CN212367053U

CN212367053U - Electric actuator

Info

Publication number: CN212367053U
Application number: CN202020597809.8U
Authority: CN
Inventors: 李海泉
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-01-15
Anticipated expiration: 2030-04-21

Abstract

An electric actuator belongs to the technical field of electromechanical integration. The actuator comprises a brushless motor and a planetary gear mechanism, wherein a motor rotor is fixedly connected with a motor shaft through a motor rotor supporting ring by adopting a motor rotor shell, and a motor rotor magnet is fixedly connected to the inner side of the motor rotor shell; the motor stator support is fixedly connected with the inner side of the shell body, the motor stator is fixed on the outer side of the motor stator support, a main bearing for supporting a motor shaft is arranged at the center of the motor stator support, and the driving end of the shell body is sealed by a shell base. The planetary gear mechanism comprises a sun gear, three planetary gears and an inner gear ring, the inner gear ring is fixedly arranged on the inner side of the outer shell, the sun gear fixed at one end of the motor shaft is respectively meshed with the three planetary gears which are circumferentially and uniformly distributed, and the three planetary gears are meshed with the inner gear ring. When in use, the actuator is a power actuator and a force feedback actuator, and can meet the requirements of users on low rotating speed, high torque and small volume of the actuator.

Description

Electric actuator

Technical Field

The utility model relates to an electric actuator belongs to the executor technique among the mechatronic

The field of the technology.

Background

With the wider application of robots, people have higher requirements on the robots. It is desirable that robots be cheaper, smaller in size and weight, and capable of doing more work. The problems of overlarge volume and high price of the existing robot generally exist. The size of the robot is mainly limited by the driving volume of the joint, and the joint driver becomes the bottleneck of the robot for reducing the size.

In addition, the existing force feedback control lever and steering wheel also have the problem of overlarge volume, and people expect that force feedback man-machine operation equipment with smaller volume and finer feedback appears.

Based on two above requirements of aspect the utility model relates to an electric actuator of small volume can regard as the driver of robot joint driver and force feedback equipment.

Disclosure of Invention

In order to overcome the problem that exists among the prior art, the utility model provides an electric actuator, this executor should be a power actuator, can power take off, can regard as the articulated executor of manipulator to drive the manipulator action, also be a force feedback executor, can the output resistance, can regard as the executor that provides force feedback for user's operation, no matter be as the power actuator of manipulator or provide the force feedback executor of resistance for the user and all be the low rotational speed of requirement, high torque, small volume.

The utility model adopts the technical proposal that: an electric actuator comprises a brushless motor and a planetary gear mechanism which are arranged in an outer shell, wherein the brushless motor comprises a motor rotor and a motor stator, the motor rotor is fixedly connected with a motor shaft by a motor rotor shell through a motor rotor support ring and a first locking nut, and a motor rotor magnet is fixedly connected to the inner side of the motor rotor shell; the motor stator support is fixedly connected with the inner side of the shell, the motor stator is fixed on the outer side of the motor stator support, two main bearings for supporting a motor shaft are arranged at the center of the motor stator support, and the driving end of the shell is sealed by a shell base;

the planetary gear mechanism comprises a sun gear, three planetary gears and an inner gear ring, the inner gear ring is fixedly arranged on the inner side of the outer shell, the inner planet carrier is supported on the inner side of the outer shell through a first bearing and the outer planet carrier through a second bearing, each planetary gear is supported between the inner planet carrier and the outer planet carrier through a planet shaft and two third bearings, the sun gear fixed at one end of a motor shaft is respectively meshed with the three planetary gears which are uniformly distributed in the circumferential direction, and the three planetary gears are meshed with the inner gear ring;

the end face of the motor stator support is provided with a circuit board, the periphery of a second locking nut arranged at the middle section of a motor shaft is provided with a first measuring magnetic ring, the first measuring magnetic ring is matched with a first measuring sensor, the side edge of the inner planet carrier is provided with a second measuring magnetic ring, and the second measuring magnetic ring is matched with a second measuring sensor;

and bolt holes which are uniformly distributed in the circumferential direction and connected with a peripheral mechanism are arranged on the outer side end face of the outer planet carrier.

The motor rotor support ring is installed at the driving end of a motor shaft through threads and locked by a first locking nut.

The central gear is installed at the output end of the motor shaft by a first key and is locked by a third locking nut.

The planet gear is arranged on the planet shaft by adopting a second key.

The utility model has the advantages that: the electric actuator comprises a brushless motor and a planetary gear mechanism which are arranged in an outer shell, wherein a motor rotor is fixedly connected with a motor shaft by a motor rotor shell through a motor rotor support ring and a first locking nut, and a motor rotor magnet is fixedly connected to the inner side of the motor rotor shell; the motor stator support is fixedly connected with the inner side of the shell body, the motor stator is fixed on the outer side of the motor stator support, two main bearings for supporting a motor shaft are arranged at the center of the motor stator support, and the driving end of the shell body is sealed by a shell base. The planetary gear mechanism comprises a sun gear, three planetary gears and an inner gear ring, the inner gear ring is fixedly arranged on the inner side of the outer shell, the sun gear fixed at one end of the motor shaft is respectively meshed with the three planetary gears which are circumferentially and uniformly distributed, and the three planetary gears are meshed with the inner gear ring. When in use, the actuator is a power actuator and a force feedback actuator, and can meet the requirements of users on low rotating speed, high torque and small volume of the actuator.

Drawings

Fig. 1 is a structural sectional view of an electric actuator.

Fig. 2 is a view a-a in fig. 1.

Fig. 3 is a view B-B in fig. 1.

Fig. 4 is a view C-C in fig. 1.

In the figure: 1. the measuring device comprises an outer shell, 2, a shell base, 3, a motor rotor shell, 3a, a motor rotor magnet, 3b, a motor rotor support ring, 4, a motor stator, 4a, a motor stator support, 5, a motor shaft, 5a, a first screw, 5b, a second screw, 5c, a third screw, 6, a main bearing, 7, a second lock nut, 7a, a first measuring magnetic ring, 7b, a first measuring sensor, 8, a circuit board, 9, an inner planet carrier, 9a, a first bearing, 9b, a second measuring magnetic ring, 9c, a second measuring sensor, 10, an outer planet carrier, 10a, a second bearing, 11, a sun gear, 11a, a first key, 12, a planet gear, 12a, a planet shaft, 12b, a second key, 12c, a third bearing, 13, an inner gear ring, 14, bolt holes, 15, a first lock nut, 16 and a third lock nut.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Fig. 1, 2, 3, and 4 show a structural diagram of an electric actuator. Such an electric actuator includes a brushless motor and a planetary gear mechanism provided in the outer case 1.

The brushless motor comprises a motor rotor and a motor stator 4. Motor rotor adopts motor rotor shell 3 through motor rotor support ring 3b and first lock nut 15 and motor shaft 5 fixed connection, adopts a plurality of bolted connection together between motor rotor shell 3 and the motor rotor support ring 3b, and motor rotor support ring 3b adopts the screw thread to install the drive end at motor shaft 5 to lock with first lock nut 15, motor rotor magnet 3a fixed connection is in motor rotor shell 3's inboard. The motor stator support 4a is fixedly connected with the inner side of the outer shell 1, the motor stator 4 is fixed on the outer side of the motor stator support 4a, and two main bearings 6 for supporting the motor shaft 5 are arranged at the center of the motor stator support 4 a. The drive end of the housing body 1 is closed with a housing base 2.

The planetary gear mechanism comprises a sun gear 11, three planet gears 12 and an inner ring gear 13, the inner ring gear 13 is fixedly arranged at the inner side of the outer shell 1, the inner planet carrier 9 is supported at the inner side of the outer shell 1 through a first bearing 9a and an outer planet carrier 10 through a second bearing 10a, each planet gear 12 is supported between the inner planet carrier 9 and the outer planet carrier 10 through a planet shaft 12a and two third bearings 12c, and the planet gears 12 are mounted on the planet shafts 12a through second keys 12 b. A sun gear 11 fixed at one end of a motor shaft 5 is respectively meshed with four planetary gears 12 which are uniformly distributed in the circumferential direction, and the four planetary gears 12 are meshed with an inner gear ring 13. And bolt holes 14 which are uniformly distributed in the circumferential direction and connected with a peripheral mechanism are arranged on the outer side end face of the outer planet carrier 10. The sun gear 11 is mounted on the output end of the motor shaft 5 using a first key 11a and is locked with a third lock nut 16.

The end face of the motor stator support 4a is provided with a circuit board 8, the periphery of a second locking nut 7 arranged at the middle section of the motor shaft 5 is provided with a first measuring magnetic ring 7a, the first measuring magnetic ring 7a is matched with a first measuring sensor 7b, the side edge of the inner planet carrier 9 is provided with a second measuring magnetic ring 9b, and the second measuring magnetic ring 9b is matched with a second measuring sensor 9 c. The measuring sensor can be a magnetoelectric sensor.

By adopting the technical scheme, the actuator has two working modes in use, one mode is a power actuator which can output power and can be used as an actuator of a manipulator joint to drive the manipulator to act; the other is a force feedback actuator which can output resistance force and can be used as an actuator for providing force feedback for the operation of a user. Such as providing force feedback for steering wheels and joysticks.

The actuator works as an intelligent passive device, receives the command of the upper computer to act, and reports the state of the actuator and the state of the load to the upper computer. The actuator is connected with the upper computer through the CAN/RS 485/Ethernet, receives the command of the upper computer and outputs a specific state.

When the device is used as a power actuator, the controller receives a command of the upper computer and controls the rotating speed and the position of the load. And transmitting the real-time torque and position of the load and the current and voltage of the controller to an upper computer.

When the force feedback actuator is used, the controller receives a command sent by the upper computer and controls the torque generated on the load, and the output torque is opposite to the rotating direction of the user. Meanwhile, the position, the rotating speed and the current and voltage of the load and the controller can be transmitted to the upper computer.

Claims

1. An electric actuator comprising a brushless motor and a planetary gear mechanism arranged in an outer housing (1), characterized in that: the brushless motor comprises a motor rotor and a motor stator (4), the motor rotor is fixedly connected with a motor shaft (5) through a motor rotor supporting ring (3 b) and a first locking nut (15) by adopting a motor rotor shell (3), and a motor rotor magnet (3 a) is fixedly connected to the inner side of the motor rotor shell (3); the motor stator support (4 a) is fixedly connected with the inner side of the outer shell (1), the motor stator (4) is fixed on the outer side of the motor stator support (4 a), two main bearings (6) for supporting a motor shaft (5) are arranged at the center of the motor stator support (4 a), and the driving end of the outer shell (1) is sealed by a shell base (2);

the planetary gear mechanism comprises a sun gear (11), three planetary gears (12) and an inner gear ring (13), the inner gear ring (13) is fixedly arranged at the inner side of the outer shell (1), the inner planetary carrier (9) is supported at the inner side of the outer shell (1) through a first bearing (9 a) and an outer planetary carrier (10) through a second bearing (10 a), each planetary gear (12) adopts a planetary shaft (12 a) and two third bearings (12 c) to be supported between the inner planetary carrier (9) and the outer planetary carrier (10), the sun gear (11) fixed at one end of the motor shaft (5) is respectively meshed with the three planetary gears (12) which are uniformly distributed in the circumferential direction, and the three planetary gears (12) are meshed with the inner gear ring (13);

a circuit board (8) is arranged on the end face of the motor stator support (4 a), a first measuring magnetic ring (7 a) is arranged on the periphery of a second locking nut (7) arranged at the middle section of the motor shaft (5), the first measuring magnetic ring (7 a) is matched with a first measuring sensor (7 b), a second measuring magnetic ring (9 b) is arranged on the side edge of the inner planet carrier (9), and the second measuring magnetic ring (9 b) is matched with a second measuring sensor (9 c);

and bolt holes (14) which are uniformly distributed in the circumferential direction and connected with a peripheral mechanism are formed in the outer side end face of the outer planet carrier (10).

2. An electric actuator as defined in claim 1, wherein: the motor rotor shell (3) is connected with the motor rotor supporting ring (3 b) through a plurality of bolts, and the motor rotor supporting ring (3 b) is installed at the driving end of the motor shaft (5) through threads and locked through a first locking nut (15).

3. An electric actuator as defined in claim 1, wherein: the central gear (11) is arranged at the output end of the motor shaft (5) by adopting a first key (11 a) and is locked by a third locking nut (16).

4. An electric actuator as defined in claim 1, wherein: the planet gear (12) is mounted on a planet shaft (12 a) using a second key (12 b).