CN114744820A - Underwater electric linear cylinder mechanism based on encoder position feedback - Google Patents
Underwater electric linear cylinder mechanism based on encoder position feedback Download PDFInfo
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- CN114744820A CN114744820A CN202210473577.9A CN202210473577A CN114744820A CN 114744820 A CN114744820 A CN 114744820A CN 202210473577 A CN202210473577 A CN 202210473577A CN 114744820 A CN114744820 A CN 114744820A
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- encoder
- cylinder body
- motor reduction
- push rod
- driver
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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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- 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
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- 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
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
- H02K5/225—Terminal boxes or connection arrangements
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to an underwater electric linear cylinder mechanism based on encoder position feedback.A screw rod is rotationally arranged in a cylinder body, a motor reduction box assembly and a driver are respectively and fixedly connected in the cylinder body, the input end of the motor reduction box assembly is connected with the driver, the output end of the motor reduction box assembly is connected with the screw rod, a screw rod nut is in threaded connection with the screw rod, one end of a push rod is connected with the screw rod nut, and the other end of the push rod penetrates out of the cylinder body; the input end of the encoder is connected with the driver, the stator of the encoder is fixedly connected with the motor shell of the motor reduction gearbox assembly, and the rotor of the encoder is fixedly connected with the motor shaft of the motor reduction gearbox assembly; the driver is respectively connected with the motor reduction gearbox assembly, the encoder and the electric wires in the oil-filled wiring connector, and in the motion process of the push rod, the encoder can feed back the rotating speed of the motor and the position of the push rod in real time to realize high-precision double-closed-loop control of the position and the speed of the linear cylinder. The invention has the advantages of compact structure, high integration level, high control precision, low failure rate, full-sea-depth operation of oil-filled compensation and the like.
Description
Technical Field
The invention belongs to the field of robot engineering, in particular to an underwater electric linear cylinder mechanism based on encoder position feedback, which can be applied to the development of underwater equipment such as an underwater electric manipulator and the like.
Background
The underwater driving mechanism is required to have the characteristics of small volume and weight, low power consumption, high control precision, high integration level, capability of realizing full-sea-depth operation through a pressure compensator and the like. Therefore, the development of the underwater electric linear cylinder based on the encoder position feedback, which has reliable performance and compact structure, is of great significance.
Disclosure of Invention
In order to meet the requirements of special deep sea environment on an underwater driving device, the invention aims to provide an underwater electric linear cylinder mechanism based on encoder position feedback.
The purpose of the invention is realized by the following technical scheme:
the motor speed reduction box assembly comprises a cylinder body, and a motor speed reduction box assembly, a driver, a screw nut, a screw rod screw, a push rod and an encoder which are respectively arranged in the cylinder body, wherein the screw rod screw is rotatably arranged in the cylinder body; one end of the encoder is connected with the driver, the other end of the encoder is fixedly connected with the motor reduction gearbox assembly, the motor reduction gearbox assembly drives the push rod to output linear motion through a screw pair formed by a screw rod and a screw rod nut, and the push rod detects the motion speed and position through the encoder in the motion process.
Wherein: and the cylinder body is provided with an oil-filled wiring joint for wiring and filling compensation oil into the cylinder body.
And a power line and a signal line of the driver are connected with an electric wire in the oil-filled wiring joint, and the electric wire in the oil-filled wiring joint outputs a coder feedback signal and inputs a power supply and a control signal required by the driver.
And a plurality of oil through holes for the compensation oil to pass through are uniformly distributed at one end of the push rod along the circumferential direction, and a guide belt is arranged between the outer side surface of one end of the push rod and the inner wall of the cylinder body.
The lead screw is rotatably installed in the cylinder body through a thrust ball bearing, a fixing ring is installed on the lead screw, and the fixing ring is abutted against the thrust ball bearing and is used for pre-tightening and positioning the lead screw.
One end of the encoder is electrically connected with the driver, the encoder rotor at the other end is fixedly connected with a motor shaft of the motor reduction box assembly, and the encoder stator is fixedly connected with a motor shell of the motor reduction box assembly.
And a sealing plug for filling and exhausting or discharging oil is arranged on the cylinder body.
And the cylinder body is provided with a sacrificial anode.
The cylinder body internally mounted has slide bearing, lead screw rod and slide bearing normal running fit.
The cylinder body comprises a rear cover, a motor reduction gearbox assembly fixing piece, a lead screw fixing piece, a push rod sliding cabin and a front end cover which are sequentially and hermetically connected, the motor reduction gearbox assembly is accommodated in the rear cover and fixedly connected to the motor reduction gearbox assembly fixing piece, and a sacrificial anode and an oil-filled routing joint are arranged on the outer surface of the motor reduction gearbox assembly fixing piece; the screw rod is rotatably connected with an inner hole of the screw rod fixing piece through a thrust ball bearing, a sliding bearing is installed in the inner hole of the screw rod fixing piece, and the screw rod is in rotating fit with the sliding bearing; the other end of the push rod penetrates out of the front end cover and is in sealing connection with the front end cover through a dynamic seal; and the rear cover is respectively provided with a shaft sleeve and a sealing plug.
The invention has the advantages and positive effects that:
1. the performance is stable: the invention adopts the encoder, the driver and the motor reducer box component to be sealed in the oil-filled shell, thereby avoiding the influence of the external environment on the electric components and having higher reliability.
2. Compact, high integration: the motor reduction box assembly, the encoder, the trapezoidal screw pair and the driver are integrated in the cylinder body and are connected with the outside only through the oil-filled wiring connector, high-precision speed and position control can be realized, and the structure is more compact.
3. The control precision is high: the invention adopts a multi-turn absolute encoder and adopts one encoder to realize high-precision double closed-loop control of speed and position.
4. The cylinder body is provided with the oil-filled wiring joint, so that compensation oil can be introduced, pressure compensation is implemented, and normal work in an underwater high-pressure environment is ensured.
5. The debugging and the maintenance are convenient: the electric components are arranged at the rear end of the cylinder body, so that the electric cylinder is convenient to maintain and debug.
Drawings
FIG. 1 is a sectional view showing the internal structure of the present invention;
FIG. 2 is a schematic view of the external structure of the present invention;
wherein: 1 is the back lid, 2 is motor reduction gear box subassembly, 3 is the driver, 4 is motor reduction gear box subassembly mounting, 5 is the lead screw mounting, 6 is the push rod sliding chamber, 7 is trapezoidal screw nut, 8 is trapezoidal lead screw rod, 9 is the push rod, 10 is the front end housing, 11 is the movable seal circle, 12 is static seal circle, 13 is thrust ball bearing, 14 is slide bearing, 15 is solid fixed ring, 16 is the encoder, 16A is the encoder rotor, 16B is the encoder stator, 17 is the axle sleeve, 18 is sealed stifled, 19 is sacrificial anode, 20 is the oil charge line connector, 21 is the oil through hole, 22 is the guidance tape.
Wherein:
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises a cylinder body, and a motor reduction box assembly 2, a driver 3, a screw nut, a screw rod screw, a push rod 9, a thrust ball bearing 13, a sliding bearing 14, a fixing ring 15 and an encoder 16 which are respectively arranged in the cylinder body, wherein the cylinder body of the embodiment comprises a rear cover 1, a motor reduction box assembly fixing member 4, a screw rod fixing member 5, a push rod sliding cabin 6 and a front end cover 10 which are sequentially connected in a sealing manner, and a static sealing ring 12 is arranged between two adjacent members and is isolated from the outside in a sealing manner. The outer surface of the motor reduction gearbox component fixing part 4 is provided with a sacrificial anode 19 and an oil-filled wiring joint 20 for wiring and filling compensation oil into the cylinder body, the end part of the rear cover 1 far away from the motor reduction gearbox component fixing part 4 is respectively provided with a shaft sleeve 17 and a sealing plug 18, and the sealing plug 18 is used for oil filling, air exhaust or oil discharge of the cylinder body.
The motor reduction box subassembly 2 holding of this embodiment is in back lid 1, and the rigid coupling is on motor reduction box subassembly mounting 4, motor reduction box subassembly 2's input links to each other with driver 3, the lead screw rod passes through thrust ball bearing 13 and is connected with the hole rotation of lead screw mounting 5, and with install the 14 normal running fit of slide bearing on lead screw mounting 5, the lead screw rod passes through the key-type connection transmission with motor reduction box subassembly 2's output shaft, install solid fixed ring 15 on the lead screw rod, gu fixed ring 15 and thrust ball bearing 13 butt, pretension location is carried out to the lead screw rod. The screw nut is in threaded connection with the screw rod and forms a screw pair, one end of the push rod 9 is in fastening connection with the screw nut, the other end of the push rod 9 penetrates out of the front end cover 10 and outputs linear motion, and the other end of the push rod 9 is in sealing connection with the front end cover 10 through the dynamic seal ring 11. The lead screw of the embodiment is a trapezoidal lead screw 8, and the lead screw nut is a trapezoidal lead screw nut 7. In this embodiment, a plurality of oil through holes 21 for passing compensation oil are uniformly distributed at one end of the push rod 9 along the circumferential direction, and a guide belt 22 is installed between the outer side surface of one end of the push rod 9 and the inner wall of the push rod sliding chamber 6.
Driver 3 and the encoder 16 of this embodiment all hold in back lid 1, and 3 rigid couplings of driver are on motor reduction box subassembly mounting 4, and the one end and the 3 electrical connection of driver, the velocity of motion and the position signal of output push rod 9 of encoder 16, and the encoder rotor 16A of the encoder 16 other end links firmly with the motor shaft of motor reduction box subassembly 2, and encoder stator 16B links firmly with the motor casing of motor reduction box subassembly 2. The power line and the signal line of the driver 3 are connected with the electric wire in the oil-filled wire connector 20, and the electric wire in the oil-filled wire connector 20 outputs the feedback signal (i.e. the speed and position signal of the movement of the push rod 9) of the encoder 16, and inputs the power supply and the control signal required by the driver 3.
The motor reduction box component 2 is a commercially available product which is purchased from MAXON of Switzerland and with the model number of 579165+ 223086; drive 3 is a commercially available product, available from ELMO, Inc. of Israel, model number G-TW1R 50; the encoder 16 is a commercially available product, available from POSITAL corporation, Germany, under the model number KDCD-BC 02B-1816.
The working principle of the invention is as follows:
the power line and the signal line of the driver 3 are connected with the electric wire in the oil-filled wiring connector 20, and the driver 3 drives the motor reduction gearbox component 2 after receiving the signal. Trapezoidal lead screw 8 and trapezoidal lead screw nut 7 that the cylinder body is built-in form trapezoidal lead screw pair, and trapezoidal lead screw pair turns into the linear motion of trapezoidal lead screw nut 7 with the rotary motion of motor reduction box subassembly 2, and trapezoidal lead screw nut 7 drives push rod 9 and is linear motion, and push rod 9 outputs linear displacement. The encoder 16 is arranged at the rear end of the motor reduction gearbox component 2, the encoder 16 is a multi-turn absolute encoder, the movement speed and the absolute position of the push rod 9 can be fed back, and the position and speed double-closed-loop control of the linear cylinder to output linear movement is realized. Meanwhile, the pressure compensation device has a pressure compensation function, compensation oil enters the cylinder body through the oil-filled wiring connector 20, flows into the push rod sliding cabin 6 through the motor reduction box fixing part 4 and the lead screw fixing part 5 in sequence, and then flows forwards through the oil through hole 21 on the trapezoidal lead screw nut 7 to perform pressure compensation on the push rod 9, so that the normal work of the pressure compensation device in an underwater high-pressure environment is ensured. In addition, the invention is also provided with a sacrificial anode 19, which is suitable for working in the full-sea deep environment for a long time.
The invention has the advantages of compact structure, stable performance, high control precision, convenient debugging and the like. The invention adopts the built-in driver, the encoder and the motor reduction box component, thereby avoiding the driver and the encoder from being influenced by the external environment; the driver, the encoder and the motor reduction box are arranged at the rear end, so that the maintenance is convenient; meanwhile, the encoder can feed back high-precision speed and position information.
Claims (10)
1. The utility model provides an electronic straight line jar mechanism under water based on encoder position feedback which characterized in that: the cylinder comprises a cylinder body, and a motor reduction box assembly (2), a driver (3), a screw nut, a screw rod screw, a push rod (9) and an encoder (16) which are respectively arranged in the cylinder body, wherein the screw rod screw is rotatably arranged in the cylinder body, the motor reduction box assembly (2) and the driver (3) are respectively and fixedly connected in the cylinder body, the input end of the motor reduction box assembly (2) is connected with the driver (3), the output end of the motor reduction box assembly (2) is connected with the screw rod screw, the screw nut is in threaded connection with the screw rod screw, one end of the push rod (9) is connected with the screw nut, and the other end of the push rod (9) penetrates out of the cylinder body; the one end and the driver (3) of encoder (16) are connected, the other end and the motor reduction gear box subassembly (2) of encoder (16) link firmly, motor reduction gear box subassembly (2) are through the vice drive push rod of lead screw (9) output linear motion that lead screw rod and screw nut formed, push rod (9) are passed through in the motion process encoder (16) detect velocity of motion and position.
2. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: and an oil-filled wiring joint (20) for wiring and filling compensation oil into the cylinder body is arranged on the cylinder body.
3. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 2, characterized in that: and a power line and a signal line of the driver (3) are connected with an electric wire in the oil-filled wiring joint (20), and the electric wire in the oil-filled wiring joint (20) outputs a feedback signal of the encoder (16) and inputs a power supply and a control signal required by the driver (3).
4. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: one end of the push rod (9) is evenly distributed with a plurality of oil through holes (101) for the compensation oil to pass through along the circumferential direction, and a guide belt (22) is installed between the outer side surface of one end of the push rod (9) and the inner wall of the cylinder body.
5. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: the lead screw is rotatably installed in the cylinder body through a thrust ball bearing (13), a fixing ring (15) is installed on the lead screw, and the fixing ring (15) is abutted against the thrust ball bearing (13) and is used for pre-tightening and positioning the lead screw.
6. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: one end of the encoder (16) is electrically connected with the driver (3), an encoder rotor (16A) at the other end is fixedly connected with a motor shaft of the motor reduction box assembly (2), and an encoder stator (16B) is fixedly connected with a motor shell of the motor reduction box assembly (2).
7. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: and a sealing plug (18) for oil filling, air exhausting or oil discharging is arranged on the cylinder body.
8. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: the cylinder body is provided with a sacrificial anode (19).
9. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: the cylinder body internally mounted has slide bearing (14), lead screw and slide bearing (14) normal running fit.
10. The underwater electric linear cylinder mechanism based on encoder position feedback of claim 1, characterized in that: the cylinder body comprises a rear cover (1), a motor reduction box component fixing part (4), a lead screw fixing part (5), a push rod sliding cabin (6) and a front end cover (10) which are sequentially and hermetically connected, the motor reduction box component (2) is accommodated in the rear cover (1) and fixedly connected to the motor reduction box component fixing part (4), and a sacrificial anode (19) and an oil-filled wiring connector (20) are installed on the outer surface of the motor reduction box component fixing part (4); the screw rod is rotatably connected with an inner hole of the screw rod fixing part (5) through a thrust ball bearing (13), a sliding bearing (14) is installed in the inner hole of the screw rod fixing part (5), and the screw rod is in rotating fit with the sliding bearing (14); the other end of the push rod (9) penetrates out of the front end cover (10) and is in sealing connection with the front end cover (10) through a dynamic seal (11); and the rear cover (1) is respectively provided with a shaft sleeve (17) and a sealing plug (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210473577.9A CN114744820A (en) | 2022-04-29 | 2022-04-29 | Underwater electric linear cylinder mechanism based on encoder position feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210473577.9A CN114744820A (en) | 2022-04-29 | 2022-04-29 | Underwater electric linear cylinder mechanism based on encoder position feedback |
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| Publication Number | Publication Date |
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| CN114744820A true CN114744820A (en) | 2022-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210473577.9A Pending CN114744820A (en) | 2022-04-29 | 2022-04-29 | Underwater electric linear cylinder mechanism based on encoder position feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115892414A (en) * | 2023-01-30 | 2023-04-04 | 中国科学院宁波材料技术与工程研究所 | Linear driving mechanism |
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2022
- 2022-04-29 CN CN202210473577.9A patent/CN114744820A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115892414A (en) * | 2023-01-30 | 2023-04-04 | 中国科学院宁波材料技术与工程研究所 | Linear driving mechanism |
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