CN117856523B - Compact integrated telescopic rotary electric cylinder - Google Patents
Compact integrated telescopic rotary electric cylinder Download PDFInfo
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- CN117856523B CN117856523B CN202410257086.XA CN202410257086A CN117856523B CN 117856523 B CN117856523 B CN 117856523B CN 202410257086 A CN202410257086 A CN 202410257086A CN 117856523 B CN117856523 B CN 117856523B
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Abstract
A compact integrated telescopic rotary electric cylinder comprises a cylinder body part, a first motor assembly, a motor second assembly, a reverse planetary roller screw pair assembly and a ball spline pair assembly; according to the invention, the two frameless torque motors are coaxially arranged to drive the long nut and the spline shaft respectively, all components are arranged in the electric cylinder, so that the axial size is reduced to the greatest extent, the radial size is also not large, the electric cylinder is simple and compact in structure, the installation requirement in a narrow space is met, and the requirement on high precision is met; the invention adopts the reverse planetary roller screw pair to improve the load force and rigidity, has stable power transmission, small heating value and long service life, and the low friction loss of the ball spline pair during axial movement is beneficial to improving the overall efficiency.
Description
Technical Field
The invention belongs to the field of rotary electric cylinders, and particularly relates to a compact integrated telescopic rotary electric cylinder.
Background
The electric cylinder is a modularized product designed by integrating the servo motor and the screw rod, converts the rotary motion of the servo motor into linear motion, and realizes the accurate control of the position, the speed and the thrust of the output shaft of the electric cylinder according to the characteristic that the servo motor can be accurately controlled, thereby being a product of high-precision linear motion.
The existing telescopic rotary electric cylinder adopts a ball screw pair, an external motor drives a screw shaft to rotate and is converted into linear motion of a piston rod, another motor is arranged on the side face of the cylinder body to drive a spline shaft and a spline nut to rotate, and a turntable with an internal gear at the top end of the piston rod is driven to rotate through a gear on one side of the spline nut.
The existing telescopic rotary electric cylinder adopts the arrangement of double cylinders, a main cylinder body drives a telescopic rotary shaft, an auxiliary cylinder body outputs linear motion, an auxiliary cylinder body shaft is connected to the main cylinder body shaft through a connecting plate, and the main cylinder body shaft can rotate and linearly move.
The existing telescopic rotary electric cylinder has larger axial or transverse size, has complex overall structure and is difficult to meet the installation requirement when the space size is limited.
Disclosure of Invention
The invention aims to solve the problems of the existing telescopic rotary electric cylinder and provides a compact integrated telescopic rotary electric cylinder.
A compact integrated telescopic rotary electric cylinder comprises a cylinder body part, a first motor assembly, a motor second assembly, a reverse planetary roller screw pair assembly and a ball spline pair assembly;
the cylinder body part comprises a middle cylinder body, a front end cover, a rear end cover, a first bearing, a second bearing, a third bearing and a fourth bearing;
The first motor assembly comprises a first frameless torque motor stator, a first frameless torque motor rotor, a first annular magnetic encoder stator, a first annular magnetic encoder rotor and a first stator clamping ring;
The second motor assembly comprises a second frameless torque motor stator, a second frameless torque motor rotor, a second annular magnetic encoder stator, a second annular magnetic encoder rotor and a second stator clamping ring;
the reverse planetary roller screw pair assembly comprises a hollow screw, rollers, a retainer, a first retainer ring, a long nut and a shaft sleeve;
The ball spline pair assembly comprises a ball spline shaft, a spline housing, a ball spline nut in the spline housing and a second retainer ring;
The front end cover is connected with the middle cylinder body through four screws, the rear end cover is connected with the middle cylinder body through four screws, and a flange is arranged on the connecting side of the front end cover and the rear end cover; the front end cover and the rear end cover are connected with the middle cylinder body in an embedded way, so that the coaxiality of the front end cover and the rear end cover with the middle cylinder body is ensured, and the middle cylinder body is provided with radial holes;
The outer walls of the first bearing, the second bearing, the third bearing and the fourth bearing are connected with the inner wall of the middle cylinder body part in a matched manner, the first bearing and the second bearing are symmetrically arranged at two ends of the spline housing, the inner wall is connected with the outer walls of the two ends of the spline housing in a matched manner, and the third bearing and the fourth bearing are symmetrically arranged at two ends of the long nut for supporting and positioning;
The first frameless torque motor stator is fixed inside the front end of the middle cylinder body through screws and a first stator clamping ring, the inner wall of the first frameless torque motor rotor is fixed with the outer wall of the middle part of the spline housing through structural adhesive, the first annular magnetic encoder stator is arranged outside the front end cover through screws, and the first annular magnetic encoder rotor is fixedly connected with the spline housing through a set screw;
the second frameless torque motor stator is fixed inside the rear end of the middle cylinder body through a screw and a second stator clamping ring, the inner wall of the second frameless torque motor rotor is fixed with the outer wall of the middle part of the long nut through structural adhesive, the second annular magnetic encoder stator is fixedly arranged outside the rear end cover through a screw, and the second annular magnetic encoder rotor is fixedly connected with the outer wall of the shaft sleeve through a set screw;
The inner wall of the hollow screw is fixedly connected with the outer wall of one end of the ball spline shaft, two ends of the hollow screw are respectively provided with a retainer, two ends of a roller are respectively connected to the two retainers, a first check ring is fixedly arranged on the outer wall of the hollow screw and is used for fixing the retainers, and threads on the roller are respectively matched with the internal threads of the long nut and the external threads of the hollow screw;
The inner wall of the shaft sleeve is connected with the outer wall of one end of the long nut in a matched manner, the outer wall of the shaft sleeve is connected with the inner wall of a fourth bearing arranged in the rear end cover in a matched manner, the shaft sleeve is fixedly arranged on the long nut to rotate together, and the shaft sleeve is supported and positioned by the third bearing and the fourth bearing;
the outer wall of the ball spline shaft is connected with the inner wall of the ball spline nut in a sliding and penetrating way,
The ball spline nut is fixedly adhered in the spline housing by a second retainer ring.
The first bearing, the second bearing and the fourth bearing are single-row angular contact ball bearings.
The third bearing is a double-row angular contact ball bearing.
The working principle and the working process of the invention are as follows:
the first frameless torque motor stator and the first frameless torque motor rotor form a first frameless torque motor; the second frameless torque motor stator and the second frameless torque motor rotor form a second frameless torque motor.
The first annular magnetic encoder stator and the first annular magnetic encoder rotor form a first annular magnetic encoder; second annular magnetic encoder stator a second annular magnetic encoder rotor constitutes a second annular magnetic encoder.
When the invention is used, the second frameless torque motor drives the long nut to rotate, the second annular magnetic encoder is used for feeding back the angle, the angular speed and the angular acceleration of the motor, the first frameless torque motor drives the spline housing to rotate and can drive the spline shaft to rotate, and the first annular magnetic encoder is used for feeding back the angle, the angular speed and the angular acceleration of the motor; when the invention is required to output linear motion, the first frameless torque motor is enabled, the control rotation angle is zero, the second frameless torque motor rotates and is converted into linear motion of a spline shaft (501) through motion conversion of a reverse planetary roller screw pair assembly, when the invention is required to output rotary motion, the first frameless torque motor rotates, the second frameless torque motor and the first frameless torque motor are controlled to synchronously move, and when the invention is required to output linear and rotary mixed motion, the first frameless torque motor and the second frameless torque motor respectively rotate at a certain angular speed according to a motion conversion relation; the spline housing and the shaft sleeve limit the front and rear limit positions of the invention respectively.
The invention has the beneficial effects that:
1. According to the invention, the two frameless torque motors are coaxially arranged to drive the long nut and the spline shaft respectively, all the components are arranged inside the electric cylinder, so that the axial size is reduced to the greatest extent, and the radial size is also not large, the electric cylinder is simple and compact in structure, the installation requirement in a narrow space is met, and the requirement for high precision is met.
2. The invention adopts the reverse planetary roller screw pair to improve the load force and rigidity, has stable power transmission, small heating value and long service life, and the low friction loss of the ball spline pair during axial movement is beneficial to improving the overall efficiency.
Drawings
Fig. 1 is a cross-sectional view of an embodiment of the present invention.
Fig. 2 is a mating axial view of a spline shaft and spline female of an embodiment of the present invention.
Detailed Description
Referring to fig. 1 and 2, an embodiment of the present invention is shown.
A compact integrated telescopic rotary electric cylinder comprises a cylinder body part 1, a first motor assembly 2, a motor second assembly 3, a reverse type planetary roller screw pair assembly 4 and a ball spline pair assembly 5;
the cylinder part 1 comprises a middle cylinder 101, a front end cover 102, a rear end cover 103, a first bearing 104, a second bearing 105, a third bearing 106 and a fourth bearing 107;
The first motor assembly 2 comprises a first frameless torque motor stator 201, a first frameless torque motor rotor 202, a first annular magnetic encoder stator 203, a first annular magnetic encoder rotor 204, and a first stator clamping ring 205;
The second motor assembly 3 comprises a second frameless torque motor stator 301, a second frameless torque motor rotor 302, a second annular magnetic encoder stator 303, a second annular magnetic encoder rotor 304, and a second stator clamping ring 305;
the reverse planetary roller screw assembly 4 comprises a hollow screw 401, rollers 402, a retainer 403, a first retainer ring 404, a long nut 405 and a shaft sleeve 406;
The ball spline pair assembly 5 comprises a ball spline shaft 501, a spline housing 502, a ball spline nut 503 and a second retainer ring 504 in the spline housing 502;
The front end cover 102 is connected with the middle cylinder body 101 through four screws, the rear end cover 103 is connected with the middle cylinder body 101 through four screws, and a flange is arranged on the connecting side of the front end cover 102 and the rear end cover 103;
The outer walls of the first bearing 104, the second bearing 105, the third bearing 106 and the fourth bearing 107 are connected with part of the inner wall of the middle cylinder body 101 in a matched manner, the first bearing 104 and the second bearing 105 are symmetrically arranged at two ends of the spline housing 502, the inner wall is connected with the outer walls of the two ends of the spline housing 502 in a matched manner, and the third bearing 106 and the fourth bearing 107 are symmetrically arranged at two ends of the long nut 502 for supporting and positioning;
The first frameless torque motor stator 201 is fixed inside the front end of the middle cylinder body 101 through screws and a first stator clamping ring 205, the inner wall of the first frameless torque motor rotor 202 is fixed with the outer wall of the middle part of the spline housing 502 through structural adhesive, the first annular magnetic encoder stator 203 is arranged outside the front end cover 102 through screws, and the first annular magnetic encoder rotor 204 is fixedly connected with the spline housing 502 through set screws; the first annular magnetic encoder is configured to act as feedback for the first rimless torque motor.
The second frameless torque motor stator 301 is fixed inside the rear end of the middle cylinder 101 through screws and a second stator clamping ring 305, the inner wall of the second frameless torque motor rotor 302 is fixed with the outer wall of the middle part of the long nut 405 through structural adhesive, the second annular magnetic encoder stator 303 is fixedly arranged outside the rear end cover 103 through screws, and the second annular magnetic encoder rotor 304 is fixedly connected with the outer wall of the shaft sleeve 406 through a set screw; the second annular magnetic encoder is used as feedback of the second frameless torque motor.
The inner wall of the hollow screw 401 is fixedly connected with the outer wall of one end of the ball spline shaft 501, two ends of the hollow screw 401 are respectively provided with a retainer 403, two ends of a roller 402 are respectively connected to the two retainers 403, a first retainer ring 404 is fixedly arranged on the outer wall of the hollow screw 401, the retainers 403 are fixed, and threads on the roller 402 are respectively matched with internal threads of a long nut 405 and external threads of the hollow screw 401;
The inner wall of the shaft sleeve 406 is in fit connection with the outer wall of one end of the long nut 405, the outer wall of the shaft sleeve 406 is in fit connection with the inner wall of the fourth bearing 107 arranged in the rear end cover 103, the shaft sleeve 406 is fixedly arranged on the long nut 405 to rotate together, and is supported and positioned by the third bearing 106 and the fourth bearing 107; the axial relative position and radial clearance between the second frameless torque motor rotor 302 and the second frameless torque motor stator 301 need to be ensured, the relative position and radial clearance between the second annular magnetic encoder stator 303 and the second annular magnetic encoder rotor 304 need to be ensured, and the second enables the frameless torque motor and the second annular magnetic encoder to work normally, and the long nut 405 is driven to rotate by the second frameless torque motor.
The outer wall of the ball spline shaft 501 is connected with the inner wall of the ball spline nut 503 in a sliding and penetrating way,
The ball spline mother 503 is adhered and fixed in the spline housing 502 by a second retainer ring 504; the spline housing 502 is driven to rotate by the first rimless torque motor, and the spline housing 502 is supported and positioned by the first bearing 104 and the second bearing 105, so that the axial relative position and the radial clearance between the first rimless torque motor rotor 202 and the first rimless torque motor stator 201 are ensured, and the relative position and the radial clearance between the first annular magnetic encoder stator 203 and the first annular magnetic encoder rotor 204 are ensured, so that the first rimless torque motor and the first annular magnetic encoder can work normally.
The first bearing 104, the second bearing 105 and the fourth bearing 107 are single-row angular contact ball bearings; the third bearing 106 is a double-row angular contact ball bearing.
The working principle and working process of the embodiment are as follows:
When the embodiment is used, the second frameless torque motor drives the long nut 405 to rotate, the second annular magnetic encoder is used for feeding back the angle, the angular speed and the angular acceleration of the motor, the first frameless torque motor drives the spline housing 502 to rotate and can drive the spline shaft 501 to rotate, and the first annular magnetic encoder is used for feeding back the angle, the angular speed and the angular acceleration of the motor; when the output linear motion of the invention is required, the first frameless torque motor is enabled, the control rotation angle is zero, the second frameless torque motor rotates and is converted into the linear motion of a spline shaft (501) through the motion conversion of the reverse planetary roller screw assembly 4, when the output rotary motion of the invention is required, the first frameless torque motor rotates, the second frameless torque motor and the first frameless torque motor are controlled to synchronously move, and when the output linear and rotary mixed motion of the invention is required, the first frameless torque motor and the second frameless torque motor rotate respectively at a certain angular speed according to the motion conversion relation; spline housing 502 and bushing 406 limit the front and rear limit positions of the present invention, respectively.
Claims (3)
1. The utility model provides a flexible rotatory electronic jar of compact integral type, includes cylinder body part (1), first motor assembly (2), second motor assembly (3), reverse formula planet roller screw pair subassembly (4), ball spline pair subassembly (5), its characterized in that:
the cylinder body part (1) comprises an intermediate cylinder body (101), a front end cover (102), a rear end cover (103), a first bearing (104), a second bearing (105), a third bearing (106) and a fourth bearing (107);
the first motor assembly (2) comprises a first frameless torque motor stator (201), a first frameless torque motor rotor (202), a first annular magnetic encoder stator (203), a first annular magnetic encoder rotor (204) and a first stator clamping ring (205);
The second motor assembly (3) comprises a second frameless torque motor stator (301), a second frameless torque motor rotor (302), a second annular magnetic encoder stator (303), a second annular magnetic encoder rotor (304) and a second stator clamping ring (305);
The reverse planetary roller screw pair assembly (4) comprises a hollow screw (401), rollers (402), a retainer (403), a first retainer ring (404), a long nut (405) and a shaft sleeve (406);
The ball spline pair assembly (5) comprises a ball spline shaft (501), a spline housing (502), a ball spline nut (503) in the spline housing (502) and a second retainer ring (504);
the front end cover (102) is connected with the middle cylinder body (101) through four screws, the rear end cover (103) is connected with the middle cylinder body (101) through four screws, and a flange is arranged on the connecting side of the front end cover (102) and the rear end cover (103); the front end cover (102) and the rear end cover (103) are connected with the middle cylinder body (101) in an embedded mode, coaxiality with the middle cylinder body (101) is guaranteed, and a radial hole is formed in the middle cylinder body (101);
The outer walls of the first bearing (104), the second bearing (105), the third bearing (106) and the fourth bearing (107) are connected with part of the inner wall of the middle cylinder body (101) in a matched mode, the first bearing (104) and the second bearing (105) are symmetrically arranged at two ends of the spline housing (502), the inner wall is connected with the outer walls of the two ends of the spline housing (502) in a matched mode, and the third bearing (106) and the fourth bearing (107) are symmetrically arranged at two ends of the long nut (405) to support and position;
The first frameless torque motor stator (201) is fixed inside the front end of the middle cylinder body (101) through screws and a first stator clamping ring (205), the inner wall of the first frameless torque motor rotor (202) is fixed with the middle outer wall of the spline housing (502) through structural adhesive, the first annular magnetic encoder stator (203) is arranged outside the front end cover (102) through screws, and the first annular magnetic encoder rotor (204) is fixedly connected with the spline housing (502) through set screws;
The second frameless torque motor stator (301) is fixed inside the rear end of the middle cylinder body (101) through screws and a second stator clamping ring (305), the inner wall of the second frameless torque motor rotor (302) is fixed with the outer wall of the middle part of the long nut (405) through structural adhesive, the second annular magnetic encoder stator (303) is fixedly arranged outside the rear end cover (103) through screws, and the second annular magnetic encoder rotor (304) is fixedly connected with the outer wall of the shaft sleeve (406) through a set screw;
The inner wall of the hollow screw (401) is fixedly connected with the outer wall of one end of the ball spline shaft (501), two ends of the hollow screw (401) are respectively provided with a retainer (403), two ends of a roller (402) are respectively connected to the two retainers (403), a first retainer ring (404) is fixedly arranged on the outer wall of the hollow screw (401) to fix the retainers (403), and threads on the roller (402) are respectively matched with internal threads of the long nut (405) and external threads of the hollow screw (401);
The inner wall of the shaft sleeve (406) is connected with the outer wall of one end of the long nut (405) in a matching way, the outer wall of the shaft sleeve (406) is connected with the inner wall of the fourth bearing (107) arranged in the rear end cover (103) in a matching way, the shaft sleeve (406) is fixedly arranged on the long nut (405) to rotate together, and is supported and positioned by the third bearing (106) and the fourth bearing (107);
The outer wall of the ball spline shaft (501) is connected with the inner wall of the ball spline nut (503) in a sliding and penetrating way,
The ball spline female (503) is adhered and fixed in the spline housing (502) by the second retainer ring (504), and the spline housing (502) is supported and positioned by the first bearing (104) and the second bearing (105);
The outer wall of the ball spline shaft (501) is connected with the inner wall of the ball spline nut (503) in a sliding and penetrating way,
The ball spline female (503) is fixedly adhered in the spline housing (502) by a second retainer ring (504).
2. A compact integrated telescopic rotary electric cylinder as recited in claim 1, wherein: the first bearing (104), the second bearing (105) and the fourth bearing (107) are single-row angular contact ball bearings.
3. A compact integrated telescopic rotary electric cylinder as recited in claim 1, wherein: the third bearing (106) is a double-row angular contact ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410257086.XA CN117856523B (en) | 2024-03-07 | 2024-03-07 | Compact integrated telescopic rotary electric cylinder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410257086.XA CN117856523B (en) | 2024-03-07 | 2024-03-07 | Compact integrated telescopic rotary electric cylinder |
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| CN117856523A CN117856523A (en) | 2024-04-09 |
| CN117856523B true CN117856523B (en) | 2024-05-07 |
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| CN117856523A (en) | 2024-04-09 |
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