CN205725308U - The accurate gear unit of compact servo moment - Google Patents
The accurate gear unit of compact servo moment Download PDFInfo
- Publication number
- CN205725308U CN205725308U CN201620273135.XU CN201620273135U CN205725308U CN 205725308 U CN205725308 U CN 205725308U CN 201620273135 U CN201620273135 U CN 201620273135U CN 205725308 U CN205725308 U CN 205725308U
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- China
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- rotor
- decelerator
- motor
- angular transducer
- movement output
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Abstract
This utility model relates to a kind of power part applying to revolute pair, is specifically related to one and has the detection of movement output terminal position, and high-torque, large inertia export, have the high accuracy of brake function, compact servo moment driver element.The accurate gear unit of compact servo moment, including decelerator and motor, it is characterized in that, it is provided with movement output transmission lever (2), the first angular transducer (15), movement output transmission lever (2) is arranged on (3) on movement output flange, and movement output transmission lever (2) extends to decelerator hollow power shaft (17) outer end through the hollow power shaft of decelerator (17)；First angular transducer (15) is arranged on movement output transmission lever (2) end.This utility model can realize the moment output unit of high-torque, large inertia, accurate transmission, strap brake function, compact.
Description
Technical field
This utility model relates to a kind of power part applying to revolute pair, it is specifically related to one and there is the detection of movement output terminal position, high-torque, large inertia export, and have the high accuracy of brake function, compact servo moment driver element, hereinafter referred to as servo moment gear unit.
Background technology
Kinematic pair is made up of moving sets and revolute pair mostly, the revolute pair in the high-precision equipment such as robot, multi-axis NC Machine Tools, measurement apparatus, and pattern of its motion is usually: 1) control motor direct-drive；2) control motor and drive decelerator motion.
Control motor direct-drive, there is precision advantage high, fireballing, but its output torque and rotary inertia are less than normal.Driving decelerator motion output torque relatively big although controlling motor, there is following deficiency:
First, the elastic deformation between the foozle of decelerator, actuated element causes movement output precision limited.
Second, for improving movement output precision, typically at the outfan setting angle sensor of decelerator, but do so, having adverse effect on: at the outfan setting angle sensor of decelerator, structurally inconvenience realizes, and adds physical dimension, and in the occasion of some limited space, even cannot install.
3rd, control motor and reducer structure is installed, its overall dimensions is bigger than normal, and number of parts is many:
(1) in addition to the bearing of decelerator, in addition it is also necessary to 2 bearings of motor；And the accurate gear unit of compact servo moment of innovative design can reduce the bearing that motor is installed.
(2) the accurate gear unit of compact servo moment of innovative design installs the structure on decelerator compared to controlling motor, and its connection, sealing etc. are all optimized and simplify, and further reduce number of parts, and structure is compacter.
4) utilizing heat-barrier material, the heat that reduction motor stator produces in the course of the work is transferred to high-accuracy decelerator, the gap change producing between part to prevent high-accuracy decelerator to be heated, it is to avoid adversely affect.
Modern high end numerical control equipment, needs there is preferable aggregative indicator at aspects such as high accuracy, cost performance, compact conformations, needs innovative design to realize for this.
Utility model content
The purpose of this utility model is to provide a kind of accurate gear unit of compact servo moment, can realize the moment output unit of high-torque, large inertia, accurate transmission, strap brake function, compact.
The purpose of this utility model is achieved through the following technical solutions, the accurate gear unit of compact servo moment, including decelerator and motor, it is characterized in that, it is provided with movement output transmission lever, the first angular transducer, movement output transmission lever is arranged on movement output flange, and movement output transmission lever extends to decelerator hollow power shaft outer end through the hollow power shaft of decelerator；First angular transducer is arranged on movement output transmission lever end.
Preferably, being provided with the dividing plate of band shoulder, dividing plate is bolted with motor housing, motor rear cover respectively, and the structure of its band shoulder plays the role of positioning；Pad empty set is in movement output transmission lever, and is connected by the dividing plate of bolt and band shoulder；First angular transducer is arranged in movement output transmission lever, and is connected by bolt and pad；First angular transducer is played axial restraint effect by nut；Rotor is magnetic material, and rotor is affixed directly on the Step Shaft of reducer input shaft；Braking components is contained on the Step Shaft of reducer input shaft, and is bolted on dividing plate.
Preferably, rotor, by being arranged on the Step Shaft of reducer input shaft, transmits circular motion by key or frictional force, and rotor is played axial restraint by locking nut or Spring Card；First angular transducer is arranged on the Step Shaft of movement output transmission lever, is placed in the internal cavities of rotor, and is connected by bolt and motor rear cover.
Preferably, the first angular transducer is arranged on the Step Shaft of movement output transmission lever, is placed in the internal cavities of rotor, and the first angular transducer is fixed bar by bolt and sensor outer end and connected；Rotor connecting member is arranged on rotor, the axial location at rotor is realized by its shoulder, rotor connecting member is realized and rotor circumferentially positioned by key, and band shoulder nut and rotor are threaded connection, and rotor connecting member plays axial restraint effect；Sensor outer end is fixed bar and is extended to motor rear cover by the endoporus of rotor connecting member, and fixes nut by sensor motor rear cover, sensor outer end are fixed bar and linked together；Braking components is arranged on rotor connecting member, and is fixed by bolt and motor rear cover.
Preferably, being provided with the second angular transducer, the second angular transducer is arranged on the Step Shaft of reducer input shaft, and is bolted on dividing plate.
Preferably, being provided with the second angular transducer, the second angular transducer is arranged on the Step Shaft of rotor connecting member, and is connected by bolt and motor rear cover.
Preferably, bearing is installed between rotor and motor stator or motor housing.
Preferably, motor stator and motor housing are integrated, and are connected by the bolt in its bolt hole and reducer shell.
Preferably, heat-barrier material is had to separate between motor flange and decelerator rear flange；Heat-barrier material is had to separate between electric machine casing and motor rear cover.
Preferably, decelerator forward flange and decelerator rear flange is had on reducer shell, decelerator forward flange hole and bolt hole is had on decelerator forward flange, breach on decelerator rear flange is just to decelerator forward flange hole, motor flange and decelerator rear flange are coordinated by seam, both breach are to breach, and bolt hole, to bolt hole, is bolted.
Compared with prior art, this utility model has the advantages that
First, design a movement output transmission lever, end movement state is transferred to the rotor cavity of servomotor, and at movement output transmission lever setting angle sensor, the position signalling of movement output accurately detected is delivered to driver by sensor, by the motion of driver drives rotor, thus realize the accurate control of movement output end.This way it is possible to avoid the impact that the elastic deformation of the foozle of decelerator, actuated element is on kinematic accuracy.
Second, by decelerator and servomotor organic combination, reduce number of parts, reduce axial length, structure is compacter.
3rd, rotor cavity, the different running precision requirements to different-diameter, devise multiple technologies scheme, to guarantee the feasibility of technology.
4th, utilize heat-barrier material, when reducing motor stator work, heat is transferred to the decelerator of front end, to prevent the parts of high accurate speed reducer from producing temperature distortion, thus is unfavorable for work.
Accompanying drawing explanation
Fig. 1 is the structural representation of the first embodiment of this utility model accurate gear unit of compact servo moment；
Fig. 2 is the structural representation of the second embodiment of this utility model accurate gear unit of compact servo moment；
Fig. 3 is the structural representation of the third embodiment of this utility model accurate gear unit of compact servo moment；
Fig. 4 is the structural representation of the 4th kind of embodiment of this utility model accurate gear unit of compact servo moment；
Fig. 5 is the structural representation of the 5th kind of embodiment of this utility model accurate gear unit of compact servo moment；
In figure: sealing ring 1, movement output transmission lever 2, on movement output flange 3, reducer shell 4, decelerator forward flange hole 5, flange breach 6, heat-barrier material 7, motor stator 8, motor housing 9, dividing plate 10, motor rear cover 11, braking components 12, pad 13, nut 14, first angular transducer 15, rotor 16, reducer input shaft 17, motor flange 18, decelerator rear flange 19, decelerator forward flange 20, band shoulder nut 30, locking nut 31, rotor connecting member 32, nut 33 fixed by sensor, bar 34 is fixed in sensor outer end, second angular transducer 51.
Detailed description of the invention
The scheme of the accurate gear unit of this utility model compact servo moment describes
One, the layout of angular transducer
(1) single angular transducer and layout thereof
Single angular transducer is mounted on the Step Shaft of movement output transmission lever 2, in order to accurately measure the position signalling of movement output.Inner chamber such as electronics rotor 16 is bigger, and angular transducer can be placed on the inner chamber of electronics rotor 16 to reduce axial length；Otherwise, then it is arranged on outside electronics rotor 16.
(2) double angle sensor and layout thereof
The setting of double angle sensor, the 1st angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, and the second angular transducer 51 is arranged on the rotor 16 of motor.So, 2 angular transducers may be constructed the test circuit of closed loop, and precision is further promoted.
Two, the method installing the diameter of axle of brake and angular transducer is reduced
The diameter of axle installing brake and angular transducer is the biggest, the cost of its brake and angular transducer is the highest, and radial dimension is the biggest, corresponding structure is devised: rotor connecting member 32 is arranged on rotor 16 for this spy, the axial location at rotor 16 is realized by its shoulder, rotor connecting member 32 is realized by key and rotor 16 circumferentially positioned, and band shoulder nut 30 and rotor 16 are threaded connection, and to its axial restraint effect of rotor connecting member 32；Sensor outer end is fixed bar 34 and is extended to motor rear cover 11 by the endoporus of rotor connecting member 32, and fixes nut 33 by sensor motor rear cover 11, sensor outer end are fixed bar 34 and linked together；Braking components 12 is arranged on rotor connecting member 32, and is fixed by bolt and motor rear cover 11.
Three, the setting of heat-barrier material
The decelerator used due to this utility model is high-accuracy grade, the precision of decelerator part is high, between gap little, as affected by the motor feels hot, rational gap between decelerator part will be changed, adversely affect, to this end, install heat-barrier material between the housing and rotor of decelerator, between decelerator bonnet and rotor, the heat produced during the to reduce motor stator work impact on decelerator: between motor flange 18 and decelerator rear flange 19, heat-barrier material separates；Heat-barrier material is had to separate between electric machine casing 8 and motor rear cover 11.
Four, the installation of rotor
Rotor and reducer input shaft have a multiple connected mode:
The magnetic material of 1 rotor 16, is affixed directly on the Step Shaft of reducer input shaft 17；
2 rotors 16 realize circumferentially fixed by key and reducer input shaft 17, and realize axial restraint by Spring Card or nut.
Five, motor and the connection of decelerator
The attachment structure of electric machine casing and reducer shell directly affects the convenience of both connections and the radial dimension of the moment driver element of hollow, to this end, spy devises double flange arrangement at retarder parts；Decelerator forward flange is for the installation of the moment driver element of hollow；Decelerator rear flange is used for electric machine casing and the connection of reducer shell: have decelerator forward flange 20 and decelerator rear flange 19 on reducer shell 4, having decelerator forward flange hole 5 and bolt hole on decelerator forward flange 20, the breach 6 on decelerator rear flange 19 is just to decelerator forward flange hole 5；Motor flange 18 and decelerator rear flange 19 are coordinated by seam, and both breach are to breach, and bolt hole, to bolt hole, is bolted.
As it is shown in figure 1, the accurate gear unit of compact servo moment, movement output transmission lever 2 is arranged on movement output flange 3, and movement output transmission lever 2 extends to its outer end through the hollow power shaft of decelerator 17；Decelerator forward flange 20 and decelerator rear flange 19 is had on reducer shell 4, decelerator forward flange hole 5 and bolt hole is had on decelerator forward flange 20, breach 6 on decelerator rear flange 19 is just to decelerator forward flange hole 5, motor flange 18 and decelerator rear flange 19 are coordinated by seam, both breach are to breach, bolt hole, to bolt hole, is bolted；The magnetic material of rotor 16, is affixed directly on the Step Shaft of reducer input shaft 17；Motor stator 8 is arranged on motor housing 9；The dividing plate 10 of band shoulder is bolted with motor housing 9, motor rear cover 11 respectively, and the structure of its band shoulder plays the role of positioning；Pad 13 empty set is in movement output transmission lever 2, and is connected by the dividing plate 10 of bolt and band shoulder；First angular transducer 15 is arranged in movement output transmission lever 2, and is connected by bolt and pad 13；Nut 14 is to its axial restraint effect of the first angular transducer 15.
As in figure 2 it is shown, rotor 16 is by being arranged on the Step Shaft of reducer input shaft 17, transmitting circular motion by key or frictional force, locking nut 31 or Spring Card are to 16 axial restraints of rotor；First angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, is placed in the internal cavities of rotor 16, and is connected by bolt and motor rear cover 11.
As it is shown in figure 1, braking components 12 is contained on the Step Shaft of reducer input shaft 17, and it is bolted on dividing plate 10.
Motor stator 8 and motor housing 9 are integrated, and are connected by the bolt in its bolt hole and reducer shell 4.
Heat-barrier material is had to separate between motor flange 18 and decelerator rear flange 19；Heat-barrier material is had to separate between electric machine casing 9 and motor rear cover 11.
As it is shown on figure 3, the second angular transducer 51 is arranged on the Step Shaft of reducer input shaft 17, and it is bolted on dividing plate 10.
As shown in Figure 4, the first angular transducer 15 is arranged on the Step Shaft of movement output transmission lever 2, is placed in the internal cavities of rotor 16, and the first angular transducer 15 is fixed bar 34 by bolt and sensor outer end and connected；Rotor connecting member 32 is arranged on rotor 16, the axial location at rotor 16 is realized by its shoulder, rotor connecting member 32 is realized by key and rotor 16 circumferentially positioned, and band shoulder nut 30 and rotor 16 are threaded connection, and rotor connecting member 32 is played axial restraint effect；Sensor outer end is fixed bar 34 and is extended to motor rear cover 11 by the endoporus of rotor connecting member 32, and fixes nut 33 by sensor motor rear cover 11, sensor outer end are fixed bar 34 and linked together；Braking components 120 is arranged on rotor connecting member 32, and is fixed by bolt and motor rear cover 11.
As it is shown in figure 5, the second angular transducer 51 is arranged on the Step Shaft of rotor connecting member 32, and connected by bolt and motor rear cover 11.
Bearing is installed between rotor 16 and motor stator 8 or motor housing 9.
Claims (10)
1. the accurate gear unit of compact servo moment, including decelerator and motor, it is characterized in that, it is provided with movement output transmission lever (2), the first angular transducer (15), movement output transmission lever (2) is arranged on (3) on movement output flange, and movement output transmission lever (2) extends to decelerator hollow power shaft (17) outer end through the hollow power shaft of decelerator (17)；First angular transducer (15) is arranged on movement output transmission lever (2) end.
The accurate gear unit of compact servo moment the most according to claim 1, it is characterized in that, being provided with the dividing plate (10) of band shoulder, dividing plate (10) is bolted with motor housing (9), motor rear cover (11) respectively, and the structure of its band shoulder plays the role of positioning；Pad (13) empty set is in movement output transmission lever (2), and is connected by the dividing plate (10) of bolt and band shoulder；First angular transducer (15) is arranged in movement output transmission lever (2), and is connected by bolt and pad (13)；First angular transducer (15) is played axial restraint effect by nut (14)；Rotor (16) is magnetic material, and rotor (16) is affixed directly on the Step Shaft of reducer input shaft (17)；Braking components (12) is contained on the Step Shaft of reducer input shaft (17), and is bolted on dividing plate (10).
The accurate gear unit of compact servo moment the most according to claim 1, it is characterized in that, rotor (16) is by being arranged on the Step Shaft of reducer input shaft (17), transmit circular motion, locking nut (31) or Spring Card by key or frictional force and rotor (16) is played axial restraint；First angular transducer (15) is arranged on the Step Shaft of movement output transmission lever (2), is placed in the internal cavities of rotor (16), and is connected by bolt and motor rear cover (11).
The accurate gear unit of servo moment the most according to claim 1, it is characterized in that, first angular transducer (15) is arranged on the Step Shaft of movement output transmission lever (2), being placed in the internal cavities of rotor (16), the first angular transducer (15) is fixed bar (34) by bolt and sensor outer end and is connected；Rotor connecting member (32) is arranged on rotor (16), the axial location at rotor (16) is realized by its shoulder, rotor connecting member (32) is realized and rotor (16) circumferentially positioned by key, band shoulder nut (30) and rotor (16) are threaded connection, and rotor connecting member (32) is played axial restraint effect；Sensor outer end is fixed bar (34) and is extended to motor rear cover (11) by the endoporus of rotor connecting member (32), and fixes nut (33) by sensor motor rear cover (11), sensor outer end are fixed bar (34) and linked together；Braking components (12) is arranged on rotor connecting member (32), and is fixed by bolt and motor rear cover (11).
The accurate gear unit of servo moment the most according to claim 2, it is characterized in that, being provided with the second angular transducer (51), the second angular transducer (51) is arranged on the Step Shaft of reducer input shaft (17), and is bolted on dividing plate (10).
The accurate gear unit of servo moment the most according to claim 4, it is characterized in that, being provided with the second angular transducer (51), the second angular transducer (51) is arranged on the Step Shaft of rotor connecting member (32), and is connected by bolt and motor rear cover (11).
7. according to the accurate gear unit of servo moment described in claim 1,2,3,4,5 or 6, it is characterized in that, bearing is installed between rotor (16) and motor stator (8) or motor housing (9).
8. according to the accurate gear unit of compact servo moment described in claim 1,2,3,4,5 or 6, it is characterized in that, motor stator (8) and motor housing (9) are integrated, and are connected by the bolt in its bolt hole and reducer shell (4).
9. according to the accurate gear unit of compact servo moment described in claim 1,2,3,4,5 or 6, it is characterized in that, between motor flange (18) and decelerator rear flange (19), have heat-barrier material to separate；Heat-barrier material is had to separate between motor housing (9) and motor rear cover (11).
10. according to the accurate gear unit of compact servo moment described in claim 1,2,3,4,5 or 6, it is characterized in that, decelerator forward flange (20) and decelerator rear flange (19) is had on reducer shell (4), decelerator forward flange hole (5) and bolt hole is had on decelerator forward flange (20), breach (6) on decelerator rear flange (19) is just to decelerator forward flange hole (5), motor flange (18) and decelerator rear flange (19) are coordinated by seam, both breach are to breach, bolt hole, to bolt hole, is bolted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273135.XU CN205725308U (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273135.XU CN205725308U (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo moment |
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| Publication Number | Publication Date |
|---|---|
| CN205725308U true CN205725308U (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620273135.XU Withdrawn - After Issue CN205725308U (en) | 2016-04-05 | 2016-04-05 | The accurate gear unit of compact servo moment |
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| Country | Link |
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| CN (1) | CN205725308U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105680622A (en) * | 2016-04-05 | 2016-06-15 | 姜铭 | Compact servo torque precise driving unit |
| CN107819381A (en) * | 2017-12-06 | 2018-03-20 | 浙江联宜电机有限公司 | Electromagnetic brake mounting structure |
-
2016
- 2016-04-05 CN CN201620273135.XU patent/CN205725308U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105680622A (en) * | 2016-04-05 | 2016-06-15 | 姜铭 | Compact servo torque precise driving unit |
| CN105680622B (en) * | 2016-04-05 | 2018-06-26 | 姜铭 | The accurate gear unit of compact servo torque |
| CN107819381A (en) * | 2017-12-06 | 2018-03-20 | 浙江联宜电机有限公司 | Electromagnetic brake mounting structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20180626 |