RU161744U1 - MULTI-MOTOR ELECTROMECHANICAL ACTUATOR - Google Patents

Abstract

1. A multi-motor electromechanical drive comprising a housing, servo-mounted electric drives fixed to the housing, each of which has an output shaft, an external gear eccentric-cycloidal gear located in the housing, having a cylindrical gear wheel interacting with cylindrical eccentrics, the teeth of which are formed by a cycloidal surface, and at least at least one eccentric shaft with a cylindrical eccentric, driven by rotary servo drives, mounted in a housing in bearings kah the main shaft, made with the possibility of connection with the driven object and the cylindrical gear wheel, the angle sensor of the main shaft, control units for servo-electric drives, each of which is connected by an interface bus to the sensor of the angular position of the shaft of each electric motor, the main control unit of a multi-motor electromechanical drive, connected by an interface a bus with control units for servo-controlled electric drives and with a sensor for the angular position of the main shaft, characterized in that the output Al of each servo-driven electric drive is an eccentric with one having a line of symmetry, a cylindrical eccentric and a rolling bearing mounted on it, interacting with the teeth formed by the outer cycloidal surface of the spur gear, while the axes of the output shafts are placed on a circle whose radius is determined by the dependence: R = R-e + r, where R is the radius of the circle described relative to the axis of the main output shaft, on which the axis of the shafts of the servo-electric drives are located, R is the radius of the described relative total

Description

The utility model relates to mechanical engineering, namely, to the design of a multi-engine electromechanical drive of a common shaft having microprocessor control.

A multi-motor electromechanical drive (MEMP) is known (US patent No. 5463914 dated 02.02.1994), in which there are several electric motors, on the output shafts of which there are gears interacting with a gear wheel of a one-stage or two-stage gearbox, the output shaft of which leads a logical object, for example, a drum washing machine or fan. Each electric motor has a power lower in comparison with the total power of the electromechanical drive, but a high rotor speed, which reduces the size and improves the reliability of the electromechanical drive.

The disadvantage of this MEMP is the significant dimensions of the gears and the increased noise level of the multi-tooth gears and gear wheels.

Eccentric-cycloidal internal or external engagement of composite gear profiles is known (patent RU No. 2385435 dated December 22, 2008), consisting of several gear discs displaced in phase with respect to each other, each of which interacts with one single-tooth rim in the form of an eccentric out of the many available on the shaft eccentrics, the number of which is equal to the number of discs. Each cam is cylindrical and has a rolling bearing. The eccentric shaft can be driven in rotation from an engine of any type, including an electric motor.

The disadvantage of an electromechanical drive with a gear having the described eccentric-cycloidal gearing is the complexity of the gearing design, the high complexity of manufacturing and reduced reliability due to the lack of redundancy of the electric drives.

It is known microprocessor control of electric drives with valve motors equipped with rotor position sensors connected to a drive control controller [http: //]. Each electric motor has a transistor module connected to an electric drive control unit (controller), a current sensor and a transistor switch. The electric drive control unit provides reception and transmission of commands from the central microprocessor, controls the direction of rotation of the electric motors and adjusts their rotation speed. Description of the operating modes of many electric motors on a common shaft is missing.

The description of the control system of a valve inductor electric motor [/SPM_design/index.html], including a microprocessor, is known. The signals from the rotor position sensor of the valve induction motor are transmitted to the microprocessor through a conversion and matching device, which brings the signals to the form and level necessary for the microprocessor to operate normally. The microprocessor produces an optimal algorithm for switching the windings of a valve induction motor according to the program embedded in the microprocessor.

Known multi-servo tracking electric drive, including several identical in power working on the total load of electric drives [patent RU No. 2326488 from 10.24.2006]. Each servo-electric drive includes an electric motor, a transmission mechanism, a rotation angle and rotor speed sensor of the electric motor rotor mounted on the electric motor or in the transmission mechanism, a current angular speed adjuster, and a rotor speed controller of the electric motor rotor connected to the electric motor torque control unit.

This multi-motor electromechanical drive does not disclose the design of the main gear from the output shafts of the follower electric drives to the main output shaft connected to the load object, there are no means to disconnect many electric drives from the main output shaft with the load object for their free rotation due to the accumulated kinetic energy, and the method of braking the main shaft with the load to stop them. The functionality of such a multi-engine electromechanical drive is significantly reduced.

Known MEMP with gear and wave gears [US patent No. 8117945 from 09.26.2005], having a housing with several motors mounted on the housing, on the output shafts of which are mounted gears interacting with the gear wheel of the first gear stage, on the hub of which the gear wheel is installed the second stage of the gear reducer, which interacts with gears mounted on input shafts with eccentrics located inside the wheel of the eccentric-cycloidal wave gear [ atent US №8117945, FIG. 1s]

The disadvantage of this MEMP is in its complexity, significant dimensions and low reliability of a two-stage gear reducer.

A device and system for a multi-motor servo gearless direct drive [application US No. 2014/0097859 from 12/12/2013], including: a plurality of electric motors, each with a shaft angle sensor and a determinant of its rotation speed; braking devices on each of the shafts; a plurality of electric motor control units, each of which provides an electric current supply to each electric motor; microprocessor-based controls that form the main unit (controller), connected to many electric motor control units and with position sensors of electric motor shafts, issuing commands to electric motor control units in accordance with the specified parameters and position of the shafts.

In the description of the present invention there is no data on the operating modes of many electric motors on a common shaft.

The analysis of the MEMP technical level showed that in the design of the transmission mechanism “output shafts of servo-driven electric drives - main shaft”, in which the moments from the electric drives are summed up and the total moment of the main shaft is applied to the driven object, the mode of free rotation of the main shaft with the driven object without introducing design of electric drives of additional devices - controlled clutches or freewheels, disconnecting, if necessary, the shafts of electric drives from the main shaft, or ft, disconnecting the driven object from the main shaft, which reduces the functionality and increase the overall dimensions of the MEMP.

The technical problem solved by the utility model is to reduce the dimensions, increase the functionality, reliability and efficiency of the MEMP.

The technical problem is solved in the design of the MEMP, containing:

- housing; servo drives mounted on the housing, each of which has an output shaft;

- an external gear eccentric-cycloidal gear located in the housing, having a cylindrical gear wheel interacting with cylindrical eccentrics, the teeth of which are formed by a cycloidal surface, and a shaft with a cylindrical eccentric, driven by rotation by servo-driven electric drives,

- the main shaft mounted in the housing in the bearings, made with the possibility of connection with a driven object and a cylindrical gear wheel,

- sensor of the angular position of the main shaft;

- control units for servo-driven electric drives, each of which is connected by an interface bus with a sensor for the angular position of the shaft of each electric motor;

- the main control unit for a multi-engine electromechanical drive connected by an interface bus to the control units for servo-electric drives and with an angle sensor for the main shaft,

wherein

- the output shaft of each servo-driven electric drive is eccentric with one having a line of symmetry, a cylindrical eccentric and a rolling bearing mounted on it, interacting with the teeth formed by the outer cycloidal surface of the cylindrical gear wheel, while the axis of the output shafts are placed on a circle whose radius is determined by :

R _e = R _max -e + r _p ,

where R _e is the radius of the circle described relative to the axis of the main output shaft, on which the axis of the shafts of the servo drives are located;

R _max - radius of the circle described relative to the axis of the main shaft, on which the tops of the teeth of the external eccentric-cycloidal gear are located;

e is the eccentricity of the cylindrical eccentric;

r _p - the outer radius of the rolling bearing mounted on a cylindrical eccentric,

wherein the number of teeth formed by the cycloidal surface of the gear is equal to or more than seven;

- the number of follow-up electric drives is not less than three.

To reduce the dimensions and increase the reliability and efficiency of the MEMP, each electric motor of the tracking electric drive is brushless, direct current, with excitation from permanent magnets.

The technical effect, - reducing the size, increasing the functionality, reliability and efficiency of the MEMP, is achieved due to the following set of features:

- the output shaft of each servo-driven electric drive is eccentric with one having a line of symmetry, a cylindrical eccentric and a rolling bearing mounted on it, interacting with the teeth formed by the outer cycloidal surface of the cylindrical gear wheel, while the axis of the output shafts are placed on a circle whose radius is determined by :

R _e = R _max -e + r _p ,

wherein the number of teeth formed by the cycloidal surface of the gear is equal to or more than seven;

- the number of follow-up electric drives is not less than three.

These combination of characteristics characteristic of the MEMP were not found during patent information research, which indicates that the utility model meets the criterion of “novelty”.

In FIG. 1 shows the construction of a MEMP with external eccentric-cycloidal engagement.

In FIG. 2 is a section AA in FIG. 1 with six follow-up electric drives and cylindrical eccentrics installed in the housing in working position.

In FIG. 3 is a section AA in FIG. 1 with six cylindrical eccentrics disengaged from the gear.

In FIG. 4 is a block diagram of a MEMP with a control system.

Multi-engine electromechanical drive (Fig. 1-4) has:

- housing 1, several attached to the housing 1 of at least three servo-driven electric drives 2, the electric motors 3 of which have balanced output shafts 4 with cylindrical clowns 5, each of which has a line of symmetry 5a (Fig. 2) passing through the center of the cylindrical clown 5 and the center rotation of the output shaft 4; each of them has a rolling bearing 6; to reduce dimensions, improve reliability and efficiency of servo-driven electric drives 2, electric motors 3 are brushless, direct current, with excitation from permanent magnets;

- a gear eccentric-cycloidal gear 7 located in the housing 1, having a cylindrical gear 8 interacting with the rolling bearings 6 of the cylindrical eccentrics 5, the teeth 9 of which are formed by the outer cycloidal surface 10 (Fig. 2).

Installed in the housing 1 (Fig. 1) in the bearings, the main shaft 11 is connected to the driven object 12 and rotationally driven by servo drives 2 through the output shafts 4, the rolling bearings 6 of the cylindrical eccentrics 5 and the gear 8 of the external eccentric-cycloidal gear 7;

- servo drives 2 placed on the housing 1 so that the axis 13 of the output shafts 4 are placed on a circle 14 (Fig. 2), the radius of which is determined by the dependence:

R _e = R _max -e + r _p ,

where R _e is the radius of the circle 14 described relative to the axis 15 (Fig. 1) of the main shaft 11, on which the axes 13 of the shafts 4 of the follow-up electric drives 2 are placed;

R _max is the radius of the circle 16 described relative to the axis 15 of the main shaft 11, on which the tops of the teeth 9 of the wheel 8 of the external eccentric-cycloidal gearing 17 are located (Fig. 2, 3);

e is the eccentricity of the cylindrical eccentric 5;

r _p - the outer radius of the rolling bearing 6 mounted on a cylindrical cam 5;

- the gear wheel 8 should have the number of teeth formed by the cycloidal surface 10 equal to seven or greater than seven.

Since the cylindrical eccentric 5 in the eccentric-cycloidal gear 7 performs the function of a single-tooth gear, the gear ratio of the eccentric-cycloidal gear is equal to the number of teeth 9 of the gear 8.

The number placed on the housing 1 of the electric motors 3 is determined by the formula:

where D _ep - the maximum diameter of the servo drive 2, depending on the number of teeth 9 of the gear 8, and when the number of teeth is less than seven, there are difficulties with the placement of servo drives 2.

Since the proposed MEMP is sleeveless, and the function of the coupling is performed by cylindrical eccentrics 5 derived from external gearing with gear 8, the MEMP control system (Fig. 4) should include: a sensor 18 of the angular position of the main shaft 11; control units 19 for tracking electric drives 2, each of which is connected to the sensor 20 of the angular position of the output shaft 4; the main control unit 21 of the multi-motor electromechanical drive connected by an interface bus 22 to the control units 19 of the tracking electric drives 2 and to the sensor 18 of the angular position of the main shaft 11.

To ensure uniform rotation of the gear 8 with the main shaft 11 and balancing the forces acting on the main shaft 11 from the eccentrics 5 with an increase in the number of servo drives 2, it is preferable to take their number in multiples of three, observing a sequential series of the number of electric drives 3, 6, 9, etc. .

The advantages of MEMP are related to the absence of overrun or controlled couplings in electric drives, a reduction in the dimensions of the electric drive due to the increased frequency of rotation of the electric motor shafts, and redundancy of servo electric drives.

MEMP operates in the following modes.

1. The operation of the MEMP when entering into a gearing state of cylindrical eccentrics 5 with a gear wheel 8 is carried out by applying a signal from the main control unit 21 to determine the angular position of the output shafts 4 according to the signals from the sensors 20, with the subsequent formation and supply of control signals from the control units 19 for installing each of the output shafts 4 by turning to a predetermined mutual angular position of the lines 5 a of symmetry of the cylindrical eccentrics 5 to the state of their engagement with the gear 8.

2. The operation of the MEMP in the state of engagement of the cylindrical eccentrics 5 with the gear 8 includes the following steps:

- acceleration and braking of all servo-controlled electric drives 2 by adjusting the rotational speed of the shafts of the electric motors 3 according to the signals received from the sensors 20 while maintaining a predetermined mutual angular position of lines 5 a of symmetry of cylindrical eccentrics 5 in accordance with the algorithm laid down in the program of the main control unit 21;

- continuation, renewal or change of direction of rotation of the gear wheel 8 with the driven object 12 after installing all the output shafts 4 by turning to a predetermined mutual angular position of the symmetry lines 5 of the cylindrical eccentrics 5, according to the signals received from the main control unit 21 in accordance with the algorithm laid down into his program and convertible into control units 19;

- stop all servo-electric drives 2 at a given mutual angular position of lines 5 a of symmetry of cylindrical eccentrics 5 in the state of their engagement with gear 8, after braking by electric motors 3 by a signal from the main control unit 21 in accordance with the control program specified by the algorithm laid down in the program the main control unit 21;

3. The operation of the MEMP when the eccentrics 5 are disengaged from the gear wheel 8 is carried out by supplying a signal from the main control unit 21 to determine the angular position of the output shafts 4 by the signals from the sensors 20, with the subsequent formation and supply of control signals from the control units 19 for output each of the output shafts 4 by turning until the centers of all cylindrical eccentrics 5 occupy the position on the radial lines connecting the axis of the gear wheel 8 to the center of rotation of each output shaft 4 of electric drives 2 and the stop of all servo-controlled electric drives 2 by a signal from the main control unit 21 in accordance with the control program specified by the algorithm embedded in the program of the main control unit 21.

4. The operation of the MEMP in the state of cylindrical eccentrics 5, disengaged from the gear 8, is carried out after all servo drives 2 are stopped when the gear 8 is rotated with the main shaft 11 and the driven object 12 by inertia. The rotation of the main shaft 11 with the driven object 12 by inertia allows you to use the necessary kinetic energy of the rotational motion of the gear 8 with the main shaft 11 and the driven object 12 and increase the efficiency of the MEMP.

The given operating modes associated with the controlled input of cylindrical eccentrics 5 into gearing with the teeth of the wheel 8 and the controlled disengagement of the gears allow eliminating controllable couplings from the design of the tracking electric drive 2, as well as reducing the dimensions, increasing the reliability and efficiency of the MEMP.

Claims (2)

1. A multi-motor electromechanical drive comprising a housing, servo-mounted electric drives fixed to the housing, each of which has an output shaft, an external gear eccentric-cycloidal gear located in the housing, having a cylindrical gear wheel interacting with cylindrical eccentrics, the teeth of which are formed by a cycloidal surface, and at least at least one eccentric shaft with a cylindrical eccentric, driven by rotary servo drives, mounted in a housing in bearings kah the main shaft, made with the possibility of connection with the driven object and the cylindrical gear wheel, the angle sensor of the main shaft, control units for servo-electric drives, each of which is connected by an interface bus to the sensor of the angular position of the shaft of each electric motor, the main control unit of a multi-motor electromechanical drive, connected by an interface a bus with control units for servo-controlled electric drives and with a sensor for the angular position of the main shaft, characterized in that the output al of each servo actuator is eccentric with one having a line of symmetry, and a cylindrical cam mounted thereon rolling bearing interacting with teeth formed by the outer cylindrical surface of the cycloidal gear, the axis of the output shafts are arranged on a circle whose radius is determined by the relationship: R _e = R _max -e + r _p , where R _e is the radius of the circle described relative to the axis of the main output shaft, on which the axis of the shafts of the servo drives are located, R _max - radius of the circle described relative to the axis of the main shaft, on which the tops of the teeth of the external eccentric-cycloidal gear are located, e is the eccentricity of the cylindrical eccentric, r _p - the outer radius of the rolling bearing mounted on a cylindrical eccentric, however, the number of teeth formed by the cycloidal surface of the gear is equal to or more than seven, and the number of servo drives is not less than three. 2. The multi-motor electromechanical drive according to claim 1, characterized in that each electric motor of the follow-up electric drive is made in the form of a brushless DC motor with excitation from permanent magnets.

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