CN202720472U - An integrated electric servo mechanism - Google Patents
An integrated electric servo mechanism Download PDFInfo
- Publication number
- CN202720472U CN202720472U CN 201220341112 CN201220341112U CN202720472U CN 202720472 U CN202720472 U CN 202720472U CN 201220341112 CN201220341112 CN 201220341112 CN 201220341112 U CN201220341112 U CN 201220341112U CN 202720472 U CN202720472 U CN 202720472U
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- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- power board
- servo mechanism
- electric servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
The utility model relates to an integrated electric servo mechanism comprising a harmonic reducer, a power amplifier board I, a power amplifier board II, a control board, a motor, and an angle sensor. The integrated electric servo mechanism is characterized in that the power amplifier board I and the power amplifier board II are respectively mounted on two side surfaces of the harmonic reducer, that the control board is mounted on the top surface of the harmonic reducer 10, that the angle sensor is mounted on the back surface of the harmonic reducer, and that the motor is mounted on the bottom surface of the harmonic reducer. Therefore, the integrated electric servo mechanism is formed. The integrated electric servo mechanism uses an integrated design of structure and a controller so as to reduce structural size and weight of an electric servo mechanism and effectively increase ratio of power to size of the electric servo mechanism.
Description
Technical field
The utility model belongs to the servo techniques field, relates to a kind of integrated type electric servomechanism.
Background technology
Electric servomechanism is the servo control mechanism take electric energy as direct energy source, it is a kind of servo control mechanism of using the earliest, when robot pilot comes out, at first adopt servomotor to handle chain of command, thereby consisted of electric servomechanism the earliest.The major advantage of electric servomechanism is that failure rate is low, reliability are higher; The accuracy requirement of processing is lower, so cost is lower; Operation and maintenance is convenient.Its major defect is because electrical time constant and the mechanical rotation inertia of servomotor are all larger, therefore the rapidity of electric servomechanism is relatively poor, or under broad frequency band the less stable of electric servomechanism, under high-power condition, realize simultaneously comparatively difficulty.
Existing electric servomechanism is comprised of servo-operated mechanism and servo controller two parts usually, when particularly adopting harmonic speed reducer as servo-operated mechanism, all drives, controls independently gear train action by servo controller.
The utility model content
In view of the deficiency that above-mentioned prior art exists, the purpose of this utility model is a kind of electric servomechanism that adopts harmonic speed reducer and servo controller one of design, to reduce the volume of electric servomechanism.
The integrated type electric servomechanism, comprise harmonic speed reducer, power board I, power board II, control panel, motor, angular transducer, it is characterized in that, described power board I and power board II are installed on respectively the two sides of described harmonic speed reducer, described control panel is installed on the end face of described harmonic speed reducer 10, described angular transducer is installed on the back side of described harmonic speed reducer, and described motor is installed on the bottom surface of described harmonic speed reducer, has consisted of the integrated type electric servomechanism.
Further, the utility model also comprises the harmonic speed reducer housing, and described harmonic speed reducer is installed in the harmonic speed reducer housing, and described power board I, power board II and control panel are installed in respectively described harmonic speed reducer outside.
The utility model compared with prior art has following advantage:
1. structure, controller integral design have been adopted;
2. adopt the integrated design structure, reduced structural volume and the weight of electric servomechanism;
3. adopt the integrated type servo control mechanism, Effective Raise the power to volume ratio of electric servomechanism.
Description of drawings
Fig. 1 is structural front view of the present utility model.
Fig. 2 removes left side behind the reducer shell to view for part.
Fig. 3 is structure rear view of the present utility model.
Fig. 4 is structure vertical view of the present utility model.
Fig. 5 is reducing gearbox stereogram of the present utility model.
1. motors among the figure, 2. the first screw, 3. power board I, 4. the second screw, 5. back shroud, 6. reducer shell, 7. the 3rd screw, 8. plug, 9. socket IV, 10. harmonic speed reducer, 11. the 4th screws, 12. socket I, 13. upper cover plates, 14. left cover, 15. power tubes, 16. the 5th screws, 17. geometrical clamps, 18. the 6th screw, 19. socket II, 20. right cover plates, 21. angular transducers, 22. pressing plate, 23. socket III, 24. power board II, 25. control panels.
Embodiment
Below in conjunction with accompanying drawing the utility model is made further illustrated in greater detail.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, motor 1 is connected with harmonic speed reducer 10, drives harmonic speed reducer 10 and rotates; By angular transducer 21 angle of rotating is fed back to servo-drive system when harmonic speed reducer 10 rotates, thereby form system's Control loop.Power board I 3 in the servo control mechanism control circuit, power board II 24, control panel 25 are installed on the reducer shell 6 by the second screw 4, wherein control panel 25 links together at the plug 8 at two ends and the socket IV 9 on power board I 3, the power board II 24 by being welded, motor 1 is by carrying plug and socket II 19 links together, the upper level circuit is realized being connected with socket III 23 by socket I 12, powers, applies control signal to servo-drive system.Power tube 15 is fixed on the reducer shell 6 by pressing plate 22 and the 5th screw 16, and on the power board I3 that is welded, the power board II 24, power tube 15 dispels the heat by reducer shell 6.After power board I 3, power board II 24 and control panel 25 are installed to reducer shell 6, back shroud 5, upper cover plate 13, left cover 14, right cover plate 20 are installed on the reducer shell 6 by the 3rd screw 7 control circuit is protected.Angular transducer 21 is installed on the reducer shell 6 by two geometrical clamps 17 and the 6th screw 18, and by wire bonds to power board II 24.
In an embodiment, power board I 3 and power board II 24 are installed on respectively the two sides of harmonic speed reducer 10 housings, control panel 25 is installed on the top end face of harmonic speed reducer 10, angular transducer 21 is installed in the back inner chamber of harmonic speed reducer 10, the power tube 15 that is installed on power board I 3 and the power board II 24 is fixed on the housing of harmonic speed reducer 10 by pressing plate, and dispels the heat by housing.
In an embodiment, are connected with the socket IV by two pairs of plugs 8 respectively between control panel 25 and power board I 3 and the power board II 24 and are connected, control panel 25, power board I 3 and power board II 24 can carry out independent disassembling each other.
It should be noted last that, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although with reference to preferred embodiment the utility model is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (2)
1. integrated type electric servomechanism, comprise harmonic speed reducer, power board I, power board II, control panel, motor, angular transducer, it is characterized in that, described power board I and power board II are installed on respectively the two sides of described harmonic speed reducer, described control panel is installed on the end face of described harmonic speed reducer (10), described angular transducer is installed on the back side of described harmonic speed reducer, described motor is installed on the bottom surface of described harmonic speed reducer, has consisted of the integrated type electric servomechanism.
2. integrated type electric servomechanism according to claim 1, it is characterized in that, also comprise the harmonic speed reducer housing, described harmonic speed reducer is installed in the harmonic speed reducer housing, and described power board I, power board II and control panel are installed in respectively described harmonic speed reducer outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220341112 CN202720472U (en) | 2012-07-13 | 2012-07-13 | An integrated electric servo mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220341112 CN202720472U (en) | 2012-07-13 | 2012-07-13 | An integrated electric servo mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202720472U true CN202720472U (en) | 2013-02-06 |
Family
ID=47622290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220341112 Expired - Lifetime CN202720472U (en) | 2012-07-13 | 2012-07-13 | An integrated electric servo mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202720472U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106763007A (en) * | 2017-02-17 | 2017-05-31 | 北京航空航天大学 | Integrated electricity hydrostatic servo control mechanism |
| CN105630002B (en) * | 2014-10-30 | 2018-11-02 | 北京精密机电控制设备研究所 | A kind of liquid-propellant rocket engine change propulsive adjusting electromechanical coupling system |
-
2012
- 2012-07-13 CN CN 201220341112 patent/CN202720472U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105630002B (en) * | 2014-10-30 | 2018-11-02 | 北京精密机电控制设备研究所 | A kind of liquid-propellant rocket engine change propulsive adjusting electromechanical coupling system |
| CN106763007A (en) * | 2017-02-17 | 2017-05-31 | 北京航空航天大学 | Integrated electricity hydrostatic servo control mechanism |
| CN106763007B (en) * | 2017-02-17 | 2018-01-26 | 北京航空航天大学 | The electric hydrostatic servo control mechanism of integration |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130206 |