CN2095504U

CN2095504U - Numeric control differential deceleration electric servo unit

Info

Publication number: CN2095504U
Application number: CN 91216167
Authority: CN
Inventors: 石行
Original assignee: Beijing Xicheng District Newly Opened General Test Plant
Current assignee: Beijing Xicheng District Newly Opened General Test Plant
Priority date: 1991-06-17
Filing date: 1991-06-17
Publication date: 1992-02-05

Abstract

The utility model relates to a digital control differential speed reduction electric servo unit which is suitable to be used as various digital control operating devices. The utility model is composed of a digital control operating motor, an input gear ring, a planet gear, a sun gear, an output gear, etc. The utility model is characterized in that the sun gear and the output gear are coaxial, and the number of teeth of the sun gear and the output gear differs by one tooth. Furthermore, the sun gear is fixed with a shell body of the speed reducer, and the rear side of the digital control operating motor is connected with a turning angle measure counting device. Various digital control servo requirements are satisfied by the control of the start, the stop and the turning speed of the digital control operating motor, and a long output torque and a high speed reduction ratio can be obtained if a special differential speed reducer is used.

Description

Numeric control differential deceleration electric servo unit

A kind of numerically controlled differential reducing electric servo system, it is a kind of complete electric numerical control final controlling element, can be used for doing various actuators in the various electromechanical integration equipments, as the automation pipeline carry or chemical system in valve control executing mechanism etc. and the feed servo mechanism of Digit Control Machine Tool.

In various automations or semi-automatic equipment, for finishing exercises, need various actuators, and these mechanisms require can numerical control, and require to have bigger implementation capacity or moment.In existing equipment, use the design that all-electric control system can simplified control system, reach the purpose of direct numerical control.In the present complete automatically controlled digital control system, be to adopt stepping motor to make prime mover, use decelerator to slow down, realize the rotational angle of digital control output.But because the restriction of stepping motor structure, power output can not be very big.This makes that the implementation capacity of all-electric control system is little, can only be used for some small-sized machines, and not fit into the actuator of doing large scale system, and as the switching mechanism of large-scale pipeline valve, the feed mechanism of heavy duty machine tools etc.Simultaneously, used decelerator does not fit into high pulling torque output yet in the complete now automatically controlled digital control system.In order to obtain big speed reducing ratio (as greater than 1:100), and don't increase the physical dimension of decelerator, state-of-the-art method is to use harmonic gear reducer.It uses differential mode to slow down, and utilizes the tooth difference between rigidity gear ring and flexible gear ring to slow down, and can accomplish that the speed ratio that single-stage is slowed down surpasses 100.But owing to will lean on the distortion of flexible gear ring to come work, thereby to the specification requirement height of flexible gear ring, and be subjected to the restriction of flexible gear ring intensity, output torque can not be too high.General decelerator then needs to use and multistagely just can reach big deceleration speed ratio, so structure is huge.To the control executing mechanism that big power output or moment require, mostly present method is to adopt hydraulic pressure to expand power actuator, uses the control mode of numerical control hydraulic servo valve, with the execution of directly exerting oneself of hydraulic jack or hydraulic motor.Though hydraulic way can be exported very big power or moment, and do not re-use deceleration device, must increase by a cover hydraulic power source equipment, thereby hydraulic way is bulky.The leakage problems of hydraulic means etc. cause very big difficulty also for work such as maintenance, manufacturing.And this mode also is unfavorable for the decentralized control of orthicon pipeline conveying system etc.

The purpose of this utility model is the numerical control differential reducing servo unit of a kind of full electricity of invention.It uses the numerical control actuating motor to do power source, utilizes the differential reducing mode to slow down, and does not use flexible gear ring, very big speed reducing ratio and very big output torque is arranged, compact conformation.

Structure of the present utility model as shown in Figure 1.It has motor, output sleeve 2, gear ring 3, planetary gear 4, central gear 5, planetary gear retainer 6, retainer fixed block 7 is characterized in that: planetary gear 4 is made of two face of gears up and down, be connected with output gear 8 on the output sleeve 2, two face of gears of planetary gear 4 mesh with output gear 8 and central gear 5 respectively, one of them face of gear of planetary gear 4 and the engagement of gear ring 3 internal tooths, and central gear 5 is affixed with reducer shell, gear ring 3 meshes by the external tooth on external tooth and motor 1 output shaft, central gear 5 has Z1 tooth, and output gear 8 has Z2 tooth, and Z1 and Z2 differ from 1 tooth, planetary gear 4 has two or more, motor 1 is the numerical control actuating motor, is fixed with rotating speed grating dish 9 on motor 1 afterbody rotor, and at the motor field frame corresponding site photoelectricity counting device 10 is housed.

Operation principle of the present utility model is as follows: the driving torque of the higher speed of motor 1 output is given gear ring 3 by the gear transmission on motor 1 output shaft, gear ring 3 is when rotating, because sun gear 5 maintains static, thereby just must both self rotate by planetary gear 4, also around central gear 5 revolution.Because the number of teeth of central gear 5 is Z1, the number of teeth of output gear 8 is Z2, and both differ 1 tooth, thereby when planetary gear 4 public affairs turn around, the differential relatively tooth of output gear 8 central gears 5.Because central gear 5 is affixed with reducer shell, thereby output gear 8 drive output sleeves 2 have rotated a tooth.

Speed ratio relation of the present utility model is calculated as follows.

The number of teeth of supposing planetary gear 4 is Z3, the number of teeth of gear ring 3 internal tooths is Z4, the number of teeth of the number of teeth 3 external tooths is Z5, the gear number of teeth on motor 1 output shaft is Z6, and the rotating speed of motor 1 output shaft is n6, and the rotating speed of gear ring 3 is n4, the rotation rotating speed of planetary gear 4 is n3, the revolution rotating speed is n2, and the rotating speed of output sleeve 2 is n1, so:

n4＝n6＊Z6／Z5

For planetary gear 4, revolution rotation speed n 2 is:

n2＝n4＊Z4／（Z4＋Z2）

Concern by Z1 and Z2 differential:

n1＝n2／Z2

So have:

n1＝n6＊（Z6＊Z4）／（Z5＊（Z4＋Z2）＊Z2）

In the ordinary course of things, can design to such an extent that make Z2=100(because of Z5＞Z6, Z4+Z4＞Z4, thus speed reducing ratio＞Z2).

In the utility model, motor 1 uses the numerical control actuating motor, and the structure such as the patent No. are the patent of CN89216856.It forms a permanent magnet motor by rare-earth permanent magnet rotor and wound stator, uses the numerical control solid-state module to do power supply, can regulate its start and stop and rotating speed by numerically controlled mode.Be connected to a rotating speed grating dish 9 on motor 1 afterbody rotor, and at the motor field frame corresponding site photoelectricity counting device 10 be housed, rotating speed grating dish 9 can be made up of light and dark striped, also can be made up of the striped of printing opacity shading.In when work, the variation that records reflection or transmitted ray by the photo-sensitive cell on the photoelectricity counting device 10, thereby the angle that the numeration motor has rotated, and can feed back to controlling organization, to reach the purpose of closed-loop control, improve control precision.

The utility model can have very big power output owing to adopt rare-earth permanent magnet motor to make prime mover, does not need hydraulic pressure expansion power etc., is full electric control gear.And rare-earth permanent magnet motor has bigger starting torque and braking moment, can adapt to actuator, and frequent control can be controlled speed governing, to obtain various execution curve movements.

The utility model has used differential principle, when planetary gear 4 revolution, because of central gear 5 and output gear 8 differ a tooth, will turn over the angle of a tooth so every public affairs circle relatively between the two.Simultaneously, do not use flexible tooth at work, all adopt rigid gear, very high intensity is arranged.When transmission, therefore the revolution of planetary gear 4 does not have the planetary gear efficiency just as middle transition yet.Compact conformation of the present utility model, mechanism is simple.For increasing transmitted power, can use three, four or more planetary gear.

In the utility model, output gear 8 tooth number Z 2 can be Duoed a tooth or a few tooth than central gear 5 numbers of teeth.When many teeth, the input direction of rotation is identical with the output direction of rotation, and during a few tooth, the input direction of rotation is with to export direction of rotation opposite.Because the number of teeth of output gear 8 and central gear 5 is unequal, with planetary gear 4 identical centre-to-centre spacing is arranged all for keeping both, can use the profile modified gear technology.Can allow dedendum flank and all displacements of gear ring 3 inner toothed surface on output gear 8, central gear 5, the planetary gear 4, like this, the modification coefficient of each gear is all little, to keep the stationarity of motion.The centre-to-centre spacing correction is carried out in the flank of tooth displacement that also can be only output gear 8 and planetary gear 4 be engaged with, and makes processing and easy to assembly.Keep centre-to-centre spacing between output gear 8 and the planetary gear 4 and the centre-to-centre spacing between central gear 5 and the planetary gear 4 to equate that the method that also can adopt oblique gear spiral angle to vary in size is adjusted, the flank of tooth that is meshed the with it use helical gear on output gear 8 and the planetary gear 4.The adjustment of centre-to-centre spacing can also be adjusted with the method for non-standard modulus.

Fix for two about planetary gear retainer 6 use retainer fixed blocks 7 make in the utility model, available securing member such as screw, bolt etc. also can be riveted.Require fixation, two retainer sheets can not relatively rotate phenomenon up and down.In the utility model, all bearings can use rolling with holding or sliding bearing as motor 1 output shaft bearing, output sleeve 2 bearings, gear ring 3 bearings and planetary gear 4 bearings.Grease lubrication can be used, also oil lubrication can be acted on.Between retainer 6 and output sleeve 2, can add radial journal bearing, to keep certain axial location of planetary gear 4, particularly when the helical gear transmission, the axial force that is used to bear planetary gear 4.Stressed less at gear ring 3, axial dimension is also less, can use the cantilever support structure in the accompanying drawing 1, and used bearing can be a sliding bearing, and certain supporting width is arranged; Also rolling bearing be can use, roller or needle bearing that certain width is arranged used; Also can use double-row bearing.

The utility model also can adopt the version of accompanying drawing 2 for increasing the rigidity of gear ring 3 and planetary gear 4.Gear ring 3 is bearing on two end caps of reducer shell.Planetary gear retainer 6 is in the both sides of planetary gear 4.The cantilever design of gear ring 3 and the cantilever design of planetary gear 4 have been cancelled.

Claims

1, a kind of numerically controlled differential reducing electric servo system, it has motor 1, output sleeve 2, gear ring 3, planetary gear 4, central gear 5, planetary gear retainer 6, retainer fixed block 7, it is characterized in that: planetary gear 4 is made of two face of gears up and down, is connected with output gear 8 on the output sleeve 2, two face of gears of planetary gear 4 respectively with output gear 8 and central gear 5 engagements, one of them face of gear of planetary gear 4 and the engagement of gear ring 3 internal tooths, central gear 5 is affixed with reducer shell, and gear ring 3 is by the engagement of the external tooth on external tooth and motor 1 output shaft, and central gear 5 has Z1 tooth, output gear 8 has Z2 tooth, Z1 and Z2 differ from 1 tooth, and planetary gear 4 has two or more, and motor 1 is the numerical control actuating motor, on motor 1 afterbody rotor, be fixed with rotating speed grating dish 9, and photoelectricity counting device 10 be housed at the motor field frame corresponding site.