CN114069960A - Servo driving system for controlling large-torque output with high precision - Google Patents
Servo driving system for controlling large-torque output with high precision Download PDFInfo
- Publication number
- CN114069960A CN114069960A CN202210052478.3A CN202210052478A CN114069960A CN 114069960 A CN114069960 A CN 114069960A CN 202210052478 A CN202210052478 A CN 202210052478A CN 114069960 A CN114069960 A CN 114069960A
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- China
- Prior art keywords
- motor
- brake
- shaft
- high precision
- flange
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
-
- 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
- H02K7/106—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric brakes
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- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
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- 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
- F16H2001/328—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 comprising balancing means
Abstract
The invention discloses a servo driving system for controlling large torque output with high precision, which is characterized in that: the motor comprises a motor component, a speed reducing structure arranged at one end of the motor component, a braking device arranged at the other end of the motor component and a grating component arranged on the motor; the motor assembly comprises a motor base (3), a cooling jacket (4) arranged on the motor base (3), a motor shaft (13) arranged inside the cooling jacket (4) and a motor flange plate (15) arranged on the motor shaft (13) and connected with a braking device. The speed reducing structure is applied to the servo driving system to meet the driving requirements of high precision and large torque, and meanwhile, the integrated type integrated driving system is integrated, so that the purposes of volume optimization, structure simplification and light weight can be achieved, and the installation and the application are convenient.
Description
Technical Field
The invention relates to the technical field of arrangement or installation of vehicle power or transmission devices, in particular to a servo driving system for controlling large-torque output with high precision.
Background
Vehicles, aerospace equipment, numerical control machines, semiconductor equipment, industrial robots, high-end medical instruments and other equipment need to use power devices or transmission devices to realize power transmission and motion control, and a high-precision servo driving system is the key for realizing power transmission and motion control. The general servo driving system mainly comprises a speed reducer, a motor and motor corollary equipment, and the servo driving system with high bearing torque, high transmission precision and high control precision has a complex structure and a huge volume. In the existing products at home and abroad, a high-precision large-torque servo driving system can be realized, the structures of a speed reducer and a driving motor are relatively complex, the overall structural form of the system cannot be considered for realizing the performance of the servo driving system, and the servo driving system is not applicable to the products under the condition of being limited by the installation space.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a servo driving system for controlling large-torque output with high precision, and the driving requirements of high precision and large torque are realized by applying a speed reducing structure on the servo driving system; meanwhile, the invention adopts integrated design, thus achieving the purposes of volume optimization, structure simplification and weight reduction and being convenient for installation and application.
The purpose of the invention is realized by the following technical scheme:
a servo driving system for controlling large torque output with high precision comprises a motor component, a speed reducing structure arranged at one end of the motor component, a braking device arranged at the other end of the motor component and a grating component arranged on the motor; the motor assembly comprises a motor base, a cooling jacket arranged on the motor base and connected with the braking device, a motor shaft arranged inside the cooling jacket and a motor flange plate arranged on the motor shaft and matched with the braking device, the speed reducing structure comprises a pin gear shell connected with the motor base, an eccentric shaft arranged inside the pin gear shell, a cycloid gear set arranged on the eccentric shaft and matched with the pin gear shell, a power output part connected on the cycloid gear set and a power input shaft connected on the eccentric shaft and connected with the motor shaft; the grating assembly comprises a circular grating arranged on a motor shaft, a mounting bracket connected to the circular grating and a reading head arranged on the mounting bracket and mounted on the braking device; the eccentric shaft, the power input shaft, the motor flange plate and the braking device are hollow and mutually communicated.
Preferably, the braking device comprises a brake with one end matched with the motor flange, a brake flange arranged at the other end of the brake, and a brake mounting cylinder with one end connected with the brake flange and the other end connected with the cooling jacket; the reading head is installed inside the brake installation cylinder, and the brake flange are hollow inside and are communicated with the motor flange plate.
More preferably, the cycloid gear set comprises three cycloid gears which are uniformly distributed on the eccentric shaft, and the power output part is connected to the three cycloid gears through pin shafts.
In order to ensure the stability of the integrated design adopted by the invention, the brake mounting cylinder is also connected with the motor shaft through a bearing.
In order to facilitate the power line of the motor, the power line of the grating assembly and the power line of the brake to pass through, a brake mounting cylinder viewing window is arranged on the brake mounting cylinder.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the speed reducing structure is applied to the servo driving system to meet the driving requirements of high precision and large torque, and meanwhile, the motor assembly, the speed reducing structure and the braking device are integrally designed, so that the purposes of volume optimization, structure simplification and weight reduction can be achieved, and the installation and the application are convenient; the motor assembly is also provided with a high-precision grating system which can be used for controlling the precise braking of the motor and can realize the high-precision control of the rotation angle and the braking of the transmission chain.
(2) The brake device comprises the brake, a brake flange and a brake mounting cylinder, so that the brake can be arranged in a closed structure formed by combining the brake flange, the brake mounting cylinder and the motor, and the brake can be integrated on the motor, thereby realizing the integrated design of the brake device; meanwhile, the brake and the brake flange are hollow and are communicated with the motor flange plate, so that the integrated structure is convenient to install and apply to equipment such as vehicles, aerospace equipment, numerical control machines, semiconductor equipment, industrial robots and high-end medical appliances.
(3) The cycloid gear set comprises three cycloid gears which are uniformly distributed on the eccentric shaft, so that the output power can achieve better static balance, and the bearing capacity can be improved.
(4) The brake mounting cylinder is also connected with the motor shaft through the bearing, so that the stability of dynamic and static connection between the braking device and the motor shaft can be ensured, and the stability of the integrated design of the invention is realized.
(5) The brake mounting cylinder is provided with the brake mounting cylinder view window, so that a reading head power line can conveniently penetrate out of a motor power line and a brake power line.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a sectional view taken along line A-A of FIG. 1;
FIG. 3 is a perspective view of an embodiment of the present invention;
wherein, the names corresponding to the reference numbers in the drawings are:
the device comprises a pin gear shell, a cycloidal gear, a motor base, a cooling sleeve, a brake mounting cylinder, a bearing, a brake mounting cylinder viewing window, a brake flange, an eccentric shaft, a power output part, a pin shaft, a power input shaft, a motor shaft, a circular grating, a motor flange, a brake, a reading head and a reading head, wherein the pin gear shell is 1, the cycloidal gear is 2, the motor base is 3, the cooling sleeve is 4, the brake mounting cylinder is 5, the bearing is 6, the brake mounting cylinder viewing window is 7, the brake flange is 8, the eccentric shaft is 9, the power output part is 10, the pin shaft is 11, the power input shaft is 12, the motor shaft is 13, the circular grating is 14, the motor flange is 15, the brake is 16, the reading head is 17, and the mounting support is 18.
Detailed Description
The present invention will be described in further detail with reference to examples.
Examples
As shown in fig. 1 to 3, the servo drive system for controlling high torque output with high precision of the present invention includes a motor assembly, a deceleration structure disposed at one end of the motor assembly, a brake device disposed at the other end of the motor assembly, and a grating assembly disposed on the motor. The speed reducing structure is applied to the servo driving system to meet the driving requirements of high precision and large torque, and meanwhile, the motor assembly, the speed reducing structure and the braking device are integrally designed, so that the aims of volume optimization, structure simplification and light weight can be fulfilled, and the installation and the application are convenient. The motor assembly is also provided with a high-precision grating system which can be used for controlling the precise braking of the motor and can realize the high-precision control of the rotation angle and the braking of the transmission chain.
Specifically, as shown in fig. 1, the motor assembly in this embodiment may adopt an existing motor structure to adapt to a corresponding structural design of the present invention, and the motor assembly includes a motor base 3, a cooling jacket 4, a motor shaft 13 and a motor flange 15, where the motor shaft 13 is disposed inside the cooling jacket 4. The motor shaft 13 is connected with a power assembly of the speed reducing mechanism and used for reducing the speed of the motor shaft 13 through the speed reducing mechanism and then outputting the reduced speed. The motor flange 15 is made of a material having a magnetic adsorption function and matched with the braking device, so that the motor shaft 13 can be braked by the braking device.
The speed reduction structure in this embodiment may adopt a cycloidal pin gear speed reducer structure to implement a corresponding structural design suitable for the present invention, and the speed reduction structure includes a pin gear housing 1 connected to a motor base 3, an eccentric shaft 9, a cycloidal gear set, a power output member 10, and a power input shaft 12, as shown in fig. 1. The eccentric shaft 9 is arranged inside the pin gear housing 1, the eccentric shaft 9 is connected with a power input shaft 12, and the power input shaft 12 is connected with a motor shaft 13, so that the power generated by the rotation of the motor shaft 13 can be transmitted to the eccentric shaft 9. The cycloid gear set is arranged on the eccentric shaft 9 and matched with the pin gear housing 1, and the power output part 10 is connected to the cycloid gear set, so that the rotating speed of a motor shaft 13 input by the power input shaft 12 is reduced and then output.
The cycloid gear set of the invention comprises three cycloid gears 2 which are uniformly distributed on an eccentric shaft 9, and a power output part 10 is connected on the three cycloid gears 2 through a pin shaft 11, as shown in figure 1. The invention adopts the arrangement of the three cycloid gears 2, so that the output power can achieve better static balance, and meanwhile, the bearing capacity can be improved.
The grating assembly includes a circular grating 14, a mounting bracket 18, and a readhead 17, as shown in FIG. 2. The circular grating 14 is disposed on the motor shaft 13 and can rotate along with the motor shaft 13, so that data information such as the rotating speed and the number of revolutions of the motor shaft 13 can be collected. The mounting bracket 18 is connected with the circular grating 14 in a matching way, and the reading head 17 is used for collecting the rotation data of the circular grating 14.
The brake device comprises a brake 16, a brake flange 8 and a brake mounting cylinder 5, wherein one end of the brake 16 is matched with the motor flange 15, and the other end of the brake is connected with the brake flange 8; one end of the brake installation cylinder 5 is connected with the brake flange 8, the other end of the brake installation cylinder is connected with the cooling jacket 4, and as shown in fig. 1, the reading head 17 is installed inside the brake installation cylinder 5. The brake 16 of the invention is arranged in a closed structure formed by combining the brake flange 8, the brake mounting cylinder 5 and the motor, so that the brake 16 is integrated on the motor, and the integrated design of the invention can be realized. Meanwhile, the eccentric shaft 9, the power input shaft 12, the motor shaft 13, the motor flange 15, the brake 16 and the brake flange 8 are hollow inside and are communicated with each other, so that the integrated structure is convenient to install and apply to vehicles, aerospace equipment, numerical control machines, semiconductor equipment, industrial robots, high-end medical appliances and other equipment.
The brake mounting cylinder 5 is also connected with the motor shaft 13 through the bearing 6, so that the stability of dynamic and static connection between the braking device and the motor shaft 13 can be ensured, and the stability of the integrated design of the invention can be ensured. The brake installation barrel 5 is further provided with a brake installation barrel view window 7, as shown in fig. 3, a power line of the reading head 17, a power line of the motor and a power line of the brake 16 can conveniently penetrate through the brake installation barrel view window 7. When braking, the brake 16 is absorbed on the motor flange 15 after being electrified, so that the motor shaft 13 can be stopped, and the purpose of braking is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A servo drive system for controlling large torque output with high precision is characterized in that: the motor comprises a motor component, a speed reducing structure arranged at one end of the motor component, a braking device arranged at the other end of the motor component and a grating component arranged on the motor; the motor assembly comprises a motor base (3), a cooling jacket (4) arranged on the motor base (3) and connected with a braking device, a motor shaft (13) arranged inside the cooling jacket (4) and a motor flange (15) arranged on the motor shaft (13) and matched with the braking device, and the speed reducing structure comprises a pin gear shell (1) connected with the motor base (3), an eccentric shaft (9) arranged inside the pin gear shell (1), a cycloid gear set arranged on the eccentric shaft (9) and matched with the pin gear shell (1), a power output part (10) connected on the cycloid gear set and a power input shaft (12) connected on the eccentric shaft (9) and connected with the motor shaft (13); the grating assembly comprises a circular grating (14) arranged on a motor shaft (13), a mounting bracket (18) connected to the circular grating (14) and a reading head (17) arranged on the mounting bracket (18) and mounted on a braking device; the eccentric shaft (9), the power input shaft (12), the motor shaft (13), the motor flange plate (15) and the brake device are hollow and mutually communicated.
2. A high precision control high torque output servo drive system as claimed in claim 1 wherein: the brake device comprises a brake (16) with one end matched with the motor flange plate (15), a brake flange (8) arranged at the other end of the brake (16), and a brake mounting cylinder (5) with one end connected with the brake flange (8) and the other end connected with the cooling jacket (4); the reading head (17) is arranged inside the brake mounting cylinder (5), and the brake (16) and the brake flange (8) are hollow and are communicated with the motor flange plate (15).
3. A high precision control high torque output servo drive system as claimed in claim 2 wherein: the cycloid gear set comprises three cycloid gears (2) which are uniformly distributed on the eccentric shaft (9), and the power output part (10) is connected to the three cycloid gears (2) through a pin shaft (11).
4. A high precision control high torque output servo drive system as claimed in claim 3 wherein: the brake mounting cylinder (5) is also connected with a motor shaft (13) through a bearing (6).
5. A high precision control high torque output servo drive system as claimed in claim 4 wherein: and a brake mounting cylinder viewing window (7) is arranged on the brake mounting cylinder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052478.3A CN114069960A (en) | 2022-01-18 | 2022-01-18 | Servo driving system for controlling large-torque output with high precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052478.3A CN114069960A (en) | 2022-01-18 | 2022-01-18 | Servo driving system for controlling large-torque output with high precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114069960A true CN114069960A (en) | 2022-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210052478.3A Pending CN114069960A (en) | 2022-01-18 | 2022-01-18 | Servo driving system for controlling large-torque output with high precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114069960A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101615824A (en) * | 2008-06-16 | 2009-12-30 | 费尔菲尔德制造公司 | Gear reduction unit electric motor assembly with inner brake |
| CN103244362A (en) * | 2012-02-09 | 2013-08-14 | 吴小杰 | Wind power constant-braking permanent-magnet yawing-variable-pitch cycloid reduction gearbox |
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN108662089A (en) * | 2018-06-26 | 2018-10-16 | 深圳市零差云控科技有限公司 | The robot deceleration joint of servo deceleration machine and application the servo deceleration machine |
| CN112025335A (en) * | 2020-08-10 | 2020-12-04 | 北京海普瑞森超精密技术有限公司 | Ultra-precise hydraulic servo turntable |
-
2022
- 2022-01-18 CN CN202210052478.3A patent/CN114069960A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101615824A (en) * | 2008-06-16 | 2009-12-30 | 费尔菲尔德制造公司 | Gear reduction unit electric motor assembly with inner brake |
| CN103244362A (en) * | 2012-02-09 | 2013-08-14 | 吴小杰 | Wind power constant-braking permanent-magnet yawing-variable-pitch cycloid reduction gearbox |
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN108662089A (en) * | 2018-06-26 | 2018-10-16 | 深圳市零差云控科技有限公司 | The robot deceleration joint of servo deceleration machine and application the servo deceleration machine |
| CN112025335A (en) * | 2020-08-10 | 2020-12-04 | 北京海普瑞森超精密技术有限公司 | Ultra-precise hydraulic servo turntable |
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Application publication date: 20220218 |