A small-power and large-torque square-hole servo

Abstract

The present disclosure provides a small-power and large-torque square-hole servo, which includes a driving motor, a transmission mechanism, a square-hole output shaft, and an end feedback device; the square-hole output shaft is provided with a square hole; the driving motor is in transmission connection with the square-hole output shaft through the transmission mechanism and drives the square hole to rotate forward or backward; the end feedback device is connected to the square-hole output shaft and receives the rotation information of the square-hole output shaft. It has the advantages of simple structure, low maintenance cost, convenient disassembly and installation, and high control accuracy.

Description

Technical Field

[0001] The present disclosure relates to a servo motor, and particularly to a small-power and large-torque square-hole servo motor. Background Art

[0002] The servo motor system device is an actuator of the propulsion system of vehicles, ships, etc., which converts control instruction information into mechanical motion to achieve the specified motion state of the vehicle. The performance of the servo motor directly affects the performance of related vehicles. With the development of aerospace technology and ship technology, and the research on various advanced guidance and navigation technologies, the performance requirements for servo motors are getting higher and higher, prompting the development of servo motors in the directions of continuous reduction of volume and mass, continuous enhancement of load-bearing capacity, and continuous improvement of control performance. The structures of traditional hydraulic servo motors and pneumatic servo motors are complex, and their volume and weight cannot meet the requirements of miniaturization, light weight, etc. Summary of the Invention

[0003] In order to solve at least one of the above technical problems, the present disclosure provides a small-power and large-torque square-hole servo motor, and the specific implementation method is as follows:

[0004] A small-power and large-torque square-hole servo motor includes a driving motor, a transmission mechanism, a square-hole output shaft, and a terminal feedback device; the square-hole output shaft includes a square hole; the driving motor is in transmission connection with the square-hole output shaft through the transmission mechanism and drives the square hole to rotate forward or backward; the terminal feedback device is connected to the square-hole output shaft and receives the rotation information of the square-hole output shaft.

[0005] Further, the transmission mechanism includes a transmission gear assembly, a lead screw assembly, and a connecting rod; the lead screw assembly includes a lead screw, a lead screw input gear, and a lead screw nut; the transmission gear assembly is in transmission connection with the output end of the driving motor;

[0006] The lead screw input gear is connected to one end of the lead screw, and the transmission gear assembly is in meshing connection with the lead screw input gear;

[0007] The lead screw nut is sleeved on the lead screw and can move along the lead screw axis; one end of the connecting rod is hinged to the lead screw nut, and the other end is hinged to the square-hole output shaft.

[0008] Further, a convex first pin shaft is provided on the outer shaft surface of the lead screw nut, a first pin hole is provided at one end of the connecting rod, and the first pin shaft is in rotational mating connection with the first pin hole; the other end of the connecting rod is hinged to the square-hole output shaft through a second pin shaft.

[0009] Further, a motor gear is connected to the output shaft end of the drive motor. The transmission gear assembly includes a first transmission gear and a second transmission gear that rotate coaxially. The first transmission gear meshes with the motor gear, and the second transmission gear meshes with the lead screw input gear.

[0010] Further, angular contact ball bearings are respectively connected to both ends of the lead screw. One of the angular contact ball bearings is installed on the steering gear housing through an angular contact ball bearing end cover, and the other angular contact ball bearing is installed on a transmission bracket, and the transmission bracket is fixedly arranged inside the steering gear housing.

[0011] Further, the transmission gear assembly includes a connecting bearing. One end of the connecting bearing is installed on the transmission bracket through a rolling bearing, and the other end is fixed to the housing of the steering gear through a rolling bearing. The transmission bracket is fixedly arranged inside the steering gear housing.

[0012] Further, the end feedback device includes a potentiometer, a first potentiometer gear, and a second potentiometer gear; the first potentiometer gear is rotatably installed on the square hole output shaft; the potentiometer is connected to the first potentiometer gear, and the potentiometer can rotate coaxially with the first potentiometer gear; the second potentiometer gear is fixedly connected to the housing of the steering gear; the first potentiometer gear is meshed and connected with the second potentiometer gear, and the first potentiometer gear can move circumferentially along the second potentiometer gear.

[0013] Further, a tenon is provided on the potentiometer, and a mortise is provided on the first potentiometer gear, and the tenon is in fit connection with the mortise.

[0014] Further, the square hole output shaft includes a connecting handle and a square hole shaft; one end of the connecting handle is connected to the transmission mechanism, and the other end is fixedly connected to the outer shaft wall of the square hole shaft; the square hole is arranged at the shaft end of the square hole shaft; both shaft ends of the square hole shaft are rotatably installed on the housing of the steering gear and the housing cover plate respectively through rolling bearing housings.

[0015] Further, the drive motor is a servo motor with an absolute encoder. Description of the Drawings

[0016] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure, and the drawings are included in this specification and form a part of this specification.

[0017] Figure 1 , is a schematic internal structure diagram of the steering gear of the present disclosure;

[0018] Figure 2, is the schematic front view structure of the external part of the servo motor of the present disclosure;

[0019] Figure 3 , is the schematic right view structure of the external part of the servo motor of the present disclosure;

[0020] In the figure:

[0021] Housing 1; housing cover plate 2; drive motor 3; square hole output shaft 4; motor gear 5; transmission gear assembly 6; lead screw input gear 7; transmission bracket 8; lead screw 9; lead screw nut 10; connecting rod 11; second pin shaft 12; angular contact ball bearing end cover 13; potentiometer 14; first potentiometer gear 15; second potentiometer gear 16; connecting handle 41; square hole shaft 42; first transmission gear 61; second transmission gear 62. Specific embodiments

[0022] The present disclosure will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and are not intended to limit the present disclosure. In addition, it should be noted that for the sake of description, only parts related to the present disclosure are shown in the drawings.

[0023] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the drawings and embodiments.

[0024] Refer to Figures 1 - 3 , a small-power large-torque square-hole servo motor, including a housing 1, a drive motor 3, a transmission mechanism, a square-hole output shaft 4 and an end feedback device; the drive motor 3 is located outside the housing 1, and the transmission mechanism, the square-hole output shaft 4 and the end feedback device are located inside the housing 1; the square-hole output shaft 4 includes a square hole; the drive motor 3 is drivingly connected to the square-hole output shaft 4 through the transmission mechanism and drives the square hole to rotate forward or backward; the end feedback device is connected to the square-hole output shaft 4 and receives the rotation information of the square-hole output shaft 4. In this embodiment, the drive motor 3 is used as the torque output mechanism, which can meet the output requirements of the small-power large-torque of the servo motor, and can greatly simplify the structure of the servo motor, reduce the overall volume and weight of the servo motor. As a preferred embodiment of this embodiment, the drive motor 3 is a servo motor with an absolute encoder, which can ensure the smoothness of the output and the control accuracy. With the structure of the drive motor, the servo motor of this embodiment has the advantages of simple structure, low maintenance cost, convenient disassembly and installation, and high control accuracy.

[0025] Refer to Figures 1 - 3, the transmission mechanism includes a transmission gear assembly 6, a lead screw assembly, and a connecting rod 11; the lead screw assembly includes a lead screw 9, a lead screw input gear 7, and a lead screw nut 10; the transmission gear assembly 6 is drivingly connected to the output end of the drive motor 3; the lead screw input gear 7 is connected to one end of the lead screw 9, and the transmission gear assembly 6 is meshingly connected to the lead screw input gear 7; the lead screw nut 10 is sleeved on the lead screw 9 and can move along the axis of the lead screw 9; one end of the connecting rod 11 is hinged to the lead screw nut 10, and the other end is hinged to the square hole output shaft 4.

[0026] The drive motor drives the lead screw 9 to rotate through the transmission gear assembly 6, so that the lead screw 9 pushes the lead screw nut 10 to perform a linear motion along the axial direction of the lead screw 9, thereby pushing the connecting rod 11 to move. Further, the connecting rod 11 pushes the square hole output shaft 4 to rotate along the axis of the square hole, so that the square hole rotates forward or backward.

[0027] As a preferred embodiment of this embodiment, the lead screw 9 is preferably a trapezoidal lead screw; the self-locking performance of the trapezoidal lead screw can be utilized to endow the steering gear with self-locking ability.

[0028] As a preferred embodiment of this embodiment, angular contact ball bearings are respectively connected to both ends of the lead screw 9. One of the angular contact ball bearings is installed on the steering gear housing through an angular contact ball bearing end cover 13, and the other angular contact ball bearing is installed on the transmission bracket 8, and the transmission bracket 8 is fixedly arranged in the housing 1. The angular contact ball bearing has the function of rotational limit, so that the rotation of the lead screw 9 has mechanical limit to prevent the rotation angle from being too large.

[0029] Refer to Figures 1 - 3 , a convex first pin shaft is provided on the outer shaft surface of the lead screw nut 10, a first pin hole is provided at one end of the connecting rod 11, and the first pin shaft is rotationally and fittingly connected to the first pin hole; the other end of the connecting rod 11 is hinged to the square hole output shaft 4 through a second pin shaft 12. In this embodiment, each component in the steering gear is connected by screws or hinged joints, which is convenient for installation and disassembly, beneficial to subsequent maintenance, and can be adapted to the operation requirements of different industries by replacing accessories.

[0030] Refer to Figures 1 - 3, the output shaft end of the drive motor 3 is connected with a motor gear 5. The transmission gear assembly 6 includes a first transmission gear 61 and a second transmission gear 62 that rotate coaxially. The first transmission gear 61 meshes with the motor gear 5, and the second transmission gear 62 meshes with the lead screw input gear 7. The transmission gear assembly 6 further includes a connecting bearing. Both the first transmission gear 61 and the second transmission gear 62 are installed on the connecting bearing. One end of the connecting bearing is installed on the transmission bracket 8 through a rolling bearing, and the other end is fixed to the housing 1 through a rolling bearing. The drive motor 3 drives the motor gear 5 to rotate, thereby driving the first transmission gear 61 to rotate. The first transmission gear 61 drives the second transmission gear 62 to rotate through the connecting bearing, thereby driving the lead screw input gear 7 to rotate, and the lead screw input gear 7 drives the lead screw 9 to rotate.

[0031] Referring to Figures 1 - 3 , the square hole output shaft 4 includes a connecting handle 41 and a square hole shaft 42. One end of the connecting handle 41 is connected to the transmission mechanism, and the other end is fixedly connected to the outer shaft wall of the square hole shaft 42. The square hole is provided at the shaft end of the square hole shaft 42. According to the actual situation, square holes can be provided at both shaft ends of the square hole shaft 42. The two shaft ends of the square hole shaft 42 are respectively rotatably installed on the housing 1 and the housing cover 2 through rolling bearing housings.

[0032] As a preferred implementation manner of this embodiment, the rolling bearing is preferably a deep groove ball bearing.

[0033] Referring to Figures 1 - 3 , the end feedback device includes a potentiometer 14, a first potentiometer gear 15 and a second potentiometer gear 16. The first potentiometer gear 15 is rotatably installed on the square hole output shaft. The potentiometer 14 is connected to the first potentiometer gear 15 and can rotate coaxially with the first potentiometer gear 15. The second potentiometer gear 16 is fixedly connected to the housing of the steering gear. The first potentiometer gear 15 is meshed and connected with the second potentiometer gear 16, and the first potentiometer gear 15 can move circumferentially along the second potentiometer gear 16. The potentiometer 14 is provided with a tenon, and the first potentiometer gear 15 is provided with a mortise, and the tenon and the mortise are in mating connection.

[0034] As a preferred implementation manner of this embodiment, the first potentiometer gear and the potentiometer are installed on the connecting handle of the square hole output shaft and can move along with the connecting handle.

[0035] As a preferred implementation manner of this embodiment, the end feedback device can also be an angle encoder or the like.

[0036] The working process of the square hole steering gear of the present disclosure is as follows:

[0037] Referring to Figures 1 - 3, the drive motor 3 drives the motor gear 5 to rotate. The motor gear 5 drives the first transmission gear 61 of the transmission gear assembly 6 to rotate. The first transmission gear 61 drives the second transmission gear 62 to rotate by means of a connecting bearing, thereby driving the lead screw input gear 7 to rotate. The rotation of the lead screw input gear 7 drives the lead screw 9 to rotate, so that the lead screw nut 10 moves. By means of the connecting rod 11, the connecting handle 41 of the square hole output shaft 4 swings with the axis line of the square hole shaft 42 as the fulcrum, thereby driving the square hole shaft 42 to rotate. At the same time, the connecting handle 41 drives the first potentiometer gear 15 to move circumferentially along the second potentiometer gear 16. Since the second potentiometer gear 16 is relatively fixed and the first potentiometer gear 15 meshes with the second potentiometer gear 16, when the first potentiometer gear 15 moves circumferentially along the second potentiometer gear 16, it rotates itself, thereby inputting a rotation signal to the potentiometer 14. Through this rotation signal, the position of the square hole output shaft 4 can be judged, and thus the actual angle of the steering gear can be known.

[0038] In the present disclosure, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0039] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A small-power and high-torque square-hole servo motor, characterized in that, it includes a driving motor, a transmission mechanism, a square-hole output shaft and an end feedback device; the square-hole output shaft is provided with a square hole; the driving motor is in transmission connection with the square-hole output shaft through the transmission mechanism and drives the square hole to rotate forward or backward; the end feedback device is connected to the square-hole output shaft and receives the rotation information of the square-hole output shaft; the end feedback device includes a potentiometer, a first potentiometer gear and a second potentiometer gear; the first potentiometer gear is rotatably installed on the square-hole output shaft; the potentiometer is connected to the first potentiometer gear, and the potentiometer can rotate coaxially with the first potentiometer gear; the second potentiometer gear is fixedly connected to the housing of the servo motor; the first potentiometer gear is meshed with the second potentiometer gear, and the first potentiometer gear can move circumferentially along the second potentiometer gear; the potentiometer is provided with a tenon, and the first potentiometer gear is provided with a mortise, and the tenon is in mating connection with the mortise; the transmission mechanism includes a transmission gear assembly, a lead screw assembly and a connecting rod; the lead screw assembly includes a lead screw, a lead screw input gear and a lead screw nut; the transmission gear assembly is in transmission connection with the output end of the driving motor; the lead screw input gear is connected to one end of the lead screw, and the transmission gear assembly is meshed with the lead screw input gear; the lead screw nut is sleeved on the lead screw and can move along the lead screw axis; one end of the connecting rod is hinged to the lead screw nut, and the other end is hinged to the square-hole output shaft.

2. The small-power and high-torque square-hole servo motor according to claim 1, characterized in that, a protruding first pin shaft is provided on the outer shaft surface of the lead screw nut, a first pin hole is provided at one end of the connecting rod, and the first pin shaft is in rotational mating connection with the first pin hole; the other end of the connecting rod is hinged to the square-hole output shaft through a second pin shaft.

3. The small-power and high-torque square-hole servo motor according to claim 1, characterized in that, a motor gear is connected to the output shaft end of the driving motor, the transmission gear assembly includes a first transmission gear and a second transmission gear that rotate coaxially, the first transmission gear is meshed with the motor gear, and the second transmission gear is meshed with the lead screw input gear.

4. The small-power and high-torque square-hole servo motor according to claim 1, characterized in that, angular contact ball bearings are respectively connected to both ends of the lead screw, one of the angular contact ball bearings is installed on the housing of the servo motor through an angular contact ball bearing end cover, and the other angular contact ball bearing is installed on a transmission bracket, and the transmission bracket is fixedly arranged inside the housing of the servo motor.

5. The small-power and high-torque square-hole servo motor according to claim 1, characterized in that, the transmission gear assembly includes a connecting bearing, one end of the connecting bearing is installed on the transmission bracket through a rolling bearing, and the other end is fixed to the housing of the servo motor through a rolling bearing, and the transmission bracket is fixedly arranged inside the housing of the servo motor.

6. The small-power and high-torque square-hole servo motor according to any one of claims 1-5, characterized in that, The square-hole output shaft includes a connecting handle and a square-hole shaft; one end of the connecting handle is connected to the transmission mechanism, and the other end is fixedly connected to the outer shaft wall of the square-hole shaft; the square hole is provided at the shaft end of the square-hole shaft; both shaft ends of the square-hole shaft are rotatably installed on the housing of the steering gear and the housing cover plate through rolling bearing housings respectively.

7. The small-power high-torque square-hole steering gear according to any one of claims 1-5, characterized in that the drive motor is a servo motor with an absolute encoder.

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