WO2008085082A1 - Mini-entraînement mécanisé - Google Patents

Mini-entraînement mécanisé Download PDF

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Publication number
WO2008085082A1
WO2008085082A1 PCT/RU2007/000384 RU2007000384W WO2008085082A1 WO 2008085082 A1 WO2008085082 A1 WO 2008085082A1 RU 2007000384 W RU2007000384 W RU 2007000384W WO 2008085082 A1 WO2008085082 A1 WO 2008085082A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric motor
rotor
drive
stage
shaft
Prior art date
Application number
PCT/RU2007/000384
Other languages
English (en)
Russian (ru)
Inventor
Semen Lvovich Samsonovich
Vilen Stepanovich Stepanov
Valentin Evgenevich Ursu
Stanislav Vladislavovich Shendrik
Original Assignee
Semen Lvovich Samsonovich
Vilen Stepanovich Stepanov
Valentin Evgenevich Ursu
Shendrik Stanislav Vladislavov
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Semen Lvovich Samsonovich, Vilen Stepanovich Stepanov, Valentin Evgenevich Ursu, Shendrik Stanislav Vladislavov filed Critical Semen Lvovich Samsonovich
Publication of WO2008085082A1 publication Critical patent/WO2008085082A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • the invention relates to mechanical engineering and can be used in drives of automatic control systems for aircraft, robotic, antenna and other electromechanical power systems, in which weight and dimensions are important.
  • a known drive consisting of a housing, an electric motor having a stator and a rotor fixed to the shaft, a two-stage wave transmission, each stage of which contains a two-disk wave-former, a separator with rolling bodies placed in it in several rows, and a hard wheel, while the hard wheel of the first stage is component of the disk wave former of the output stage, the hard wheel of the output stage is the output shaft of the power mini-drive, the separators are the first and output stages of the wave transmission rigidly connected with the housing, and the rotor and stator of the electric motor, the rotor shaft of the electric motor, hard wheels, separators of both stages of the wave transmission are concentrically relative to the central axis of the power mini-drive (RU 2281597, 10. 08.2006).
  • the disadvantage of the prototype is the small axial distance between the rolling bodies, which does not allow the output shaft to be loaded with large values of bending moment (cutting force) and increases the outer diameter of the power mini-drive.
  • the disadvantage of the prototype is also the lack of a position sensor for the output shaft, a rotor position sensor for the electric motor and a locking device, which forces the use of external sensors and a locking device, which increases the dimensions of the actuator as a whole.
  • the purpose of the invention is the creation of a power mini-drive with the possibility of using a wide range of bending moments acting on the output shaft with the smallest dimensions and expanding the functionality.
  • a power mini-drive consisting of a housing, an electric motor having a stator and a rotor fixed to the shaft, a two-stage wave transmission, each stage of which contains a two-disk wave former, a separator with rolling bodies placed in it in several rows, and a hard wheel
  • the hard wheel of the first stage is an integral part of the disk wave former of the output stage
  • the hard wheel of the output stage is the output shaft of the power mini-drive
  • the separators of the first and one of the stages of the wave transmission is rigidly connected with the housing
  • the rotor and stator of the electric motor, the rotor shaft of the electric motor, hard wheels, separators both stages of the wave transmission are arranged concentrically and along the central axis of the power mini-drive
  • the output shaft of the power mini-drive with a hard wheel of the output stage of the wave transmission is made in the form of a hollow cylinder with an end cover on which the fastening elements to the control object are placed, rest
  • Figure 1 shows a longitudinal section of a power minidrive.
  • Fig.4 shows cross sections of a power minidrive.
  • the power mini-drive consists of an electric motor, a two-stage wave transmission, a locking device, an electric motor rotor position sensor, an output shaft position sensor, a housing and a support device, made concentrically and along the central axis of the power mini-drive.
  • the electric motor contains a stator 1 and a rotor 2, mounted on a shaft 3, made in the form of a thin-walled cup.
  • the stator of the electric motor 1 is mounted in the housing 4.
  • the first stage of the wave transmission contains an input shaft 5, disks of the wave former 6, a separator 7 with rolling elements 8 placed in it and a rigid wheel 9.
  • the input shaft of the first stage of the wave transmission 5 is rigidly connected to the shaft 3 of the rotor of the electric motor and has two eccentric surfaces on which the disks of the wave former 6 are mounted.
  • the axes of the disks of the wave former 6 are offset by the same amount relative to the central axis of the power minidrive, located on different sides relative to it are parallel to it and lie with it in the same plane.
  • the separator 7 has several rows of sockets for rolling elements 8, and in each row the number of nests is the same.
  • the rows of nests, the rolling bodies of which are in contact with different disks of the wave-former 6, are displaced in the circumferential direction relative to each other by an angle equal to half the angular pitch of the nests in one row.
  • the hard wheel 9 has a periodically profiled surface on the inside, the number of periods of which is one greater than the number of rolling elements 8 in one row of the separator 7. All rolling bodies 8 are constantly in contact with the seats of the separator 7, the wave-forming discs 6 and the profiled surface of the hard wheel 9.
  • the output stage the wave transmission includes a wave former 10, a separator 11 with rolling elements 12 placed therein and a hard wheel 13, which is the output shaft of the power mini-drive.
  • the wave former 10 is two cylindrical eccentric surfaces made on the outer side of the hard wheel 9 of the first stage of the wave transmission, so that the axes of these surfaces are offset by the same amount relative to the central axis of the power mini-drive, are located on different sides relative to it, parallel to it and lie with it one plane.
  • the separator 11 has several rows of sockets for rolling elements 12, and in each row the number of nests is the same.
  • the rows of nests, the rolling elements of which are in contact with different eccentric cylindrical surfaces, are offset in the circumferential direction relative to each other by an angle equal to half the angular pitch of the nests in one row.
  • the hard wheel 13 has a periodically profiled surface on the inside, the number of periods of which is one greater than the number of rolling bodies 12 in one row of the separator 11. All rolling bodies 12 are constantly in contact with the seats of the separator 11, the eccentric cylindrical surfaces of the wave former 10 and the profiled surface of the hard wheel 13.
  • the hard wheel 13 of the output stage of the wave transmission contains a hollow cylinder 14 to which an end cap 15 is attached, having fastening elements to subject of regulation.
  • the separator And is attached to the separator 7 and the housing 4 and has fastening elements to a fixed base.
  • the rotor position sensor of the electric motor contains a stator 16 with windings, mounted in the housing 4, and a rotor 17, rigidly connected to the shaft 3 of the rotor of the electric motor.
  • the output shaft position sensor comprises a stator 18 with windings, mounted on a separator 11, and a rotor 19, rigidly connected to the outer side of the hard wheel 13.
  • the locking device includes a stator 20, mounted in the housing 4, and an armature 21, kinematically connected with the locking element, which is kinematically connected with the shaft 3 of the rotor of the electric motor.
  • the stator 20 has two pairs of windings 22 and 23 and two pairs of permanent magnets 24 and 25.
  • the output shaft support device has two rows of rolling bodies located near the ends of the power mini-drive: the output shaft supporting device is divided into two parts, one of which in the form of rolling bearings of the power bearing is located at the end of the power mini-drive on the output shaft side, and the other in the form of rolling bodies the output stage of the wave transmission - at the opposite end, on the side of the end cover 15 between the hollow cylinder 14 and the housing 4, a row of rolling bodies 26, and on the side of the output stage of the wave transmission between the hard wheel 13 and a rowing machine 10 a row of rolling bodies 12 of the output stage of the wave transmission.
  • Power mini-drive operates as follows. When you turn on the power mini-drive voltage is applied to a pair of windings 23 of the stator of the locking device, the armature 21 is rotated, breaking the kinematic connection of the locking element with the shaft 3 of the rotor of the electric motor. The armature 21 is fixed in this position by permanent magnets 25 after removing the voltage from the windings 23.
  • the rotor of the electric motor 2 When voltage is applied to the stator windings of the electric motor 1, the rotor of the electric motor 2, the shaft 3 of the rotor of the electric motor and the input shaft 5 of the first stage of the wave transmission connected to it are driven.
  • the voltage of the signal winding of the position sensor of the rotor of the electric motor contains information about the angle of rotation of the rotor of the electric motor 3.
  • the waves of the wave former 6 mounted on the input shaft 5 make a movement in which the axis of the waves of the wave former 6 in one revolution input shaft 5 make a complete revolution around the central axis of the power minidrive.
  • the separator 7 allows the rolling bodies 8 to move only in the radial direction, so the rolling bodies 8 under the influence of the disks of the wave former 6 make wave-like movements with a period equal to the period of one revolution of the input shaft 5 and the amplitude equal to the distance between the central axis of the power mini-drive and the axis of the wave former disk 6.
  • the separator 11 allows the rolling elements 12 to move only in the radial direction, so the rolling elements 12 under the influence of the movement of the cylindrical eccentric surfaces of the wave former 10 make wave-like movements with a period equal to the period of one revolution of the wave former 10 and the amplitude equal to the distance between the central axis of the power mini-drive and the cylindrical axis eccentric surface.
  • Rolling bodies 12, interacting with the profiled surface of the hard wheel 13, rotate it by an angle less than the angle of rotation of the wave-forming machine 10 by a factor equal to the number of periods of the profiled surface of the hard wheel 13.
  • the voltage of the signal winding of the output shaft position sensor contains information about the angle of rotation of the hard wheel 13.
  • the ratio of the angle of rotation of the shaft 3 of the rotor of the electric motor to the angle of rotation of the output shaft of the power mini-drive is equal to the product of the number of periods of the profiled surfaces of the hard wheels 9 and 13.
  • the rolling bodies 26 and 12 hold the radial load on the output shaft of the power mini-drive.
  • the armature 21 When you turn off the power mini-drive voltage is applied to a pair of windings 22 of the stator of the locking device, the armature 21 is rotated to its original position, providing a kinematic connection of the locking element with the shaft 3 of the rotor electric motor. The armature 21 is fixed in its original position by permanent magnets 24 after removing the voltage from the windings 22.
  • the distance between the rows of rolling bodies allows the use of a power mini-drive in a wide range of values of the bending moment acting on the output shaft, with the smallest dimensions.
  • the placement of the locking device, the position sensor of the rotor of the electric motor and the position sensor of the output shaft in this way allowed expanding the functionality with the smallest radial and axial dimensions of the power mini-drive.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention porte sur les constructions mécaniques. Le mini-entraînement mécanisé de l'invention comprend un moteur électrique, un réducteur à planétaire à deux étages, une unité d'arrêt, un capteur de position du rotor de moteur électrique, un capteur de position de l'arbre de sortie, un boîtier et un dispositif de support, disposés concentriques et le long de l'axe central du mini-entraînement mécanisé. L'arbre de sortie du mini-entraînement mécanisé doté d'une roue rigide (13) de l'étage de sortie du réducteur à planétaire se présente comme un cylindre creux (14) avec un couvercle d'extrémité (15) sur lequel sont disposés les éléments de fixation à l'objet à régler. L'arbre de sortie repose sur des corps de roulement, disposés de part et d'autre du moteur électrique. Les corps de roulement (26), qui sont disposés sur le côté du couvercle d'extrémité (15), forment un roulement radial, et constituent des corps de roulement (12) sur le côté opposé de l'étage de sortie du réducteur à planétaire. Les corps de roulement sont disposés sur des diamètres proches du diamètre extérieur du stator (1) du moteur électrique. Le dispositif d'arrêt est disposé à l'intérieur du roulement radial, formé par les corps de roulement (26) disposés du côté du couvercle d'extrémité (15). Entre le dispositif d'arrêt et le moteur électrique on a monté un capteur de position du moteur électrique. En outre, du côté de l'étage de sortie du réducteur à planétaire, on a monté un capteur de position de l'arbre de sortie, de manière à ce que le stator (18) soit fixé au séparateur (11) et le rotor (19) soit fixé au côté extérieur de la roue rigide (13) de l'étage de sortie du réducteur à planétaire. L'invention permet d'utiliser le mini-entraînement mécanisé dans une large gamme de moments de flexion agissant sur l'arbre de sortie avec des dimensions réduites et d'élargir les fonctionnalités du dispositif.
PCT/RU2007/000384 2007-01-10 2007-07-12 Mini-entraînement mécanisé WO2008085082A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2007100167 2007-01-10
RU2007100167/09A RU2321138C1 (ru) 2007-01-10 2007-01-10 Силовой мини-привод

Publications (1)

Publication Number Publication Date
WO2008085082A1 true WO2008085082A1 (fr) 2008-07-17

Family

ID=39366473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/RU2007/000384 WO2008085082A1 (fr) 2007-01-10 2007-07-12 Mini-entraînement mécanisé

Country Status (2)

Country Link
RU (1) RU2321138C1 (fr)
WO (1) WO2008085082A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112010005656T5 (de) 2010-06-09 2013-03-21 Ministerstvo Promyshlennosty I Torgovli Of Russian Federation Elektromechanische Antriebseinrichtung der aerodynamischen Fläche des Flugzeuges
DE112010005379T5 (de) 2010-06-09 2013-05-02 Ministerstvo Promyshlennosty I Torgovliof Russian Federation Elektromechanischer Antrieb
DE112010005655T5 (de) 2010-06-09 2013-06-13 Ministerstvo Promyshlennosty I Torgovliof Russian Federation Elektromechanischer Antrieb

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2519612C2 (ru) * 2012-03-23 2014-06-20 Открытое акционерное общество "Авиационное оборудование" Силовой мини-привод петлеобразной формы
RU2740466C1 (ru) * 2020-02-10 2021-01-14 Акционерное общество Московский научно-производственный комплекс "Авионика" имени О.В. Успенского (АО МНПК "Авионика") Резервированный электромеханический силовой минипривод

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU663028A1 (ru) * 1976-06-08 1979-05-15 Красноярский Политехнический Институт Электропривод
US5770904A (en) * 1994-03-08 1998-06-23 Grundl Und Hoffman Gmbh Gesellschaft Fur Elektrotechnische Entwicklungen Electric motor
US5901801A (en) * 1995-10-20 1999-05-11 Honda Giken Kogyo Kabushiki Kaisha Motor with gear reducer, and assembly method and maintenance method for same
RU2165044C1 (ru) * 1999-11-19 2001-04-10 Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П. Королева" Волновой привод и способ его сборки (варианты)
RU2171526C1 (ru) * 2000-08-31 2001-07-27 Становской Виктор Владимирович Мотор-редуктор
RU2265553C1 (ru) * 2004-03-29 2005-12-10 Московский авиационный институт (государственный технический университет) Исполнительный механизм рулевого привода
RU2283975C1 (ru) * 2005-02-10 2006-09-20 Московский авиационный институт (государственный технический университет) Резервированный электропривод

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU663028A1 (ru) * 1976-06-08 1979-05-15 Красноярский Политехнический Институт Электропривод
US5770904A (en) * 1994-03-08 1998-06-23 Grundl Und Hoffman Gmbh Gesellschaft Fur Elektrotechnische Entwicklungen Electric motor
US5901801A (en) * 1995-10-20 1999-05-11 Honda Giken Kogyo Kabushiki Kaisha Motor with gear reducer, and assembly method and maintenance method for same
RU2165044C1 (ru) * 1999-11-19 2001-04-10 Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П. Королева" Волновой привод и способ его сборки (варианты)
RU2171526C1 (ru) * 2000-08-31 2001-07-27 Становской Виктор Владимирович Мотор-редуктор
RU2265553C1 (ru) * 2004-03-29 2005-12-10 Московский авиационный институт (государственный технический университет) Исполнительный механизм рулевого привода
RU2283975C1 (ru) * 2005-02-10 2006-09-20 Московский авиационный институт (государственный технический университет) Резервированный электропривод

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112010005656T5 (de) 2010-06-09 2013-03-21 Ministerstvo Promyshlennosty I Torgovli Of Russian Federation Elektromechanische Antriebseinrichtung der aerodynamischen Fläche des Flugzeuges
DE112010005379T5 (de) 2010-06-09 2013-05-02 Ministerstvo Promyshlennosty I Torgovliof Russian Federation Elektromechanischer Antrieb
DE112010005655T5 (de) 2010-06-09 2013-06-13 Ministerstvo Promyshlennosty I Torgovliof Russian Federation Elektromechanischer Antrieb
DE112010005656B4 (de) * 2010-06-09 2015-10-08 Ministerstvo Promyshlennosty I Torgovli Of Russian Federation Elektromechanische Antriebseinrichtung der aerodynamischen Fläche des Flugzeuges
DE112010005379B4 (de) 2010-06-09 2017-09-07 Ministerstvo Promyshlennosty I Torgovliof Russian Federation Elektromechanischer Antrieb

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