Large-torque steering engine servo system driven by brushless motor

Abstract

A large-torque steering engine servo system driven by a brushless motor. The system includes a steering engine reducer, a drive motor, a position detection and servo drive controller. The steering engine reducer has relatively high strength and rigidity, can bear certain impact and load, and can be mounted directly as an output joint. A secondary bevel gear group reducer adopts a graphite lubricating copper bush as a sliding bearing to support a gear shaft, and under low-speed motion, can bear a larger load compared with an ordinary roller bearing, and has smaller radial dimension, thereby reducing the size of a reducer shell. The drive motor adopts a two-stage inner rotor brushless direct current motor. The electric steering engine has relatively large structural strength and output power, can be mounted on a joint as a direct driving device, satisfies a requirement of output torque of a joint of a middle-sized robot, is close to an ordinary servo motor in kinematic accuracy, but is relatively low in cost, and thus has wider applicability and popularization significance.

Description

technical field [0001] The invention relates to an angular displacement servo system with a large output torque, specifically relates to technologies such as mechanical design, motor drive, and servo control, and belongs to the technical field of mechatronics. Background technique [0002] The electric steering gear is a motor-driven angular displacement servo system. Widely used in automation systems, automobiles and model toys. Small electric steering gear is often used as a cost-effective position servo control system to drive small articulated robots. High-performance large and medium-sized electric steering gears are widely used as rudder surface control systems in unmanned aircraft, missiles and other spacecraft. [0003] At present, in large and medium-sized articulated robots, DC servo motors, high-precision reducers and rotary encoders are often used at each joint to form a position servo system. The market prices of the above three types of products are generall...

AI Technical Summary

Problems solved by technology

The market prices of the above three types of products are generally high, often making the cost of a single joint reach tens of thousands of yuan, which greatly increases the manufacturing cost of joint robots.

However, the common electric steering gear in the civilian market is light-loaded due to its structural strength and drive motor power limitations, and the output torque is generally difficult to exceed 10N.m, which cannot meet the drive power requirements of large and medium-sized robot joints.

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