CN110798009A

CN110798009A - Servo device

Info

Publication number: CN110798009A
Application number: CN201910976340.0A
Authority: CN
Inventors: 王贺龙; 李雪; 姜玉峰; 岳宗帅; 付春雨; 齐冲; 杨金鹏
Original assignee: Beijing Research Institute of Precise Mechatronic Controls
Current assignee: Beijing Research Institute of Precise Mechatronic Controls
Priority date: 2019-10-15
Filing date: 2019-10-15
Publication date: 2020-02-14
Anticipated expiration: 2039-10-15
Also published as: CN110798009B

Abstract

The embodiment of the application provides a servo device, including casing and setting up device in the casing sets up device in the casing includes: a servo motor; the actuator body is electrically connected with the servo motor; a control unit; the driving unit is connected with the control unit through a flexible printed board to realize communication and is electrically connected with the servo motor; the driving unit is used for driving the servo motor to rotate according to the control signal of the control unit, and then the actuator body converts the rotary motion of the servo motor into the linear motion of the actuating rod of the actuator body. The embodiment of the application solves the technical problems of low integration degree of the traditional servo system, and high weight and volume.

Description

Servo device

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 fields of guided missile and rocket guidance and control, the servo system comprises an actuator, a controller and a driver. The actuator, the controller and the driver are respectively independent and distributed in a split mode and are connected through cables. The actuator is an actuator, the controller is a control device for the actuator, and the actuator is a drive device for the actuator. The actuator, the controller and the driver of the traditional servo system are three respective split devices, and are electrically connected through cables, namely the traditional servo system is low in integration degree. Along with the improvement of the requirements of servo drive load capacity and dynamic response capacity, the sizes of an actuator, a controller and a driver single machine are increased, the weight of a product is increased, and a large amount of installation space on a missile or a rocket is occupied.

Therefore, the traditional servo system has low integration degree, which results in large weight and volume, and is a technical problem which needs to be solved urgently by the technical personnel in the field.

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 problems of weight and large volume caused by low integration degree of a traditional servo system.

The embodiment of the application provides a servo device, including casing and setting up device in the casing sets up device in the casing includes:

a servo motor;

the actuator body is electrically connected with the servo motor;

a control unit;

the driving unit is connected with the control unit through a flexible printed board to realize communication and is electrically connected with the servo motor;

the driving unit is used for driving the servo motor to rotate according to the control signal of the control unit, and then the actuator body converts the rotary motion of the servo motor into the linear motion of the actuating rod of the actuator body.

Due to the adoption of the technical scheme, the embodiment of the application has the following technical effects:

the servo motor, the actuator body, the control unit and the driving unit are all arranged in the same shell; meanwhile, the driving unit is in communication connection with the control unit through the flexible printed board, the actuator body is electrically connected with the servo motor, and the driving unit is electrically connected with the servo motor in the shell. Namely, the servo device is of an integrated structure, and the integration degree of the servo device is higher; because independent devices are reduced, the shell and the cable of the device are reduced, the structure is compact, the servo device of the embodiment of the application is smaller in weight and size, and the space required by installation is smaller.

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 an exploded view of the servo device shown in FIG. 1;

FIG. 3 is a cross-sectional view of the servo device shown in FIG. 1;

FIG. 4 is a schematic view of the drive unit shown in FIG. 2;

fig. 5 is a schematic diagram of the control unit shown in fig. 2.

Description of reference numerals:

a servo motor (110) is arranged on the frame,

120 actuator body, 121 front end cover, 122 upper lug, 123 lower lug, 124 actuating rod,

210 drive unit, 211 mounting plate, 211-a heat sink channel,

212 smart power module, 213 drive unit vibration damper, 213-a drive unit mounting boss,

214 drive the board, 215 an insulating thermal pad,

220 control unit, 221 mounting bracket, 222 control board, 223 power supply board,

224 control unit vibration dampers, 224-a control unit mounting bosses,

310 flexible printed boards, 320 electromagnetic shielding sealing strips,

410 a lower shell, 411 a first sub-shell, 412 a second sub-shell,

420 upper housing, 421 control electrical connector, 422 drive electrical connector, 423 heat sink bar,

500 absolute value encoder.

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 an exploded view of the servo device shown in FIG. 1; fig. 3 is a sectional view of the servo apparatus shown in fig. 1.

As shown in fig. 1, 2 and 3, a servo device according to an embodiment of the present application includes a housing and a device disposed in the housing, where the device disposed in the housing includes:

a servo motor 110;

an actuator body 120 electrically connected to the servo motor 110;

a control unit 220;

a driving unit 210 connected to the control unit 220 through a flexible printed board 310 to implement communication, and electrically connected to the servo motor 110;

the driving unit 210 is configured to drive the servo motor 110 to rotate according to a control signal of the control unit 220, and then the actuator body 120 converts the rotational motion of the servo motor 110 into a linear motion of an actuating rod of the actuator body 120.

Compared with a servo system in the background art, the servo motor, the actuator body, the control unit and the driving unit of the servo device in the embodiment of the application are all arranged in the same shell; meanwhile, the driving unit is in communication connection with the control unit through the flexible printed board, the actuator body is electrically connected with the servo motor, and the driving unit is electrically connected with the servo motor in the shell. Namely, the servo device is of an integrated structure, and the integration degree of the servo device is higher; because independent devices are reduced, the shell and the cable of the device are reduced, the structure is compact, the servo device of the embodiment of the application is smaller in weight and size, and the space required by installation is smaller.

Compared with the background art, the modular design thought that the servo device of this application embodiment adopted is about to control unit and drive unit be modular structure, has improved the product integration level, has simplified the electrical connection form greatly, and the cable grafting is simplified greatly, has reduced the probability of making mistakes, also reduces strong and weak electric cable in a large number in addition, has improved servo device's electromagnetic compatibility and equipment stability. In addition, the flexible printed board is flexible and can deform, so that the requirements on the positions of the control unit and the driving unit are low, and the flexible printed board is convenient to produce, process and assemble.

In practice, as shown in fig. 1, 2 and 3, the housing comprises:

a lower case 410, the lower case 410 having an upward opening; the actuator body 120 and the servo motor 110 are installed in the lower case 410 in a front-back manner, the control unit 220 is installed on the actuator body 120 and protrudes out of the lower case 410, and the driving unit 210 is installed on the servo motor 110 and protrudes out of the lower case 410;

an upper case 420, the upper case 420 having a downward opening; the upper case 410 is installed at the opening of the lower case 420 in such a manner that the opening faces downward. The upper casing and the lower casing containing the actuator body and the servo motor are integrally butted and fixed through screws.

The actuator body with installation around the servo motor, the control unit is installed on the actuator body, drive unit installs on the servo motor, such drive unit and control unit and servo motor's position for be connected between drive unit and control unit and the servo motor shorter, be favorable to servo device's weight and size's control.

In an implementation, as shown in fig. 1, 2 and 3, the servo device further includes:

a control electrical connector 421, the control electrical connector 421 being disposed in the upper case 420 at a position above the flexible printed board 310 and being connected with the control unit 220;

wherein the control electrical connector 220 is used to enable power supply and bus communication of the control unit.

The control electric appliance connector realizes power supply and bus communication of the control unit and provides power and communication signals for the work of the control unit.

a driving electrical connector 422, the driving electrical connector 422 being disposed in the upper case 420 at a position above the driving unit 210 and being connected with the driving unit 210;

wherein the driving electrical connector 422 is used for realizing the direct current supply of the driving unit 210.

The driving electric connector realizes the power supply of the driving unit, the driving unit drives the servo motor to rotate according to the control signal of the control unit, and the actuator body converts the rotary motion of the servo motor into the linear motion of the actuating rod of the actuator body; namely, the driving electrical connector is used for carrying out direct current power supply on the whole servo device. Therefore, the whole servo device only needs two electric connectors, namely a control electric connector and a driving electric connector, and the structure of the servo device is simplified.

In practice, as shown in fig. 1, 2 and 3, the upper housing 420 is a unitary structure, and the end surface of the upper housing 420 facing the lower housing has an annular sealing groove;

the servo device further comprises an electromagnetic shielding sealing strip 320 installed in the sealing groove.

The upper shell is of an integrated structure, and the sealing groove and the electromagnetic shielding sealing strip are combined, so that sealing and electromagnetic continuous shielding between the upper shell and the lower shell are realized.

In practice, as shown in fig. 1, 2 and 3, the top of the upper case has a heat dissipation strip 423.

The driving unit is a main heat radiating member, and therefore, heat is radiated from the driving unit. And the heat dissipation strip at the top of the upper shell is used for dissipating heat of the driving unit.

In practice, as shown in fig. 1, 2 and 3, the lower housing comprises:

a first sub-housing 411, wherein the servo motor 110 is installed in the first sub-housing 411;

a second sub-housing 412, and the actuator body 120 is mounted in the second sub-housing 412.

The first and second sub-housings for mounting are provided for the actuator body and the servo motor, respectively, because the size of the servo device is reduced as much as possible for the first and second sub-housings that are matched in size to the actuator body and the servo motor.

In practice, the structure of the drive unit is described. Fig. 4 is a schematic view of the driving unit shown in fig. 2.

As shown in fig. 4, the driving unit includes:

a mounting plate 211;

a smart power module 212;

a driving unit damper 213, wherein the driving unit damper 213 is fixed to the mounting plate 211 through the intelligent power module 212, the driving unit damper 213 has a driving unit mounting boss 213-a protruding from the lower side of the mounting plate 211, and the driving unit mounting boss 213-a is mounted to the servo motor 110;

a driving board 214, wherein the driving board 214 is plugged on the intelligent power module 212.

The drive plate is inserted on the intelligent power module, and the drive unit shock absorber passes the intelligent power module and is fixed with the mounting panel, has realized fixing of intelligent power module and mounting panel, and like this, the drive unit shock absorber plays the damping effect to the vibration of drive plate and intelligent power module, has realized the damping of drive unit core level. In addition, the driving unit mounting boss is arranged, so that the mounting with the servo motor is conveniently realized.

As shown in fig. 4, the driving unit further includes:

an insulating thermal pad 215, the insulating thermal pad 215 being disposed between the smart power module 212 and the mounting board 211.

Insulating heat conduction pad sets up between intelligent power module and mounting panel, and the heat that produces intelligent power module is dispersed away through the mounting panel.

In particular, the mounting plate may be made of a material that dissipates heat more quickly.

As shown in fig. 4, a downward side of the mounting plate 211 is provided with a heat dissipation groove 211-a.

The heat dissipation groove of the mounting plate is beneficial to accelerating the heat dissipation of the intelligent power module.

In practice, the structure of the control unit is described. Fig. 5 is a schematic diagram of the control unit shown in fig. 2.

As shown in fig. 5, the control unit includes:

a mounting bracket 221;

a control board 222;

the power panel 223, the control panel 222 and the power panel 223 are fixed at intervals up and down through a connecting column and are installed on the mounting bracket 221; specifically, the control panel and the power panel are fixed on the mounting bracket as a whole through bolts and bolt holes;

a control unit damper 224, the control unit damper 224 passing through the mounting bracket 221 to be fixed to the mounting bracket 221, and the control unit damper 224 having a control unit mounting boss 224-a protruding from below the mounting bracket 221;

the control unit mounting boss 224-a is mounted with the actuator body 120;

the control board 222 and the driving board 214 are connected by the flexible printed board 310.

The control panel and the power panel are fixed at intervals up and down through the connecting column, the control panel and the power panel are fixed on the mounting bracket as a whole, and the control unit shock absorber penetrates through the mounting bracket to realize the fixation with the mounting bracket, so that the control unit shock absorber can play a role in damping the vibration of the control panel and the power panel, and the core-level vibration damping of the control unit is realized. In addition, the control unit is provided with the boss, so that the control unit and the actuator body can be conveniently installed.

In practice, to achieve automatic control of the servo means.

As shown in fig. 1, 2 and 3, the servo device further includes:

an absolute value encoder 500 installed at the rear of the servo motor 110 and connected to the control unit 220;

the absolute value encoder 500 is configured to collect the position and the rotational speed of the servo motor and transmit the position and the rotational speed to the control unit, and the control unit is configured to form a control signal according to an external control instruction and a position and rotational speed signal fed back by the absolute value encoder, so as to implement closed-loop control on the servo motor.

Adopt motor resolver and slidingtype linear displacement sensor to realize closed-loop control among the prior art and compare, the servo device of this application embodiment adopts absolute value encoder to gather servo motor's position and rotational speed, and then through according to outside control command with the position and the rotational speed signal of absolute value encoder feedback form control signal, and control signal transmits to drive unit, the drive unit drive from the control unit through flexible printing board servo motor is rotatory, the actuator body will servo motor's rotary motion turns into the linear motion of actuating the actuating lever of actuator body is right in order to realize servo motor's closed-loop control's mode, required part is less, and installation space is less, and the degree of integrating is higher, has also practiced thrift the cost simultaneously.

Regarding the Intelligent Power Module, the whole english name is Intelligent Power Module, abbreviated as IPM. Specifically, the intelligent power module is designed by adopting an integrated IPM module, and is internally provided with a three-phase full-bridge IGBT, a freewheeling diode and a corresponding control drive circuit part;

wherein, the IGBT is called an Insulated Gate Bipolar Transistor in English and is called an Insulated Gate Bipolar Transistor in Chinese.

Regarding the servo motor, the servo motor adopts a Halbach structure.

The actuator body includes, as shown in fig. 1, 2, and 3, a front cover 121, an upper lug 122, a lower lug 123, an actuating rod 124, and the like.

The working method of the servo device in the embodiment of the application is as follows:

the control power supplies power to the control unit at first, and the control unit and the driving module are communicated in the actuator through the flexible printed board;

the external direct current provides power electricity for the intelligent power module, the servo motor is driven by the driving unit, and the position and the rotating speed of the servo motor are fed back to the control unit by the absolute value encoder to realize closed-loop control.

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

1. A servo apparatus comprising a housing and a device disposed within the housing, the device disposed within the housing comprising:

a servo motor;

the actuator body is electrically connected with the servo motor;

a control unit;

2. The servo apparatus of claim 1, wherein the housing comprises:

a lower housing having an upward opening; the actuator body and the servo motor are arranged in the lower shell in a front-back mode, and the driving unit is arranged on the servo motor and protrudes out of the lower shell; the control unit is arranged on the actuator body and protrudes out of the lower shell;

an upper housing having a downward opening; the upper shell is arranged at the opening of the lower shell in a mode that the opening faces downwards.

3. The servo apparatus according to claim 2, further comprising:

a control electrical connector provided in the upper case at a position above the flexible printed board and connected with the control unit;

wherein the control electrical connector is used for realizing power supply and bus communication of the control unit.

4. The servo apparatus according to claim 3, further comprising:

a drive electrical connector disposed in the upper housing at a location above the drive unit;

wherein the driving electrical connector is used for realizing the direct current supply of the driving unit.

5. The servo device according to claim 4, wherein the upper housing is a unitary structure, and an end surface of the upper housing facing the lower housing has an annular seal groove;

the servo device further comprises an electromagnetic shielding sealing strip which is arranged in the sealing groove.

6. The servo device of claim 5, wherein the top of the upper housing has a heat sink strip.

7. The servo apparatus of claim 5, wherein the lower housing comprises:

the servo motor is arranged in the first sub-shell;

and the actuator body is arranged in the second sub-shell.

8. The servo apparatus according to claim 5, wherein the driving unit comprises:

mounting a plate;

an intelligent power module;

the driving unit shock absorber penetrates through the intelligent power module and is fixed with the mounting plate, the driving unit shock absorber is provided with a driving unit mounting boss extending out of the lower part of the mounting plate, and the driving unit mounting boss and the servo motor are mounted;

the drive plate is inserted on the intelligent power module.

9. The servo apparatus according to claim 8, further comprising:

an insulating thermal pad disposed between the smart power module and the mounting plate.

10. The servo device of claim 9, wherein a downward side of the mounting plate is provided with a heat sink channel.

11. The servo apparatus according to claim 8, wherein the control unit comprises:

mounting a bracket;

a control panel;

the control panel and the power panel are fixed at intervals up and down through connecting columns and are arranged on the mounting bracket;

the control unit shock absorber penetrates through the mounting bracket and is fixed with the mounting bracket, and the control unit shock absorber is provided with a control unit mounting boss extending out of the lower part of the mounting bracket;

the control unit mounting boss is mounted with the actuator body;

the control board is connected with the driving board through the flexible printed board.

12. The servo apparatus of claim 11, further comprising:

the absolute value encoder is arranged at the tail part of the servo motor and is connected with the control unit;

the control unit is used for forming a control signal according to an external control instruction and position and rotating speed signals fed back by the absolute value encoder so as to realize closed-loop control of the servo motor.