A compact rotary electric servo

Abstract

The present invention is applicable to the field of electromechanical servo technology, and specifically is a compact rotary electric steering gear, comprising: a servo motor driven and controlled to rotate by a servo control driver, the servo motor being installed inside a motor housing, the servo motor being integrated with a sun gear of a planetary reducer by an arranged motor output shaft, thereby reducing connection links and improving dynamic characteristics; and utilizing the sun gear to drive the planetary gear to perform planetary motion around the sun gear; a chamber for installing a reducer output sensor and a motor sensor is arranged inside the motor housing, the reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a retaining frame, thereby making the structure more compact; and the reducer output sensor and the motor sensor are installed in the same chamber, thereby reducing the axial length of the electric steering gear; thereby achieving the most compact structure and improving the system integration.

Description

Technical Field

[0001] The invention relates to the technical field of electromechanical servo, in particular to a compact rotary electric steering gear. Background Art

[0002] Common structures of electric servos include linear, rotary and parallel types, most of which adopt a series structure, and few integrate the servo control driver into the servo to achieve an integrated design. There are multiple connection links between the motor and the reducer, and the servo connection structure is complex and the axial dimension is large. The sensor arrangement scheme generally adopts a two-side installation method, that is, installation at the rear end cover of the motor and installation on the output side of the reducer. This structure has problems such as long axial dimension and lack of compactness. Summary of the invention

[0003] The object of the present invention is to provide a compact rotary electric servo to solve the problems raised in the above background technology. To achieve the above object, the present invention provides the following technical solutions:

[0004] A compact rotary electric steering gear comprises: a servo motor driven and controlled to rotate by a servo control driver, the servo motor being installed inside a motor housing, the servo motor being integrated with a sun gear of a planetary reducer by a motor output shaft, thereby reducing connection links and improving dynamic characteristics; and utilizing the sun gear to drive a planetary gear to perform planetary motion around the sun gear; a chamber for installing a reducer output sensor and a motor sensor is provided inside the motor housing, the reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a retaining frame, thereby making the structure more compact; and the reducer output sensor and the motor sensor are installed in the same chamber, thereby reducing the axial length of the electric steering gear.

[0005] This achieves the most compact structure and improves system integration. Most of the servo control drives are integrated into the servo gear, and the integrated design is realized. There are multiple connection links between the motor and the reducer, and the servo gear connection structure is complex and the axial size is large. The sensor arrangement scheme generally adopts a two-side installation method, that is, it is installed at the rear end cover of the motor and at the output side of the reducer. This structure has problems such as long axial size and lack of compactness.

[0006] In the compact rotary electric servo engine of the present invention: the servo control driver is installed on the motor housing away from one end of the retaining frame; a driver protection cover is provided on the outer cover of the servo control driver, and the driver protection cover is installed on the motor housing by screws.

[0007] A further solution: the driver protection cover is provided with a waterproof plug.

[0008] In the compact rotary electric steering gear of the present invention: the reducer output sensor and / or the motor sensor are fixed to the motor housing by means of a sensor mounting bracket and screws, and the static piece of the motor sensor is fastened to the sensor mounting bracket, and the dynamic piece of the motor sensor is fastened to the motor output shaft by means of screws;

[0009] The stationary plate of the reducer output sensor is fastened to the sensor mounting bracket, and the moving plate of the reducer output sensor is fastened to the retaining frame by screw connection; thus, dual feedback control is realized.

[0010] In the compact rotary electric steering gear of the present invention: the planetary gear is installed in the middle of the retaining frame through the planetary gear support pin and the needle bearing, and retaining rings are installed at the left and right ends of the planetary gear support pin to prevent the planetary gear support pin from axially jumping out.

[0011] In the compact rotary electric servo of the present invention: the retaining frame includes a right retaining frame and a left retaining frame, and the right retaining frame and the left retaining frame output rotational motion and power under the action of the inner gear ring; the right retaining frame and the left retaining frame are installed on the planetary reducer, and cooperate with the planetary reducer and the motor output shaft for power transmission.

[0012] A further solution: the right retaining frame and / or the left retaining frame are fastened by connecting screws II and are longitudinally fixed by positioning pins.

[0013] Further solution: an output end cover is fixed on the inner gear ring and installed by connecting screws I; static sealing is achieved by using an O-ring between the inner gear ring and the output end cover; dynamic sealing is achieved by using a skeleton oil seal between the output end cover and the right retaining frame; dynamic sealing is achieved by using a skeleton oil seal between the left retaining frame and the motor output shaft and the inner gear ring, thereby ensuring the sealing of the entire planetary reducer, avoiding grease overflow that affects the working characteristics and life of the reducer, and also avoiding grease that affects the operation of the dual feedback sensor.

[0014] In the compact rotary electric steering gear of the present invention: the planetary reducer is connected to a reducer support bearing; and the servo motor is connected to a motor support bearing.

[0015] The limit block is installed on the left retaining frame through screw connection, and the mechanical limit of the entire servo output angle is achieved by arranging a limit device on the sensor mounting bracket.

[0016] Compared with the prior art, the compact rotary electric servo of the present invention comprises: a servo motor driven and controlled to rotate by a servo control driver, the servo motor being installed inside a motor housing, the servo motor being integrated with the sun gear of a planetary reducer by setting a motor output shaft, thereby reducing the connection links and improving the dynamic characteristics; and the sun gear is used to drive the planetary gear to perform planetary motion around the sun gear; a chamber for installing a reducer output sensor and a motor sensor is provided inside the motor housing, the reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a retaining frame, thereby making the structure more compact; and the reducer output sensor and the motor sensor are installed in the same room, thereby reducing the axial length of the electric servo; thereby achieving the most compact structure and improving the system integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the compact rotary electric steering gear of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the limiting device in the compact rotary electric steering gear of the present invention.

[0019] In the figure: 1-motor housing; 2-inner gear ring; 3-output end cover; 4-reducer support bearing; 5-right retaining frame; 6-retaining ring; 7-planetary gear support pin; 8-needle bearing; 9-planetary gear; 10-left retaining frame; 11-sensor mounting bracket; 12-reducer output sensor; 13-motor sensor; 14-servo motor; 15-motor support bearing; 16-motor output shaft; 17-servo control driver; 18-driver protection cover; 19-waterproof plug; 20-connecting screw I; 21-connecting screw II; 22-locating pin; 111-limit block; 112-limit device. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0021] Most of them adopt a series structure, and few integrate the servo control driver into the steering gear to achieve an integrated design. There are multiple connection links between the motor and the reducer, which makes the steering gear connection structure complex and the axial size large; the sensor arrangement scheme generally adopts a two-side installation method, that is, installation at the rear end cover of the motor and installation on the output side of the reducer. This structure has problems such as long axial size and lack of compactness; the purpose of the present invention is to provide a compact rotary electric steering gear to solve the above problems. To achieve the above purpose, the present invention provides the following technical solutions:

[0022] In the embodiment of the present invention, Figure 1As shown, a compact rotary electric servo engine comprises:

[0023] The servo motor 14 is driven and controlled to rotate by a servo control driver 17. The servo motor 14 is installed inside the motor housing 1. The servo motor 14 is integrated with the sun gear of the planetary reducer through the motor output shaft 16, which reduces the connection links and improves the dynamic characteristics; and the sun gear drives the planetary gear 9 to perform planetary motion around the sun gear;

[0024] A chamber for installing a reducer output sensor 12 and a motor sensor 13 is provided inside the motor housing 1. The reducer output sensor 12 acts on the planetary reducer and is installed on the side of the planetary reducer. The planetary reducer is installed with a retaining frame, which makes the structure more compact. The reducer output sensor 12 and the motor sensor 13 are installed in the same chamber to reduce the axial length of the electric servo, thereby achieving the most compact structure and improving the system integration.

[0025] In the embodiment of the present invention, Figure 1 As shown, the servo control driver 17 is mounted on the motor housing 1 at one end away from the retaining frame; a driver protection cover 18 is provided outside the servo control driver 17, and the driver protection cover 18 is installed on the motor housing 1 by screws. Further, the driver protection cover 18 is provided with a waterproof plug 19.

[0026] In the embodiment of the present invention, Figure 1 As shown, the reducer output sensor 12 and / or the motor sensor 13 are fixed to the motor housing through the sensor mounting bracket 11 and screws, and the static piece of the motor sensor 13 is fastened to the sensor mounting bracket 11, and the moving piece of the motor sensor 13 is fastened to the motor output shaft 16 by screw connection; the static piece of the reducer output sensor 12 is fastened to the sensor mounting bracket 11, and the moving piece of the reducer output sensor 12 is fastened to the retaining frame by screw connection; thus, dual feedback control is realized.

[0027] In the embodiment of the present invention, Figure 1 As shown, the planetary gear 9 is installed in the middle of the retaining frame through the planetary gear support pin 7 and the needle bearing 8, and retaining rings 6 are installed on the left and right ends of the planetary gear support pin 7 to prevent the planetary gear support pin 7 from axially jumping out.

[0028] In the embodiment of the present invention, Figure 1 As shown, the retaining frame includes a right retaining frame 5 and a left retaining frame 10. The right retaining frame 5 and the left retaining frame 10 output rotational motion and power under the action of the inner ring 2. The right retaining frame 5 and the left retaining frame 10 are installed on the planetary reducer and cooperate with the planetary reducer and the motor output shaft 16 for power transmission.

[0029] Specifically, the right retainer 5 and / or the left retainer 10 are fastened by connecting screws II21 and are longitudinally fixed by locating pins 22; the output end cover 3 is fixed to the inner gear ring 2 and is installed by connecting screws I20; static sealing is achieved by using an O-ring between the inner gear ring 2 and the output end cover 3; dynamic sealing is achieved by using a skeleton oil seal between the output end cover 3 and the right retainer 5; dynamic sealing is achieved by using a skeleton oil seal between the left retainer 10 and the motor output shaft 16 and the inner gear ring 2, thereby ensuring the sealing of the entire planetary reducer, avoiding grease overflow that affects the working characteristics and life of the reducer, and also avoiding grease that affects the operation of the dual feedback sensor.

[0030] In the embodiment of the present invention, Figure 1 and Figure 2 As shown, the planetary reducer is connected to a reducer support bearing 4; and the servo motor 14 is connected to a motor support bearing 15; the limit block 111 is installed on the left retaining frame 10 by screw connection, and the mechanical limit of the entire servo output angle is achieved by setting a limit device 112 on the sensor mounting bracket 11.

[0031] The compact rotary electric servo of the present invention comprises: a servo motor 14 driven and controlled to rotate by a servo control driver 17, the servo motor 14 is installed inside a motor housing 1, the servo motor 14 is integrated with the sun gear of a planetary reducer through a motor output shaft 16, the connection links are reduced, and the dynamic characteristics are improved; and the sun gear is used to drive the planetary gear 9 to perform planetary motion around the sun gear; a chamber for installing a reducer output sensor 12 and a motor sensor 13 is provided inside the motor housing 1, the reducer output sensor 12 acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a retaining frame, so that the structure is more compact; and the reducer output sensor 12 and the motor sensor 13 are installed in the same room, reducing the axial length of the electric servo, thereby achieving the most compact structure and improving the system integration.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0033] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A compact rotary electric servo, characterized in that: include: The servo motor is driven and controlled to rotate by a servo control driver. The servo motor is installed inside the motor housing. The servo motor is integrated with the sun gear of the planetary reducer through the motor output shaft. The sun gear drives the planetary gear to perform planetary motion around the sun gear. A chamber for installing a reducer output sensor and a motor sensor is arranged inside the motor housing, and the chamber is axially located between the servo motor and the planetary reducer. The reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer. The planetary reducer is installed with a cage, and the cage includes a right cage and a left cage. The right cage and the left cage output rotational motion and power under the action of the inner gear ring; the right cage and the left cage are installed on the planetary reducer and cooperate with the planetary reducer and the motor output shaft for power transmission. The right cage and the left cage are fastened by connecting screws II and are longitudinally fixed by positioning pins. The output end cover is fixed on the inner gear ring and installed by connecting screws I; Static sealing is achieved by using an O-ring between the inner gear ring and the output end cover; dynamic sealing is achieved by using a skeleton oil seal between the output end cover and the right retainer; dynamic sealing is achieved by using a skeleton oil seal between the left retainer and the motor output shaft and the inner gear ring. The reducer output sensor and the motor sensor are fixed to the motor housing through a sensor mounting bracket and screws, and the static piece of the motor sensor is fastened to the sensor mounting bracket, and the dynamic piece of the motor sensor is fastened to the motor output shaft through screw connection; Fasten the stationary plate of the reducer output sensor to the sensor mounting bracket, and fasten the moving plate of the reducer output sensor to the retaining frame by screws.

2. A compact rotary electric servo according to claim 1, characterized in that: The servo control driver is mounted on the motor housing away from one end of the retaining frame; A driver protection cover is arranged on the outer cover of the servo control driver, and the driver protection cover is mounted on the motor housing through screws.

3. A compact rotary electric servo according to claim 2, characterized in that: The driver protection cover is provided with a waterproof plug.

4. A compact rotary electric servo according to claim 1, characterized in that: The planetary gear is installed in the middle of the retaining frame through the planetary gear support pin and the needle bearing, and retaining rings are installed at the left and right ends of the planetary gear support pin to prevent the planetary gear support pin from axially jumping out.

5. A compact rotary electric servo according to claim 1, characterized in that: The planetary reducer is connected with a reducer support bearing; and the servo motor is connected with a motor support bearing.

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