CN112737211A - 一种新型电动缸 - Google Patents

一种新型电动缸 Download PDF

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CN112737211A
CN112737211A CN202110160319.0A CN202110160319A CN112737211A CN 112737211 A CN112737211 A CN 112737211A CN 202110160319 A CN202110160319 A CN 202110160319A CN 112737211 A CN112737211 A CN 112737211A
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servo motor
barrel
lead screw
hollow ejector
hand member
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梁文学
陈帮军
尚震北
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Huanghe Science and Technology College
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Huanghe Science and Technology College
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H25/2418—Screw seals, wipers, scrapers or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2087—Arrangements for driving the actuator using planetary gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Transmission Devices (AREA)

Abstract

一种新型电动缸，包括外筒体，外筒体内自左向右依次设有控制器、制动器、伺服电机、减速器和丝杆，伺服电机的主轴右端通过减速器与丝杆左端传动连接，制动器与伺服电机的主轴左端连接，控制器通过控制线分别与伺服电机和制动器连接，丝杆上螺纹连接有螺母，丝杆外部同轴线设有空心顶杆，空心顶杆右端穿过外筒体右端口，丝杆右端与空心顶杆内壁转动且滑动连接，外筒体内部设有用于限定螺母转动的导向结构。本发明原理科学、结构紧凑，在传动效率高的同时可实现自锁，可以承载较大的轴向力，传动效率大大提高。

Description

一种新型电动缸
技术领域
本发明涉及一种直线动力装置，具体涉及一种新型电动缸。
背景技术
随着工厂自动化的要求越来越高，电动缸的应用也越来越广泛。电动缸是一种高响应、长寿命的能产生直线动力源的机械装置。现有的电动缸有采用滚珠丝杠螺母传动的结构，存在不能像梯形丝杠可实现自锁，且承载轴向力较小，传动效率较低的缺陷。
发明内容
本发明为了解决现有技术中的不足之处，提供一种结构紧凑、传动效率高、轴向力承载大的新型电动缸。
为解决上述技术问题，本发明采用如下技术方案：一种新型电动缸，包括外筒体，外筒体内自左向右依次设有控制器、制动器、伺服电机、减速器和丝杆，伺服电机的主轴右端通过减速器与丝杆左端传动连接，制动器与伺服电机的主轴左端连接，控制器通过控制线分别与伺服电机和制动器连接，丝杆上螺纹连接有螺母，丝杆外部同轴线设有空心顶杆，空心顶杆右端穿过外筒体右端口，丝杆右端与空心顶杆内壁转动且滑动连接，外筒体内部设有用于限定螺母转动的导向结构。
外筒体包括同轴线设置的左筒体和右筒体，左筒体右端与右筒体左端螺纹紧固连接，左筒体左端固定设有左连接环，空心顶杆右端固定设有右连接环。
导向结构为在空心顶杆外部设有平行于丝杆的导杆，螺母上开设有沿导杆滑动的导孔。
减速器为行星减速器，行星减速器包括太阳轮、行星架、内齿圈和多个行星轮，太阳轮同轴线安装在伺服电机的主轴上，内齿圈同轴线安装在右筒体内壁，行星轮分别与太阳轮和内齿圈啮合，行星轮的中心轴右端与行星架右侧连接，行星架右侧与丝杆左端同轴线固定连接。
丝杆左端部通过两个轴承与右筒体内壁转动连接，两个轴承分别为球轴承和推力轴承，球轴承位于推力轴承左侧。
右筒体右端设有端盖，端盖内圈设有与空心顶杆外圆滑动密封配合的密封圈。
丝杆右端部设有滑套或轴承，滑套或轴承的外圈与空心顶杆内壁滑动配合。
采用上述技术方案，本发明的工作原理为：伺服电机的主轴驱动太阳轮旋转，太阳轮驱动多个行星轮在内齿圈内部转动，行星架也随着行星轮转动，行星架驱动丝杆转动，丝杆上螺纹连接的螺母沿导杆左右移动，与螺母右侧固定连接的空心顶杆在右筒体内伸出或缩回，从而实现电动缸的直线运行。
本发明的电动缸是将伺服电机与丝杠一体化设计结合到一块的模块化产品，利用伺服电机最佳优点-精确转速控制，精确转数控制，精确扭矩控制转变成-精确速度控制，精确位置控制，精确推力控制；从而实现高精度直线运动。外部供电24V 2A使伺服电机的主轴转动，再经过行星轮的减速，行星架和丝杠一块旋转带动螺母转换成空心顶杆的直线运动，太阳轮和行星轮均采用圆柱齿轮，效率较高，带动各种螺杆旋转。
采用滚珠丝杠螺母传动，滚珠丝杠效率高，直流无刷电机后面带制动器，通过控制器控制伺服电机启动和制动器锁制时间实现可靠锁制，滚珠丝杠螺母传动效率90%左右。轴承采用深沟球轴承和推力轴承结合，可承载较大轴向力。经过测试，伺服电机+控制器效率90%，行星减速器效率95%，滚珠丝杠螺母效率90%,总的传动效率76%左右，相比现有技术中的电动缸，传动效率大大提高，节能效果明显。
本发明的外筒体采用左筒体和右筒体螺纹连接的方式，方便组装且可靠性好。左筒体内安装控制器、制动器和伺服电机，右筒体内安装行星减速器、丝杆、螺母、导杆、球轴承、推力轴承和空心顶杆。
丝杆右端设置的滑套或轴承，确保丝杆右端在旋转过程中的同轴度。密封圈起到防止灰尘进入到右筒体内影响丝杆的精密传动。
综上所述，本发明原理科学、结构紧凑，在传动效率高的同时可实现自锁，可以承载较大的轴向力，传动效率大大提高。
附图说明
图1是本发明的结构示意图；
图2是图1中A处的放大图。
具体实施方式
如图1和图2所示，本发明的一种新型电动缸，包括外筒体，外筒体内自左向右依次设有控制器1、制动器2、伺服电机3、减速器4和丝杆5，伺服电机3的主轴右端通过减速器4与丝杆5左端传动连接，制动器2与伺服电机3的主轴左端连接，控制器1通过控制线分别与伺服电机3和制动器2连接，丝杆5上螺纹连接有螺母6，丝杆5外部同轴线设有空心顶杆7，空心顶杆7右端穿过外筒体右端口，丝杆5右端与空心顶杆7内壁转动且滑动连接，外筒体内部设有用于限定螺母6转动的导向结构。
外筒体包括同轴线设置的左筒体8和右筒体9，左筒体8右端与右筒体9左端螺纹紧固连接，左筒体8左端固定设有左连接环10，空心顶杆7右端固定设有右连接环11。
导向结构为在空心顶杆7外部设有平行于丝杆5的导杆21，螺母6上开设有沿导杆21滑动的导孔。
减速器4为行星减速器4，行星减速器4包括太阳轮12、行星架13、内齿圈14和多个行星轮15，太阳轮12同轴线安装在伺服电机3的主轴上，内齿圈同轴线安装在右筒体9内壁，行星轮15分别与太阳轮12和内齿圈14啮合，行星轮15的中心轴右端与行星架13右侧连接，行星架13右侧与丝杆5左端同轴线固定连接。
丝杆5左端部通过两个轴承与右筒体9内壁转动连接，两个轴承分别为球轴承16和推力轴承17，球轴承16位于推力轴承17左侧。
右筒体9右端设有端盖18，端盖18内圈设有与空心顶杆7外圆滑动密封配合的密封圈19。
丝杆5右端部设有滑套或轴承20，滑套或轴承20的外圈与空心顶杆7内壁滑动配合。
本发明的工作原理为：伺服电机3的主轴驱动太阳轮12旋转，太阳轮12驱动多个行星轮15在内齿圈14内部转动，行星架13也随着行星轮15转动，行星架13驱动丝杆5转动，丝杆5上螺纹连接的螺母6沿导杆21左右移动，与螺母6右侧固定连接的空心顶杆7在右筒体9内伸出或缩回，从而实现电动缸的直线运行。
本发明的电动缸是将伺服电机3与丝杠一体化设计结合到一块的模块化产品，利用伺服电机3最佳优点-精确转速控制，精确转数控制，精确扭矩控制转变成-精确速度控制，精确位置控制，精确推力控制；从而实现高精度直线运动。外部供电24V 2A使伺服电机3的主轴转动，再经过行星轮15的减速，行星架13和丝杠一块旋转带动螺母6转换成空心顶杆7的直线运动，太阳轮12和行星轮15均采用圆柱齿轮，效率较高，带动各种螺杆旋转。
采用滚珠丝杠螺母6传动，滚珠丝杠效率高，直流无刷电机后面带制动器2，通过控制器1控制伺服电机3启动和制动器2锁制时间实现可靠锁制，滚珠丝杠螺母6传动效率90%左右。轴承采用深沟球轴承16和推力轴承17结合，可承载较大轴向力。经过测试，伺服电机3+控制器1效率90%，行星减速器4效率95%，滚珠丝杠螺母6效率90%,总的传动效率76%左右，相比现有技术中的电动缸，传动效率大大提高，节能效果明显。
本发明的外筒体采用左筒体8和右筒体9螺纹连接的方式，方便组装且可靠性好。左筒体8内安装控制器1、制动器2和伺服电机3，右筒体9内安装行星减速器4、丝杆5、螺母6、导杆21、球轴承16、推力轴承17和空心顶杆7。
丝杆5右端设置的滑套或轴承20，确保丝杆5右端在旋转过程中的同轴度。密封圈19起到防止灰尘进入到右筒体9内影响丝杆5的精密传动。
本实施例并非对本发明的形状、材料、结构等作任何形式上的限制，凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均属于本发明技术方案的保护范围。

Claims (7)

1.一种新型电动缸，其特征在于：包括外筒体，外筒体内自左向右依次设有控制器、制动器、伺服电机、减速器和丝杆，伺服电机的主轴右端通过减速器与丝杆左端传动连接，制动器与伺服电机的主轴左端连接，控制器通过控制线分别与伺服电机和制动器连接，丝杆上螺纹连接有螺母，丝杆外部同轴线设有空心顶杆，空心顶杆右端穿过外筒体右端口，丝杆右端与空心顶杆内壁转动且滑动连接，外筒体内部设有用于限定螺母转动的导向结构。
2.根据权利要求1所述的一种新型电动缸，其特征在于：外筒体包括同轴线设置的左筒体和右筒体，左筒体右端与右筒体左端螺纹紧固连接，左筒体左端固定设有左连接环，空心顶杆右端固定设有右连接环。
3.根据权利要求1或2所述的一种新型电动缸，其特征在于：导向结构为在空心顶杆外部设有平行于丝杆的导杆，螺母上开设有沿导杆滑动的导孔。
4.根据权利要求2所述的一种新型电动缸，其特征在于：减速器为行星减速器，行星减速器包括太阳轮、行星架、内齿圈和多个行星轮，太阳轮同轴线安装在伺服电机的主轴上，内齿圈同轴线安装在右筒体内壁，行星轮分别与太阳轮和内齿圈啮合，行星轮的中心轴右端与行星架右侧连接，行星架右侧与丝杆左端同轴线固定连接。
5.根据权利要求2所述的一种新型电动缸，其特征在于：丝杆左端部通过两个轴承与右筒体内壁转动连接，两个轴承分别为球轴承和推力轴承，球轴承位于推力轴承左侧。
6.根据权利要求2所述的一种新型电动缸，其特征在于：右筒体右端设有端盖，端盖内圈设有与空心顶杆外圆滑动密封配合的密封圈。
7.根据权利要求2所述的一种新型电动缸，其特征在于：丝杆右端部设有滑套或轴承，滑套或轴承的外圈与空心顶杆内壁滑动配合。
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