane;
and heat radiating fins are formed between the upper surface of the heat radiating base and the heat radiating bottom plate.
The existence of the radiating fins greatly increases the radiating area and is beneficial to the quick heat radiation of the driving module.
In practice, as shown in fig. 1 and fig. 2, the control circuit board 320 is fixed to the heat dissipation base plate 410.
Thus, the fixation and heat dissipation of the control circuit board are realized.
In an implementation, as shown in fig. 1 and 2, the servo device further includes:
and a damper 420, wherein the heat sink base plate 410 is fixed to the housing 100 through the damper 420.
The heat dissipation bottom plate is fixed with the shell through the shock absorber, and the influence of vibration on the whole servo device is reduced.
In implementation, as shown in fig. 1 and 2, two servo motors 210 are symmetrically arranged on two sides of the actuating rod 220;
the rotary-to-linear motion mechanism is respectively connected to the two servo motors 210, so as to convert the rotary motion of the two servo motors into the linear motion of the actuating rod along the length direction of the actuating rod.
Therefore, the power torque of the two servo motors is converted into the linear motion of the same actuating rod, the total output power of the two servo motors is larger, and the servo motor can be suitable for occasions with higher requirements on the output power.
In practice, as shown in fig. 1 and 2, the rotary-to-linear motion mechanism includes N gear reduction boxes 230, planetary ball screws 240, screw nuts 250 and actuators 260; wherein N is an odd number of 3 or more;
the N gear reduction boxes 230 are arranged side by side for transmission and rotation, and the two servo motors 210 are respectively installed with the gear reduction boxes 230 at two ends through screws; the connection between the planetary ball screw 240 and the gear reduction box 230 in the middle is a key connection; the planetary ball screw 240 is sleeved outside the screw nut 250, the actuating rod 220 is fixed outside the screw nut 250, and the actuating cylinder 260 is sleeved outside the actuating rod 220;
the servo motor 210 rotates, the planetary ball screw 240 is driven to rotate by the gear reduction box 230, the planetary ball screw 240 is matched with the screw nut 250 to convert the rotation of the planetary ball screw 240 into the linear motion of the screw nut 250 along the actuator cylinder 260, and therefore the actuator rod 220 is driven to move linearly along the actuator cylinder 260 in a telescopic manner.
In this way, the rotary motion of the servo motor is converted into the linear motion of the actuating rod along the length direction of the actuating rod through a simple structure.
In the description of the present application and the embodiments thereof, it is to be understood that the terms "top", "bottom", "height", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
In this application and its embodiments, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integral to; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application and its embodiments, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A servo apparatus, comprising:
a servo motor;
an actuating rod;
the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod;
and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor.
2. The servo apparatus of claim 1, further comprising a housing, components disposed within the housing comprising the servo motor, the actuator rod, the rotary-to-linear motion mechanism, and the magnetic encoder; the components disposed within the housing further include:
the control circuit board is used for forming a control signal according to the displacement information and the time information of the servo motor;
the driving module is used for outputting PWM three-phase voltage signals according to the control signals, wherein the PWM three-phase voltage signals are used for driving the servo motor;
and the driving circuit board is used for driving the driving module to work according to the control signal and protecting the driving module.
3. The servo device according to claim 2, wherein the magnetic encoder has a displacement amount information transmission line connected to the drive circuit board;
the drive circuit board is in communication connection with the control circuit board so that the displacement information is transmitted from the magnetic encoder to the control circuit board through the drive circuit board;
the motor is provided with a PWM three-phase voltage signal transmission line, and the PWM three-phase voltage signal transmission line is connected with the driving circuit board;
the driving module is electrically connected with the driving circuit board, so that the PWM three-phase voltage signal is transmitted to the motor from the driving module through the driving circuit board.
4. The servo device according to claim 3, wherein the displacement information transmission line and the PWM three-phase voltage signal transmission line are combined to form a two-in-one connector;
the drive circuit board is provided with a connecting interface, and the two-in-one connector is connected with the connecting interface.
5. The servo device of claim 4, further comprising a heat sink base plate fixed to the inner bottom of the housing, the heat sink base plate covering the inner bottom of the housing;
the driving module is fixed on the heat dissipation bottom plate, and the driving circuit boards are arranged on the driving module at intervals.
6. The servo device as claimed in claim 5, wherein the heat dissipation base is convexly provided with a heat dissipation base, the driving module is in direct contact with the heat dissipation base, and the heat dissipation base is used for increasing the heat dissipation area and the height of the driving module;
the heat dissipation bottom plate and the heat dissipation base are of an integrated structure as a whole.
7. The servo device as claimed in claim 6, wherein the upper surface of the heat dissipation base contacting the driving module is a plane;
and heat radiating fins are formed between the upper surface of the heat radiating base and the heat radiating bottom plate.
8. The servo apparatus according to claim 7, further comprising:
and the heat dissipation bottom plate is fixed with the shell through the vibration damper.
9. The servo device as claimed in claim 1, wherein the servo motors are two, symmetrically arranged on both sides of the actuating rod;
the rotary-to-linear motion mechanism is respectively connected with the two servo motors so as to convert the rotary motion of the two servo motors into the linear motion of the actuating rod along the length direction of the actuating rod.
10. The servo device of claim 9 wherein the rotary-to-linear motion mechanism comprises an N-gear reduction gearbox, a planetary ball screw, a screw nut, and an actuator cylinder; wherein N is an odd number of 3 or more;
the N gear reduction boxes are arranged side by side for transmitting rotary motion, and the two servo motors are respectively installed with the gear reduction boxes at two ends through screws; the connection between the planetary ball screw and the intermediate gear reduction box is in key connection; the planetary ball screw is sleeved with the screw nut, the actuating rod is fixed outside the screw nut, and the actuating cylinder is sleeved outside the actuating rod;
the servo motor rotates, the planetary ball screw is driven to rotate along with the rotation of the planetary ball screw through the gear reduction box, the planetary ball screw is matched with the screw nut to convert the rotation of the planetary ball screw into the linear motion of the screw nut along the actuating cylinder, and therefore the actuating rod is driven to move linearly along the actuating cylinder in a telescopic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910840841.6A CN110597308A (en) | 2019-09-06 | 2019-09-06 | Servo device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910840841.6A CN110597308A (en) | 2019-09-06 | 2019-09-06 | Servo device |
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| Publication Number | Publication Date |
|---|---|
| CN110597308A true CN110597308A (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910840841.6A Pending CN110597308A (en) | 2019-09-06 | 2019-09-06 | Servo device |
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| CN (1) | CN110597308A (en) |
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| CN102787974A (en) * | 2012-07-12 | 2012-11-21 | 上海交通大学 | Fully digital servo driver for AC permanent magnet synchronous motor for wind power generation pitch |
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| CN103499927A (en) * | 2013-09-14 | 2014-01-08 | 新乡学院 | Position control system of direct-current servo motor |
| CN104410334A (en) * | 2014-11-07 | 2015-03-11 | 北京精密机电控制设备研究所 | Three-channel servo control driver |
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| CN105990951A (en) * | 2016-06-29 | 2016-10-05 | 北京精密机电控制设备研究所 | Roller screw electromechanical actuator |
| CN106411206A (en) * | 2016-09-21 | 2017-02-15 | 北京精密机电控制设备研究所 | Master-slave type electromechanical servo cooperative motion control system |
| CN108075692A (en) * | 2017-12-30 | 2018-05-25 | 南京工程学院 | A kind of servo control system based on FPGA |
| CN108661988A (en) * | 2018-04-10 | 2018-10-16 | 山西大学 | The electro-hydraulic proportional flow valve and control device and control method of active pilot stage control |
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2019
- 2019-09-06 CN CN201910840841.6A patent/CN110597308A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5637940A (en) * | 1994-04-05 | 1997-06-10 | Smc Kabushiki Kaisha | Electric Actuator |
| CN201418056Y (en) * | 2009-07-07 | 2010-03-03 | 海宝摩打厂有限公司 | Motor with low energy consumption |
| CN202786717U (en) * | 2012-07-07 | 2013-03-13 | 浙江琦星电子有限公司 | Integrated flat seaming machine |
| CN102787974A (en) * | 2012-07-12 | 2012-11-21 | 上海交通大学 | Fully digital servo driver for AC permanent magnet synchronous motor for wind power generation pitch |
| CN103499927A (en) * | 2013-09-14 | 2014-01-08 | 新乡学院 | Position control system of direct-current servo motor |
| CN104410334A (en) * | 2014-11-07 | 2015-03-11 | 北京精密机电控制设备研究所 | Three-channel servo control driver |
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Application publication date: 20191220 |
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| RJ01 | Rejection of invention patent application after publication |