CN117728632A - Servo motor and robot - Google Patents
Servo motor and robot Download PDFInfo
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- CN117728632A CN117728632A CN202311781528.2A CN202311781528A CN117728632A CN 117728632 A CN117728632 A CN 117728632A CN 202311781528 A CN202311781528 A CN 202311781528A CN 117728632 A CN117728632 A CN 117728632A
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- 238000009413 insulation Methods 0.000 description 7
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- 238000006073 displacement reaction Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 229910052802 copper Inorganic materials 0.000 description 1
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Abstract
The invention provides a servo motor and a robot. The servo motor includes: a housing; the main shaft is arranged in the shell; a hub fixed on the main shaft, one end of which is provided with a permanent magnet; the axial load adjusting device is at least partially arranged in the shell and can adjust the axial stress of the main shaft, the axial load adjusting device comprises an axial adjusting coil, a magnetic conduction plate and a control unit, the magnetic conduction plate is arranged on one side of the axial load adjusting device, which faces the permanent magnet, the permanent magnet is arranged on one side of the hub, which faces the magnetic conduction plate, the control unit is electrically connected with the axial adjusting coil and can adjust the electrifying state of the axial adjusting coil according to the inclination state of the main shaft, and when the axial adjusting coil is electrified, the direction of the magnetic acting force between the axial adjusting coil and the permanent magnet is opposite to the direction of the magnetic acting force between the permanent magnet and the magnetic conduction plate. According to the servo motor provided by the invention, the adjustment of the rotor axial force in different directions can be applied, the rotor axial force in different directions is effectively reduced, and the service life of the motor is prolonged.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a servo motor and a robot.
Background
The axial force generated by the motor itself is mainly generated by the dead weight of the motor, and the dead weight of the rotor generates axial force for the vertically installed motor or the motor in an inclined state in the moving process of the robot joint, and the axial force component is generated by electromagnetic force in the motor operation process due to the reasons of a chute and the like.
The axial force of the motor is closely related to the service life of the motor bearing, and the reasonable design ensures that the axial stress resultant force of the motor is minimum, so that the service life and the reliability of the motor can be effectively improved. The axial stress condition of the motor can be effectively improved by using a thrust bearing and using a chute to offset part of the dead weight of the rotor for the vertical installation motor.
For the motor installed on the robot joint, the motor continuously changes the inclination angle and even turns back and forth in the movement process of the robot, and at the moment, the axial force generated by the dead weight of the rotor is in the continuously changing direction relative to the bearing, so that the adjustment of the axial force of the rotor in different directions is difficult to realize by using a conventional method.
Disclosure of Invention
The invention mainly aims to provide a servo motor and a robot, which are applicable to adjustment of rotor axial forces in different directions, effectively reduce the rotor axial forces in different directions and prolong the service life of the motor.
In order to achieve the above object, according to an aspect of the present invention, there is provided a servo motor comprising:
a housing;
the main shaft is rotatably arranged in the shell;
the hub is fixedly arranged on the main shaft, and one end of the hub is provided with a permanent magnet;
the axial load adjusting device is at least partially arranged in the shell and can adjust the axial stress of the main shaft, the axial load adjusting device comprises an axial adjusting coil, a magnetic conduction plate and a control unit, the magnetic conduction plate is arranged on one side of the axial load adjusting device, which faces the permanent magnet, the permanent magnet is arranged on one side of the hub, which faces the magnetic conduction plate, the control unit is electrically connected with the axial adjusting coil and can adjust the electrifying state of the axial adjusting coil according to the inclination state of the main shaft, and when the axial adjusting coil is electrified, the direction of the magnetic acting force between the axial adjusting coil and the permanent magnet is opposite to the direction of the magnetic acting force between the permanent magnet and the magnetic conduction plate.
Further, the axial load adjusting device further comprises a middle end cover assembly, the middle end cover assembly is fixedly arranged in the shell, a wire slot is formed in one side, facing the magnetic conduction plate, of the middle end cover assembly, the axial adjusting coil is arranged in the wire slot, and the magnetic conduction plate is arranged on the middle end cover assembly.
Further, the control unit is configured to switch the communication state between the control power supply and the axial adjusting coil, when the main shaft is in the first inclined state, the direction of the magnetic acting force between the permanent magnet and the magnetic conducting plate is opposite to the self-gravity direction of the main shaft, the control unit cuts off the communication between the control power supply and the axial adjusting coil, when the main shaft is in the second inclined state, the direction of the magnetic acting force between the permanent magnet and the magnetic conducting plate is identical to the self-gravity direction of the main shaft, and the control unit communicates the control power supply and the axial adjusting coil.
Further, the control unit comprises an insulating part, a conductive part and a connecting part, wherein the insulating part is made of insulating materials, the conductive part comprises a conductive piece and an insulating piece, adjacent conductive pieces are connected in an insulating way through the insulating piece, the connecting part is made of conductive materials, the connecting part can displace between the insulating part and the conductive part, when the connecting part is positioned on the insulating part, the control unit cuts off the communication between a control power supply and the axial adjusting coil, and when the connecting part is positioned on the conductive part, the control unit communicates the control power supply and the axial adjusting coil.
Further, the insulating part, the conductive part and the connecting part form a sliding block structure, the connecting part can slide to the insulating part or the conductive part, when the connecting part slides to the insulating part, the control unit cuts off the communication between the control power supply and the axial adjusting coil, and when the connecting part slides to the conductive part, the control unit communicates the control power supply and the axial adjusting coil.
Further, the insulating part comprises an insulating support and four insulating guide posts arranged on the insulating support, the conductive piece comprises a first conductive post, a second conductive post, a third conductive post and a fourth conductive post, the first conductive post, the second conductive post, the third conductive post and the fourth conductive post are arranged at intervals through the insulating piece, the first conductive post, the second conductive post, the third conductive post and the fourth conductive post are connected with the four insulating guide posts in a one-to-one correspondence manner, the first conductive post is configured to be connected with the positive pole of a control power supply, the second conductive post is configured to be connected with the negative pole of the control power supply, the third conductive post is configured to be connected with the first end of an axial adjusting coil, the fourth conductive post is configured to be connected with the second end of the axial adjusting coil, a first sliding groove is formed between the first conductive post and the third conductive post and between the two insulating guide posts correspondingly connected, a second sliding groove is formed between the second conductive post and the fourth conductive post and between the two insulating guide posts correspondingly connected together, the connecting part comprises a first connecting block and a second connecting block, the first connecting block and the second connecting block are arranged in the first connecting block and the second connecting block.
Further, the first connecting block and the second connecting block are arranged in a sliding manner along the axial direction of the main shaft.
Further, the cross section of the first conductive post is completely consistent with the cross section of the corresponding insulating guide post, the cross section of the second conductive post is completely consistent with the cross section of the corresponding insulating guide post, the cross section of the third conductive post is completely consistent with the cross section of the corresponding insulating guide post, and the cross section of the fourth conductive post is completely consistent with the cross section of the corresponding insulating guide post.
Further, the insulating guide post has a circular or rectangular cross section.
Further, the two sliding sides of the first connecting block are respectively provided with a first chute, the first conductive column and the third conductive column are at least partially arranged in the first chute, and the outer surfaces of the first conductive column and the third conductive column are matched with the inner surface of the first chute in shape and form surface contact; and/or the two sliding sides of the second connecting block are respectively provided with a second chute, the second conductive column and the fourth conductive column are at least partially arranged in the second chute, and the outer surfaces of the second conductive column and the fourth conductive column are matched with the inner surface of the second chute in shape and form surface contact.
Further, the axial load adjusting device further comprises a coil outlet box, the coil outlet box is fixedly arranged on the outer peripheral wall of the shell, and the control unit is arranged in the coil outlet box.
Further, the hub is connected with the main shaft through square keys, check rings are arranged at two ends of the hub and fixed on the main shaft, and the axial position of the hub is limited.
Further, the permanent magnet is annular, an annular groove is formed in the periphery of the hub, the permanent magnet is arranged in the annular groove, and the permanent magnet extends out of the end face of the hub towards one end of the magnetic guide plate along the axial direction of the main shaft.
Further, the magnetic conduction plate is made of soft magnetic materials.
Further, the control unit includes a gyro sensor and a control circuit, the control circuit is configured to be connected between the axial adjustment coil and the control power supply, the gyro sensor is configured to detect a tilting direction of the spindle and transmit the detected tilting direction of the spindle to the control circuit, and the control circuit controls on-off between the axial adjustment coil and the control power supply according to the tilting direction of the spindle.
According to another aspect of the present invention, there is provided a robot including a servo motor, which is the servo motor described above.
By applying the technical scheme of the invention, the servo motor comprises: a housing; the main shaft is rotatably arranged in the shell; the hub is fixedly arranged on the main shaft, and one end of the hub is provided with a permanent magnet; the axial load adjusting device is at least partially arranged in the shell and can adjust the axial stress of the main shaft, the axial load adjusting device comprises an axial adjusting coil, a magnetic conduction plate and a control unit, the magnetic conduction plate is arranged on one side of the axial load adjusting device, which faces the permanent magnet, the permanent magnet is arranged on one side of the hub, which faces the magnetic conduction plate, the control unit is electrically connected with the axial adjusting coil and can adjust the electrifying state of the axial adjusting coil according to the inclination state of the main shaft, and when the axial adjusting coil is electrified, the direction of the magnetic acting force between the axial adjusting coil and the permanent magnet is opposite to the direction of the magnetic acting force between the permanent magnet and the magnetic conduction plate. When the main shaft is inclined and the direction of the self-weight of the main shaft is the same as the direction of the magnetic acting force between the permanent magnet and the magnetic conduction plate, the axial regulating coil is in an electrified state, the magnetic acting force between the permanent magnet and the magnetic conduction plate and the self-weight of at least part of the main shaft are offset by the magnetic acting force between the permanent magnet and the magnetic conduction plate, and the axial acting force of the motor is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 shows a schematic structural diagram of a servo motor according to an embodiment of the present invention;
FIG. 2 shows a first isometric view of a control unit of a servo motor of an embodiment of the invention;
FIG. 3 shows a second axial block diagram of a control unit of a servo motor of an embodiment of the present invention; and
fig. 4 shows a schematic structural diagram of a control unit of a servo motor according to an embodiment of the present invention.
Wherein the above figures include the following reference numerals:
1. a housing; 2. a main shaft; 3. a hub; 4. a permanent magnet; 5. an axial adjustment coil; 6. a magnetic conductive plate; 7. a control unit; 8. a middle end cap assembly; 9. a wire slot; 10. an insulating part; 11. a conductive portion; 12. a connection part; 13. a conductive member; 14. an insulating member; 15. an insulating support; 16. an insulating guide post; 17. a first conductive pillar; 18. a second conductive post; 19. a third conductive post; 20. a fourth conductive post; 21. a first connection block; 22. a second connection block; 23. a coil outlet box; 24. a square key; 25. a retainer ring; 26. an annular groove; 27. a first chute; 28. a second chute; 29. a first guide groove; 30. and a second guide groove.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1 to 4 in combination, according to an embodiment of the present invention, a servo motor includes: a housing 1; a main shaft 2 rotatably provided in the housing 1; the hub 3 is fixedly arranged on the main shaft 2, and one end of the hub 3 is provided with a permanent magnet 4; the axial load adjusting device is at least partially installed in the shell 1 and can adjust the axial stress of the main shaft 2, the axial load adjusting device comprises an axial adjusting coil 5, a magnetic conduction plate 6 and a control unit 7, the magnetic conduction plate 6 is arranged on one side of the axial load adjusting device facing the permanent magnet 4, the permanent magnet 4 is arranged on one side of the hub 3 facing the magnetic conduction plate 6, the control unit 7 is electrically connected with the axial adjusting coil 5 and can adjust the electrifying state of the axial adjusting coil 5 according to the inclined state of the main shaft 2, and when the axial adjusting coil 5 is electrified, the magnetic acting force direction between the axial adjusting coil 5 and the permanent magnet 4 is opposite to the magnetic acting force direction between the permanent magnet 4 and the magnetic conduction plate 6.
When the servo motor works, when the spindle 2 is inclined and the direction of the self-weight force of the spindle 2 is opposite to the direction of the magnetic acting force between the permanent magnet 4 and the magnetic conduction plate 6, the axial adjusting coil 5 can be in a power-off state through the control unit 7, no magnetic acting force is provided, the self-weight force of at least part of the spindle 2 is offset by the magnetic acting force between the permanent magnet 4 and the magnetic conduction plate 6, the axial stress of the motor is reduced, when the spindle 2 is inclined and the direction of the self-weight force of the spindle 2 is identical to the direction of the magnetic acting force between the permanent magnet 4 and the magnetic conduction plate 6, the axial adjusting coil 5 can be in an electrified state through the control unit 7, the magnetic acting force between the electrified axial adjusting coil 5 and the permanent magnet 4 is offset by the magnetic acting force between the permanent magnet 4 and at least part of the self-weight force of the spindle 2, the axial stress of the motor is reduced, and the axial stress of the motor can be self-adaptively adjusted according to the direction of the inclination of the spindle 2 when the spindle 2 is inclined in the working process, the axial stress resultant force of the motor is minimized, the axial stress of the motor in different inclination directions of the motor is effectively improved, and the service life of the motor is prolonged.
In one embodiment, the axial load adjusting device further comprises a middle end cover assembly 8, the middle end cover assembly 8 is fixedly arranged in the casing 1, a wire slot 9 is formed in one side, facing the magnetic conducting plate 6, of the middle end cover assembly 8, the axial adjusting coil 5 is arranged in the wire slot 9, and the magnetic conducting plate 6 is arranged on the middle end cover assembly 8.
In this embodiment, the middle end cover assembly 8 needs to cooperate with the axial adjusting coil 5, and generates magnetic force when the axial adjusting coil 5 is powered on, and cooperates with the permanent magnet 4 to form axial magnetic force for adjusting the axial force of the spindle 2, and loses magnetic force when the axial adjusting coil 5 is powered off, so that the axial magnetic force is prevented from being formed between the permanent magnet 4 and the middle end cover assembly. The middle cap assembly 8 is made of a soft magnetic material at least at a portion of the inner peripheral side of the additional axial regulating coil 5 so as to cooperate with the axial regulating coil 5 to generate an axial magnetic force.
In one embodiment, the middle end cover assembly 8 can be in a split structure, the part of the inner ring of the axial adjusting coil 5 is made of soft magnetic materials, and the other part of the inner ring is made of other materials, so that the material cost can be reduced while the axial magnetic force generated by matching with the axial adjusting coil 5 is ensured.
In one embodiment, the control unit 7 is configured to switch the communication state between the control power supply and the axial adjustment coil 5, when the spindle 2 is in the first inclined state, the direction of the magnetic force between the permanent magnet 4 and the magnetic conduction plate 6 is opposite to the self-weight direction of the spindle 2, the control unit 7 cuts off the communication between the control power supply and the axial adjustment coil 5, and when the spindle 2 is in the second inclined state, the direction of the magnetic force between the permanent magnet 4 and the magnetic conduction plate 6 is the same as the self-weight direction of the spindle 2, and the control unit 7 communicates the control power supply and the axial adjustment coil 5.
In this embodiment, the control unit can adjust the communication state of the axial adjusting coil 5 according to the tilting state of the spindle 2, so that the communication state of the axial adjusting coil 5 is matched with the tilting state of the spindle 2, and the axial force generated by the motor is effectively adjusted by combining the magnetic acting force between the permanent magnet 4 and the magnetic conductive plate 6, so that the axial stress of the motor is reduced, and the service life of the motor is prolonged.
The control unit controls the communication state between the power supply and the axial regulating coil 5, and can be controlled by a control signal or by a physical structure.
In one embodiment, the control unit 7 includes an insulating part 10, a conductive part 11 and a connecting part 12, the insulating part 10 is made of insulating materials, the conductive part 11 includes a conductive member 13 and an insulating member 14, adjacent conductive members 13 are connected in an insulating manner through the insulating member 14, the connecting part 12 is made of conductive materials, the connecting part 12 can be displaced between the insulating part 10 and the conductive part 11, when the connecting part 12 is located in the insulating part 10, the control unit 7 cuts off communication between the control power supply and the axial adjustment coil 5, and when the connecting part 12 is located in the conductive part 11, the control unit 7 communicates between the control power supply and the axial adjustment coil 5.
In this embodiment, the connection portion 12 in the control unit 7 is used to switch the states between the adjacent conductive members 13 of the conductive portion 11, and by adjusting the position of the connection portion 12, the two adjacent conductive members 13 located on the same branch can be in a connected state or in a disconnected state, so as to realize on-off adjustment of the circuit between the control power supply and the axial adjustment coil 5. With this structure, it is possible to easily switch the position of the connection portion 12, and to realize switching of the communication state between the conductive members 13 according to the position of the connection portion 12. When the connecting portion 12 is located at the insulating portion 10, since the connecting portion 12 is not located at the conducting portion 11, the conducting pieces 13 of the conducting portion 11 are all in an insulating state, the circuit is not conducted, the axial adjusting coil 5 cannot be electrified, no axial magnetic force is generated, and when the connecting portion 12 is located at the conducting portion 11, since the connecting portion 12 is connected between two adjacent conducting pieces 13 located on the same branch, the two adjacent conducting pieces 13 can be conducted, and then the circuit connected with the axial adjusting coil 5 becomes a passage, so that the axial adjusting coil 5 is electrified, the axial magnetic force is generated, and the adjustment of the axial force of the main shaft 2 is realized.
In one embodiment, the insulating part 10, the conductive part 11 and the connecting part 12 form a slider structure, the connecting part 12 can slide to the insulating part 10 or the conductive part 11, when the connecting part 12 slides to the insulating part 10, the control unit 7 cuts off the communication between the control power supply and the axial adjustment coil 5, and when the connecting part 12 slides to the conductive part 11, the control unit 7 communicates between the control power supply and the axial adjustment coil 5.
In the present embodiment, by setting the insulating portion 10, the conductive portion 11, and the connecting portion 12 to be in a slider structure, the adjustment of the on-off of the circuit between the control power source and the axial adjustment coil 5 can be achieved by adjusting the sliding position of the connecting portion 12. The adjusting mode can realize the adjustment of the circuit on-off between the control power supply and the axial adjusting coil 5 by utilizing the motion of the connecting part 12 caused by the synchronous inclination of the main shaft 2 and the connecting part 12, can realize the automatic adjustment of the sliding position of the connecting part 12 by the inclination state of the motor, has high consistency, does not need to identify the inclination state of the motor specially, does not need to acquire detection signals, can realize the circuit on-off control between the control power supply and the axial adjusting coil 5 by utilizing a mechanical mode, has a simple structure, is convenient to realize, is not influenced by external factors, does not need to control signals, has high reliability and is accurate to control.
In one embodiment, the insulation part 10 includes an insulation support 15 and four insulation guide posts 16 disposed on the insulation support 15, the conductive member 13 includes a first conductive post 17, a second conductive post 18, a third conductive post 19 and a fourth conductive post 20, the first conductive post 17, the second conductive post 18, the third conductive post 19 and the fourth conductive post 20 are disposed at intervals through the insulation member 14, the first conductive post 17, the second conductive post 18, the third conductive post 19 and the fourth conductive post 20 are connected with the four insulation guide posts 16 one by one, the first conductive post 17 is configured to be connected with an anode of a control power supply, the second conductive post 18 is configured to be connected with a cathode of the control power supply, the third conductive post 19 is configured to be connected with a first end of the axial adjustment coil 5, a first sliding chute 27 is formed between the first conductive post 17 and the third conductive post 19 and between the two insulation guide posts 16 correspondingly connected together, the first sliding chute 27 is formed between the second conductive post 18 and the second conductive post 20 and the second sliding block 21 is disposed in the second sliding block 28, the second sliding block 21 is connected with the second sliding block 21 and the second sliding block 22 is disposed in the first sliding block 28.
In this embodiment, the structure after the combination of the insulating portion 10 and the conductive portion 11 is locked on the casing 1 by screws at four corners, where the third conductive post 19 and the fourth conductive post 20 are located below the first conductive post 17 and the second conductive post 18 and are closely attached to the casing 1, the first conductive post 17 and the second conductive post 18 are respectively connected with the positive and negative poles of the control power supply, and power cables are welded on the surfaces of the first conductive post 17 and the second conductive post 18 respectively, so that the connection of the first conductive post 17 and the second conductive post 18 with the control power supply is facilitated, the third conductive post 19 and the fourth conductive post 20 are respectively connected with two ends of the axial adjusting coil 5, the wires of the axial adjusting coil 5 pass through gaps between adjacent guide posts or adjacent conductive posts, are respectively welded on the surfaces of the corresponding conductive posts, and the positions of the wires can be limited between the adjacent guide posts or the conductive posts without connecting blocks in the form of line cards, so as to avoid interference caused by sliding of the first connecting block 21 or the second connecting block 22.
In one embodiment, the first connection block 21 and the second connection block 22 are slidably disposed along the axial direction of the main shaft 2.
In the present embodiment, the sliding directions of the first connection block 21 and the second connection block 22 are consistent with the axial direction of the spindle 2, so that the sliding directions of the first connection block 21 and the second connection block 22 are consistent with the tilting direction of the spindle 2, thereby better adapting to the tilting of the spindle 2, effectively adjusting the axial force generated due to the tilting of the spindle 2, and reducing the axial stress of the motor.
In one embodiment, the cross-section of the first conductive post 17 is fully coincident with the cross-section of its corresponding insulated guide post 16, the cross-section of the second conductive post 18 is fully coincident with the cross-section of its corresponding insulated guide post 16, the cross-section of the third conductive post 19 is fully coincident with the cross-section of its corresponding insulated guide post 16, and the cross-section of the fourth conductive post 20 is fully coincident with the cross-section of its corresponding insulated guide post 16.
In this embodiment, the cross sections of the conductive posts and the corresponding guide posts are completely consistent, and the conductive posts and the corresponding guide posts are fixedly connected after being completely aligned, and the fixing connection mode may specifically be bonding. When the cross sections of the conductive posts are completely consistent with the corresponding guide posts, consistent and smooth surfaces can be formed at the connection positions, so that the connection blocks slide between the insulating part 10 and the conductive part 11 more smoothly, the tilting reaction of the motor is more sensitive, and the control is more accurate.
In one embodiment, each conductive post is a copper post or bar.
In one embodiment, the insulating guide post 16 is circular or rectangular in cross-section.
The cross section of the insulating guide post 16 may be other shapes, such as pentagonal, hexagonal, etc., or a combination of straight and curved lines.
In one embodiment, the two sliding sides of the first connection block 21 are respectively provided with a first guide groove 29, the first conductive post 17 and the third conductive post 19 are at least partially disposed in the first guide groove 29, and the outer surfaces of the first conductive post 17 and the third conductive post 19 are matched with the shape of the inner surface of the first guide groove 29 and form surface contact.
In one embodiment, the two sliding sides of the second connection block 22 are respectively provided with a second guiding groove 30, the second conductive post 18 and the fourth conductive post 20 are at least partially disposed in the second guiding groove 30, and the outer surfaces of the second conductive post 18 and the fourth conductive post 20 are matched with the shape of the inner surface of the second guiding groove 30 and form surface contact.
In this embodiment, the contact between the conductive posts and the corresponding connection blocks is surface contact, so that contact resistance can be reduced, conductive efficiency can be improved, current loss can be reduced, and working efficiency of the control unit 7 and the axial adjustment coil 5 can be improved.
In one embodiment, the permanent magnet 4 has a polarity of N pole toward the shaft extension end side of the motor and a polarity of S pole toward the tail end side of the motor.
When the motor shaft stretches upwards, the first connecting block 21 and the second connecting block 22 slide to the insulating part 10, the axial regulating coil 5 is not electrified, when the motor shaft stretches downwards, the first connecting block 21 and the second connecting block 22 slide to the conducting part 11, the first conducting column 17 and the third conducting column 19 are communicated through the first connecting block 21, the second conducting column 18 and the fourth conducting column 20 are communicated through the second connecting block 22, and the axial regulating coil 5 is electrified to generate a magnetic field. The axial adjusting coil 5 is required to be wound in a winding direction or a placement direction, and when the axial adjusting coil 5 is required to be electrified, the direction of a magnetic field generated by the coil according to a right-hand rule is as follows: the polarity of the side facing the permanent magnet 4 is N pole, and the polarity of the side facing the motor shaft extension is S pole.
When the extending end of the motor shaft is inclined upwards, the stress of the rotor is analyzed. At this time, the axial adjusting coil 5 is not energized, and the rotor receives downward gravity (G) and upward attraction force (F) of the permanent magnet 4 and the magnetic conductive plate 6 2 ) Assuming positive upward direction, the resultant force f=f to which the rotor is subjected 2 G, when the resultant force |F| < G, the axial stress effect of the bearing can be reduced, and 0 < F 2 < 2G. From the formula of the suction force of the permanent magnet 4, F 2 mH, where m is the pole strength; h is the magnetic field strength inversely proportional to the distance L cubic between the permanent magnet 4 and the magnetic conductive plate 6. F can be achieved by reasonably adjusting the control gap L 2 And G, so as to minimize motor axial forces.
When the motor shaft extending end is inclined downwards, the stress of the rotor is analyzed. At this time, the axial adjusting coil 5 is electrified, the axial adjusting coil 5 generates magnetic field and magnetic field of the permanent magnet 4 are like to repel each other, the rotor is subject to downward gravity (G), and the attraction force (F) between the downward permanent magnet 4 and the magnetic conductive plate 6 2 ) The upward repulsive force (F) of the electromagnet against the permanent magnet 4 generated by the energized axial adjustment coil 5 1 ) Assuming positive upward direction, the resultant force f=f to which the rotor is subjected 1 -F 2 -G
From the following componentsψ=in=bs, available +.>
Let F 2 Where F is made to be 1 The total force applied to the rotor at the moment can be effectively reduced by approximately 2G, and the rotor can be realized by adjusting the number of turns (N) of the coil, the current (I) of the coil and the sectional area (S) of the air gap.
In one embodiment, the axial load adjusting device further comprises a coil outlet box 23, the coil outlet box 23 being fixedly arranged at the outer peripheral wall of the housing 1, and the control unit 7 being arranged in the coil outlet box 23.
In this embodiment, by providing the coil outlet box 23, the control unit 7 can be protected conveniently, so as to prevent the problem of aging of the circuit caused by the exposure of the control unit 7, and improve the service life of the control unit 7.
In one embodiment, the hub 3 is connected with the main shaft 2 through square keys 24, two ends of the hub 3 are provided with check rings 25, and the check rings 25 are fixed on the main shaft 2 and define the axial position of the hub 3.
In this embodiment, after the axial adjusting coil 5 is placed in the wire slot 9, the magnetic conductive plate 6 is locked on the middle end cover assembly 8 by three screws, the magnetic conductive plate 6 is used for limiting the displacement of the axial adjusting coil 5, and the magnetic conductive plate 6 is made of soft magnetic material. The hub 3 is fixed on the main shaft 2 through a square key 24, the hub 3 rotates along with the main shaft 2, the axial displacement of the two sides of the hub 3 is limited through a key groove on the main shaft 2 and a retainer ring 25, and the permanent magnet 4 is adhered to one side of the hub 3 facing the axial adjusting coil 5
In one embodiment, the permanent magnet 4 is annular, the outer periphery of the hub 3 is provided with an annular groove 26, the permanent magnet 4 is arranged in the annular groove 26, and the permanent magnet 4 extends out of the end face of the hub 3 toward one end of the magnetic guide plate 6 along the axial direction of the main shaft 2.
In one embodiment, the magnetically permeable plate 6 is made of a soft magnetic material.
In one embodiment, the control unit 7 includes a gyro sensor for detecting the tilting direction of the spindle 2 and transmitting the detected tilting direction of the spindle 2 to a control circuit that controls on/off between the axial adjustment coil 5 and the control power supply according to the tilting direction of the spindle 2, and the control circuit is configured to be connected between the axial adjustment coil 5 and the control power supply.
In this embodiment, by setting the gyro sensor, the tilt state of the motor can be accurately detected, and then the axial adjustment coil 5 can be controlled according to the detected tilt angle of the motor, so as to realize adjustment of the current of the axial adjustment coil 5 and switching of on-off of a circuit.
According to an embodiment of the invention, the robot comprises a servo motor, which is the servo motor described above.
The servo motor is particularly suitable for positions of robot joints and the like, in which the inclined state of the servo motor is frequently replaced.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. A servo motor, comprising:
a housing (1);
a main shaft (2) rotatably provided in the housing (1);
a hub (3) fixedly arranged on the main shaft (2), wherein a permanent magnet (4) is arranged at one end of the hub (3);
the axial load adjusting device is at least partially installed in the shell (1) and can adjust the axial stress of the main shaft (2), the axial load adjusting device comprises an axial adjusting coil (5), a magnetic conduction plate (6) and a control unit (7), the magnetic conduction plate (6) is arranged on one side of the axial load adjusting device, which faces the permanent magnet (4), the permanent magnet (4) is arranged on one side of the hub (3), which faces the magnetic conduction plate (6), the control unit (7) is electrically connected with the axial adjusting coil (5) and can adjust the electrifying state of the axial adjusting coil (5) according to the tilting state of the main shaft (2), and when the axial adjusting coil (5) is electrified, the magnetic acting force direction between the axial adjusting coil (5) and the permanent magnet (4) is opposite to the magnetic acting force direction between the permanent magnet (4) and the magnetic conduction plate (6).
2. The servo motor according to claim 1, wherein the axial load adjusting device further comprises a middle end cover assembly (8), the middle end cover assembly (8) is fixedly arranged in the casing (1), a wire slot (9) is formed in one side, facing the magnetic conductive plate (6), of the middle end cover assembly (8), the axial adjusting coil (5) is arranged in the wire slot (9), and the magnetic conductive plate (6) is arranged on the middle end cover assembly (8).
3. A servo motor according to claim 1, wherein the control unit (7) is configured to switch the communication state of the control power supply and the axial adjustment coil (5), the direction of the magnetic force between the permanent magnet (4) and the magnetic conduction plate (6) being opposite to the direction of the self-weight of the main shaft (2) when the main shaft (2) is in the first inclined state, the control unit (7) shutting off the communication of the control power supply and the axial adjustment coil (5), the direction of the magnetic force between the permanent magnet (4) and the magnetic conduction plate (6) being the same as the direction of the self-weight of the main shaft (2) when the main shaft (2) is in the second inclined state, the control unit (7) communicating the control power supply and the axial adjustment coil (5).
4. A servo motor according to claim 3, wherein the control unit (7) comprises an insulating part (10), a conductive part (11) and a connecting part (12), the insulating part (10) is made of insulating material, the conductive part (11) comprises a conductive piece (13) and an insulating piece (14), adjacent conductive pieces (13) are connected in an insulating way through the insulating piece (14), the connecting part (12) is made of conductive material, the connecting part (12) can be displaced between the insulating part (10) and the conductive part (11), the control unit (7) cuts off the communication between the control power supply and the axial adjusting coil (5) when the connecting part (12) is located at the insulating part (10), and the control unit (7) communicates between the control power supply and the axial adjusting coil (5).
5. The servo motor according to claim 4, wherein the insulating part (10), the conductive part (11) and the connecting part (12) form a slider structure, the connecting part (12) is capable of sliding to the insulating part (10) or the conductive part (11), the control unit (7) cuts off communication between the control power supply and the axial adjustment coil (5) when the connecting part (12) slides to the insulating part (10), and the control unit (7) communicates between the control power supply and the axial adjustment coil (5) when the connecting part (12) slides to the conductive part (11).
6. The servomotor according to claim 5, wherein the insulating part (10) comprises an insulating support (15) and four insulating guide posts (16) arranged on the insulating support (15), the conductive member (13) comprises a first conductive post (17), a second conductive post (18), a third conductive post (19) and a fourth conductive post (20), the first conductive post (17), the second conductive post (18), the third conductive post (19) and the fourth conductive post (20) are arranged at intervals through the insulating member (14), the first conductive post (17), the second conductive post (18), the third conductive post (19) and the fourth conductive post (20) are connected with the four insulating guide posts (16) in a one-to-one correspondence, the first conductive post (17) is configured to be connected with a positive pole of the control power supply, the second conductive post (18) is configured to be connected with a negative pole of the control power supply, the third conductive post (19) is configured to be connected with a second end of the axial regulating coil (5), the first conductive post (19) and the second conductive post (20) are connected with a common end (27) is configured to be connected with the first conductive post (16), the second sliding groove (28) is formed between the second conductive column (18) and the fourth conductive column (20) and between the two insulating guide columns (16) which are correspondingly connected, the connecting portion (12) comprises a first connecting block (21) and a second connecting block (22), the first connecting block (21) is slidably arranged in the first sliding groove (27), and the second connecting block (22) is slidably arranged in the second sliding groove (28).
7. A servomotor according to claim 6, wherein the first connection block (21) and the second connection block (22) are slidably arranged along the axial direction of the main shaft (2).
8. A servo motor according to claim 6, wherein the cross section of the first conductive post (17) is fully congruent with the cross section of its corresponding insulating guide post (16), the cross section of the second conductive post (18) is fully congruent with the cross section of its corresponding insulating guide post (16), the cross section of the third conductive post (19) is fully congruent with the cross section of its corresponding insulating guide post (16), and the cross section of the fourth conductive post (20) is fully congruent with the cross section of its corresponding insulating guide post (16).
9. A servomotor according to claim 8, wherein the insulating guide post (16) is circular or rectangular in cross section.
10. A servomotor according to claim 6, wherein the two sliding sides of the first connection block (21) are respectively provided with a first guide groove (29), the first conductive post (17) and the third conductive post (19) are at least partially arranged in the first guide groove (29), and the outer surfaces of the first conductive post (17) and the third conductive post (19) are adapted to the shape of the inner surface of the first guide groove (29) and form a surface contact; and/or, the two sliding sides of the second connecting block (22) are respectively provided with a second guide groove (30), the second conductive column (18) and the fourth conductive column (20) are at least partially arranged in the second guide grooves (30), and the outer surfaces of the second conductive column (18) and the fourth conductive column (20) are matched with the inner surface shape of the second guide grooves (30) and form surface contact.
11. A servo motor according to any one of claims 1 to 10, wherein the axial load adjustment device further comprises a coil outlet box (23), the coil outlet box (23) being fixedly arranged at the outer circumferential wall of the housing (1), the control unit (7) being arranged within the coil outlet box (23).
12. A servo motor according to any one of claims 1 to 10, characterized in that the hub (3) and the spindle (2) are connected by means of square keys (24), the hub (3) being provided with retaining rings (25) at both ends, the retaining rings (25) being fixed to the spindle (2) and defining the axial position of the hub (3).
13. A servo motor according to any one of claims 1 to 10, wherein the permanent magnet (4) is annular, an annular groove (26) is provided at the outer periphery of the hub (3), the permanent magnet (4) is provided in the annular groove (26), and the permanent magnet (4) extends out of the end face of the hub (3) toward one end of the magnetic conductive plate (6) in the axial direction of the spindle (2).
14. A servo motor according to any one of claims 1 to 10, wherein the magnetically permeable plate (6) is made of a soft magnetic material.
15. A servo motor according to claim 1, wherein the control unit (7) comprises a gyro sensor for detecting a tilting direction of the spindle (2) and transmitting the detected tilting direction of the spindle (2) to a control circuit which controls on/off between the axial adjustment coil (5) and the control power supply in accordance with the tilting direction of the spindle (2), and the control circuit is configured to be connected between the axial adjustment coil (5) and the control power supply.
16. A robot comprising a servomotor, characterized in that the servomotor is the servomotor of any one of claims 1 to 15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311781528.2A CN117728632A (en) | 2023-12-21 | 2023-12-21 | Servo motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311781528.2A CN117728632A (en) | 2023-12-21 | 2023-12-21 | Servo motor and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117728632A true CN117728632A (en) | 2024-03-19 |
Family
ID=90199614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311781528.2A Pending CN117728632A (en) | 2023-12-21 | 2023-12-21 | Servo motor and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117728632A (en) |
-
2023
- 2023-12-21 CN CN202311781528.2A patent/CN117728632A/en active Pending
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