Rotary drive

Abstract

The present application relates to a rotary drive device, which includes a driven component, a driving component, a torque transmission component, a first torque sensor and a second torque sensor. The driven component is used to drive the load to rotate. The driving component is used to output torque, and the driving component includes a fixed component and a rotating component, and the rotating component is rotatably connected to the fixed component. The torque transmission component connects the rotating component and the driven component, and the rotating component drives the driven component to rotate through the torque transmission component. The first torque sensor connects the fixed component and the torque transmission component to detect the torque applied to the first torque sensor by the torque transmission component. The second torque sensor is provided in the driven component to detect the output torque of the driving component. The rotary drive device provided by the present application eliminates the system error existing in the dynamic response process of the rotary drive device, thereby facilitating the precise control of the motion process of the rotary drive device.

Description

[0001] This application is a divisional application of a patent application with an application date of August 13, 2021, an application number of 202110929177.X, and an application name of “Rotational drive device and method for correcting system errors of a rotational drive device”. Technical Field

[0002] The present application relates to the field of drive devices, and in particular to a rotary drive device. Background Art

[0003] Rotary drive devices can be applied to some mechanical structures that perform circular work, such as crane slewing tables and robot joints. However, due to factors such as system vibration and friction, there is a retardation force in the driving process of the rotary drive device, and the retardation force easily causes errors in the dynamic response process of the rotary drive device, making it difficult to accurately control the motion process of the rotary drive device. Summary of the invention

[0004] In view of this, it is necessary to provide a rotation drive device that can correct errors existing in the dynamic response process of the rotation drive device.

[0005] The present application provides a rotary drive device for driving a load to rotate, and the rotary drive device includes a driven component, a driving component, a torque transmission component, a first torque sensor, and a second torque sensor. The driven component is used to drive the load to rotate. The driving component is used to output torque, and the driving component includes a fixed component and a rotating component, and the rotating component is rotatably connected to the fixed component. The torque transmission component connects the rotating component and the driven component, and the rotating component drives the driven component to rotate through the torque transmission component. The first torque sensor connects the fixed component and the torque transmission component to detect the torque of the torque transmission component acting on the first torque sensor. The second torque sensor is provided in the driven component to detect the output torque of the driving component. The rotating component includes a wave generator, the torque transmission component is a flexible gear, and the driven component includes a rigid gear. The wave generator, the flexible gear and the rigid gear constitute a harmonic drive reducer. The driven component also includes an output flange, the output flange is connected to the rigid gear, and is used to connect the load, and the rigid gear can drive the load to rotate through the output flange. The output flange includes a supporting portion and an assembly portion. The supporting portion is cylindrical. One end of the supporting portion is folded outward to form the assembly portion. One side of the assembly portion is connected to the rigid gear, and the other side is used to connect the load. The rigid gear can drive the load to rotate through the assembly portion. The second torque sensor is arranged between the assembly portion and the rigid gear.

[0006] In one embodiment of the present application, the fixed component includes a motor bracket and a motor stator, the rotating component includes a motor rotor, and the motor bracket, the motor stator and the motor rotor constitute a rotating motor. The motor stator is fixed to the motor bracket, the motor rotor is rotatably connected to the motor bracket through a first bearing, and the motor stator can rotate the motor rotor. Such a configuration fundamentally improves the reliability of the rotating drive device, reduces the maintenance cost of the rotating drive device, and improves the positioning accuracy of the rotating drive device.

[0007] In one embodiment of the present application, a control component is further included, the control component is electrically connected to the rotating motor; the rotating motor also includes an incremental encoder, the incremental encoder is arranged at one end of the motor rotor, and the incremental encoder is used to measure the rotation speed of the motor rotor. By measuring and controlling the rotation speed of the rotating motor with the incremental encoder, the rotation speed of the load can be accurately controlled.

[0008] In one embodiment of the present application, the fixing assembly further includes a mounting seat, which is fixedly connected to the motor bracket; the rotary drive device further includes a brake, which is mounted on the mounting seat and movably cooperates with the motor rotor to brake the motor rotor. Such an arrangement can better achieve the braking of the rotary motor, so as to control the rotary drive device to stop running at any time.

[0009] In one embodiment of the present application, the flexible gear is at least partially mounted on the wave generator, and the portion of the flexible gear mounted on the wave generator cooperates with the wave generator to form an elliptical gear structure, the long axis end of the elliptical gear structure is meshed with the rigid gear, and one end of the flexible gear is fixedly connected to the first torque sensor.

[0010] In one embodiment of the present application, the flexible gear includes a meshing portion and a connecting portion, the meshing portion is cylindrical, at least a portion of the meshing portion is sleeved on the wave generator, and the outer wall of the portion of the meshing portion sleeved on the wave generator is meshed and connected with the inner wall of the rigid gear. One end of the meshing portion away from the wave generator is folded outward to form a connecting portion. The connecting portion is fixedly connected to the first torque sensor. This arrangement facilitates the harmonic drive reducer to transmit the torque G1 to the first torque sensor through the flexible gear.

[0011] In one embodiment of the present application, the second torque sensor is disposed between the output flange and the rigid gear. In one embodiment of the present application, the rotary drive device further comprises a second bearing, the second bearing is sleeved on the support portion, and the support portion is rotatably connected to the drive assembly through the second bearing.

[0012] In one embodiment of the present application, a control component and an absolute encoder are further included, wherein the control component is electrically connected to the absolute encoder, and the absolute encoder is disposed at one end of the support portion away from the assembly portion. The absolute encoder is used to measure the rotational position of the output flange when it rotates, and the control component can control the rotation angle change of the output flange according to the measurement result of the absolute encoder.

[0013] In one embodiment of the present application, the first torque sensor is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor.

[0014] And / or, the second torque sensor is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor.

[0015] The rotary drive device provided by the present application starts the driving component, and the driving component drives the rotating component to accelerate the rotation. The rotating component transmits the torque to the driven component through the torque transmission member, so that the driven component also accelerates the rotation, and the accelerated rotation of the driven component will drive the load to accelerate the rotation together. The output torque G2 of the driving component is decomposed into two parts, one part of the torque causes the load to generate an angular acceleration a, and the other part of the torque is offset by the reverse torque generated by the fixed component on the torque transmission member. In the prior art, the output torque G2 of the driving component is used as the torque that causes the load to generate an angular acceleration a. However, part of the torque of the output torque G2 of the driving component is offset by the reverse torque generated by the fixed component on the torque transmission member. Therefore, the torque that causes the load to generate an angular acceleration a is not consistent with the output torque G2 of the driving component, resulting in a system error. The output torque G2 of the driving component can be directly measured by the second torque sensor, and the first torque sensor can measure the torque G1 generated by the torque transmission member on the fixed component. By using the formula: G2-G1=M*a, the torque G1 in the output torque G2 of the drive component that fails to cause the load to generate angular acceleration can be eliminated, thereby obtaining the actual torque of the drive component that causes the load to generate angular acceleration, and then correcting the system error of the linear drive device. Among them, M is the moment of inertia of the load, and a is the angular acceleration of the load. In summary, the rotary drive device provided by the present application eliminates the system error existing in the dynamic response process of the rotary drive device, which is beneficial to the precise control of the motion process of the rotary drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a cross-sectional view of a rotation driving device according to an embodiment of the present application.

[0017] Figure numerals: 100, load; 1, driven component; 11, rigid gear; 12, output flange; 121, support part; 122, assembly part; 2, driving component; 21, fixing component; 211, motor bracket; 212, motor stator; 213, mounting seat; 22, rotating component; 221, motor rotor; 222, wave generator; 3, torque transmission member; 31, flexible gear; 311, meshing part; 312, connecting part; 4, first torque sensor; 5, second torque sensor; 6, control component; 71, first bearing; 72, second bearing; 73, third bearing; 81, incremental encoder; 82, absolute encoder; 9, brake. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0021] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0025] See also Figure 1In some mechanical structures that perform circular work, such as crane slewing tables and robot joints, rotary drive devices have very wide applications. Generally, rotary drive devices are used to drive load 100 to perform rotational motion. The present application provides a rotary drive device, which is used to drive load 100 to rotate, and the rotary drive device includes a driven component 1, a driving component 2, a torque transmission member 3, a first torque sensor 4 and a second torque sensor 5. Among them, the driving component 2 is used as a power source to output torque, and the driving component 2 includes a fixed component 21 and a rotating component 22, and the rotating component 22 is rotatably connected to the fixed component 21, and the fixed component 21 can drive the rotating component 22 to rotate. The rotating component 22 is connected to the driven component 1 through the torque transmission member 3, so that the torque output by the driving component 2 is transmitted to the driven component 1 through the torque transmission member 3. The driven component 1 is connected to the load 100, and is used to drive the load 100 to rotate. That is, the torque output by the driving component 2 is mainly used to drive the load 100 to rotate.

[0026] In order to accurately measure the magnitude of the torque applied to different parts of the rotary drive device, the present application sets different torque sensors at different parts of the rotary drive device. Among them, the first torque sensor 4 is connected to the fixed component 21 and the torque transmission member 3 to detect the torque applied to the first torque sensor 4 by the torque transmission member 3. The second torque sensor 5 is provided in the driven component 1 to detect the output torque of the driving component 2.

[0027] The first torque sensor 4 is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor. Similarly, the second torque sensor 5 is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor. Strain gauge torque sensors, capacitive torque sensors, piezoelectric torque sensors and piezoresistive torque sensors all have the advantages of fast strain response speed and high measurement accuracy, and can quickly and accurately measure the corresponding torque.

[0028] Specifically, Figure 1As shown, the driving component 2 is started, and the driving component 2 drives the rotating component 22 to accelerate the rotation. The rotating component 22 transmits the torque to the driven component 1 through the torque transmission member 3, so that the driven component 1 also accelerates the rotation. The accelerated rotation of the driven component 1 will drive the load 100 to accelerate the rotation together. The output torque G2 of the driving component 2 is decomposed into two parts, one part of the torque causes the load 100 to generate an angular acceleration a, and the other part of the torque is offset by the reverse torque generated by the fixed component 21 on the torque transmission member 3. In the prior art, the first torque sensor 4 is not provided, and the output torque G2 of the driving component 2 is used as the torque that causes the load 100 to generate an angular acceleration a. However, part of the output torque G2 of the driving component 2 is offset by the reverse torque generated by the fixed component 21 on the torque transmission member 3. Therefore, the torque that causes the load 100 to generate an angular acceleration a is inconsistent with the output torque G2 of the driving component 2, resulting in a system error. The output torque G2 of the driving component 2 can be directly measured by the second torque sensor 5, and the first torque sensor 4 can measure the torque G1 generated by the torque transmission member 3 on the fixed component 21. By using the formula: G2-G1=M*a, the torque G1 in the output torque G2 of the drive component 2 that fails to generate angular acceleration for the load 100 can be eliminated, thereby obtaining the actual torque of the drive component 2 that causes the load 100 to generate angular acceleration, and then correcting the system error of the linear drive device. Wherein, M is the moment of inertia of the load 100, and a is the angular acceleration of the load 100. In summary, the rotary drive device provided by the present application eliminates the system error existing in the dynamic response process of the rotary drive device, thereby facilitating the precise control of the motion process of the rotary drive device.

[0029] In one embodiment, if Figure 1As shown, the rotary drive device uses a rotary motor as a power source. Specifically, the fixed component 21 includes a motor bracket 211 and a motor stator 212, and the rotating component 22 includes a motor rotor 221. The motor bracket 211, the motor stator 212 and the motor rotor 221 constitute a rotary motor. Among them, the motor stator 212 is fixed to the motor bracket 211, and the motor rotor 221 is rotatably connected to the motor bracket 211 through the first bearing 71. When the rotary drive device is started, the motor stator 212 can rotate the motor rotor 221 under the action of the magnetic field, thereby realizing the output torque of the drive component 2. The rotary motor can be directly connected to the load 100, and can also be connected to the load 100 through a reducer. Such a configuration fundamentally improves the reliability of the rotary drive device, reduces the maintenance cost of the rotary drive device, and improves the positioning accuracy of the rotary drive device. In this embodiment, the definition of the motor rotor 221 is relatively broad. When the rotating motor is directly connected to the load 100, the rotating parts between the load 100 and the motor stator 212 can be defined as the motor rotor 221. When the rotating motor is connected to the load 100 via a reducer, the rotating parts between the reducer and the motor stator 212 can be defined as the motor rotor 221. Therefore, in order for the motor rotor 221 to better transmit torque, the motor rotor 221 will be designed into different shapes to facilitate the motor rotor 221 to connect to the load 100 or the reducer.

[0030] In order to better realize the control of the rotating electrical machine, in one embodiment, as Figure 1 As shown, the rotary drive device is also provided with a control component 6 and an incremental encoder 81, and the control component 6 is electrically connected to the rotary motor and the incremental encoder 81, respectively. Specifically, the incremental encoder 81 is provided at one end of the motor rotor 221, and the incremental encoder 81 can measure the rotation speed of the rotary motor rotor 221 in real time, and then the incremental encoder 81 transmits the rotation speed data of the rotary motor to the control component 6, and the control component 6 can control the speed change of the motor rotor 221 according to the measurement result of the incremental encoder 81, so that the rotation speed of the rotary motor reaches the target speed. By measuring and controlling the rotation speed of the rotary motor through the incremental encoder 81, the rotation speed of the load 100 can be accurately controlled. The control component 6 can be a controller such as an industrial computer or a microprocessor.

[0031] Furthermore, if Figure 1As shown, in order to better realize the braking of the rotating motor, so as to control the rotating drive device to stop running at any time, the rotating drive device is also provided with a brake 9. Specifically, the fixing assembly 21 also includes a mounting seat 213, the mounting seat 213 is fixedly connected to the motor bracket 211, and the brake 9 is installed on the mounting seat 213, and the brake 9 is movably matched with the motor rotor 221 to brake the motor rotor 221. When the brake 9 is attached to the motor rotor 221, the motor rotor 221 slows down under the friction of the brake 9, and the tighter the brake 9 fits with the motor rotor 221, the faster the speed of the motor rotor 221 decreases. When the brake 9 is away from the motor rotor 221, the motor rotor 221 will not be affected by the friction force from the brake 9. More specifically, one end of the motor rotor 221 forms a step structure, the brake 9 stops at the step structure, and the brake 9 is movably matched with the step surface of the step structure.

[0032] However, if the rotating speed of the rotating motor is too fast, and the output power is constant, reducing the rotating speed of the rotating motor is beneficial to increasing the output torque of the rotating motor, thereby realizing low-speed and high-torque transmission of the rotating motor. In order to better reduce the output speed of the rotating motor. In one embodiment, Figure 1As shown, the rotary drive device is provided with a harmonic drive reducer between the load 100 and the rotary motor. Specifically, the rotating assembly 22 includes a wave generator 222, the torque transmission member 3 is a flexible gear 31, the driven assembly 1 includes a rigid gear 11, and the wave generator 222, the flexible gear 31 and the rigid gear 11 constitute a harmonic drive reducer. Among them, the flexible gear 31 is at least partially sleeved on the wave generator 222, and the cross section of the portion of the wave generator 222 sleeved by the flexible gear 31 is elliptical, so the portion of the flexible gear 31 sleeved on the wave generator 222 cooperates with the wave generator 222 to form an elliptical gear structure, and the gear teeth of the elliptical gear structure face the side away from the wave generator 222. When the harmonic drive reducer is in operation, the long axis end of the elliptical gear structure is always meshed with the rigid gear 11, while the short axis end of the elliptical gear structure is completely disengaged from the rigid gear 11, and the portion between the long axis end and the short axis end of the elliptical gear structure is in an incompletely meshed transition state with the rigid gear 11. When the wave generator 222 rotates continuously under the drive of the motor rotor 221, the deformation of the flexible gear 31 is constantly changing, and the meshing state of the flexible gear 31 and the rigid gear 11 is also constantly changing. The meshing state of the flexible gear 31 and the rigid gear 11 repeats the process of meshing in, fully meshing, meshing out, fully disengaging, and meshing again, so that the rigid gear 11 can rotate slowly relative to the flexible gear 31 in the same direction as the wave generator 222. In this embodiment, when the harmonic drive reducer is working, the flexible gear 31 is fixedly connected to the fixed component 21, and the motor rotor 221 drives the wave generator 222 to rotate. The rigid gear 11 acts as a driven wheel, outputs rotation, and then drives the load 100 to rotate. In the transmission process of the harmonic drive reducer, the wave generator 222 rotates one circle, and the number of cycles of deformation of a certain point on the flexible gear 31 is called the wave number, which is represented by n, and n is usually 2 or 3. Among them, when n is 2, the harmonic drive reducer is a double-wave drive. At this time, the structure of the harmonic drive reducer is relatively simple, and the harmonic drive reducer is easy to obtain a larger transmission ratio.

[0033] Furthermore, in order to measure the torque G1 generated by the torque transmission member 3 on the fixed assembly 21, one end of the flexible gear 31 is fixedly connected to the first torque sensor 4, and the first torque sensor 4 is fixedly connected to the motor bracket 211. Specifically, Figure 1 As shown, the flexible gear 31 includes a meshing portion 311 and a connecting portion 312. The meshing portion 311 is cylindrical, and at least a portion of the meshing portion 311 is sleeved on the wave generator 222, and the outer wall of the portion of the meshing portion 311 sleeved on the wave generator 222 is meshed and connected with the inner wall of the rigid gear 11. One end of the meshing portion 311 away from the wave generator 222 is folded outward to form a connecting portion 312, and the connecting portion 312 is fixedly connected to the first torque sensor 4. Such a configuration facilitates the harmonic drive reducer to transmit the torque G1 to the first torque sensor 4 through the flexible gear 31.

[0034] In order to better connect the load 100 to the harmonic drive reducer, in one embodiment, as shown in FIG. Figure 1 As shown, an output flange 12 is provided between the harmonic drive reducer and the load 100. Specifically, the driven component 1 further includes an output flange 12, the output flange 12 is fixedly connected to the rigid gear 11, and the load 100 is connected to the output flange 12, and the rigid gear 11 drives the load 100 to rotate through the output flange 12. The second torque sensor 5 is provided between the output flange 12 and the rigid gear 11.

[0035] Furthermore, in order to make the structure of the rotation drive device more stable, in one embodiment, Figure 1 As shown, the output flange 12 includes a fixedly connected support portion 121 and an assembly portion 122. The support portion 121 is cylindrical, and the outer side of the support portion 121 is sleeved with a second bearing 72, and the support portion 121 is rotatably connected to the drive assembly 2 through the second bearing 72. Specifically, the support portion 121 is rotatably connected to the motor rotor 221 through the second bearing 72, thereby improving the structural stability of the rotary drive device. In addition, one end of the support portion 121 is folded outward to form an assembly portion 122, one side of the assembly portion 122 is connected to the rigid gear 11, and the other side is used to connect the load 100. The rigid gear 11 can drive the load 100 to rotate through the assembly portion 122, and the second torque sensor 5 is arranged between the assembly portion 122 and the rigid gear 11. Similarly, the outer sleeve of the rigid gear 11 is provided with a third bearing 73, and the rigid gear 11 is rotatably connected to the motor bracket 211 through the third bearing 73, thereby further improving the structural strength of the entire rotary drive device.

[0036] Similarly, in order to better achieve the control of the output flange 12, in one embodiment, as Figure 1 As shown, the rotary drive device is also provided with an absolute encoder 82, and the control component 6 is electrically connected to the absolute encoder 82. Specifically, the absolute encoder 82 is provided at one end of the support portion 121 away from the assembly portion 122. The absolute encoder 82 can measure the rotation position of the output flange 12 in real time when it rotates, and then the absolute encoder 82 transmits the position information of the output flange 12 to the control component 6, and the control component 6 can control the rotation angle change of the output flange 12 according to the measurement result of the absolute encoder 82.

[0037] The present application also provides a method for correcting a system error of a rotation drive device, which is used to correct a system error of the rotation drive device described in any one of the above embodiments. The method for correcting a system error of a rotation drive device comprises the following steps:

[0038] Install the load on the driven component.

[0039] Start the drive assembly to accelerate the rotation of the rotating assembly.

[0040] The rotating component drives the driven component to accelerate rotation through the torque transmission member.

[0041] The output torque G2 of the driving component is measured by a second torque sensor provided in the driven component.

[0042] The torque G1 of the torque transmission member acting on the first torque sensor is measured by the first torque sensor connected to the torque transmission member.

[0043] The system error of the linear drive device is corrected by the formula: G2-G1=M*a, where M is the moment of inertia of the load and a is the angular acceleration of the load.

[0044] The method for correcting the system error of the rotary drive device provided in the present application specifically comprises the following steps:

[0045] The load 100 is detachably mounted on the output flange 12 by fasteners. Then the control component 6 controls the rotating motor to start, the motor stator 212 drives the motor rotor 221 to rotate, and the motor rotor 221 drives the harmonic drive reducer to rotate. In addition, the harmonic drive reducer converts the high-speed rotation output by the rotating motor into a low-speed rotation. Afterwards, the output flange 12 connected to the harmonic drive reducer rotates along with the rigid gear 11, thereby driving the load 100 to rotate together. The speed of the rotating motor increases from zero, so the rotating motor and the load 100 are both accelerated. During the acceleration process of the load 100 and the output flange 12, the second torque sensor 5 can measure the output torque G2 of the drive motor, and one end of the flexible gear 31 is fixed to the first torque sensor 4, so the flexible gear 31 does not rotate, and the first torque sensor 4 can measure the torque G1 transmitted by the flexible gear 31 to the motor bracket 211, and G1 cannot act on the load 100 to generate angular acceleration of the load 100. Therefore, through the formula: G2-G1=M*a, G1 that cannot cause the load 100 to generate angular acceleration is eliminated, thereby correcting the system error of the linear drive device.

[0046] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application and are not used as limitations on the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments are within the scope of protection required by the present application.

Claims

1. A rotary drive device for driving a load (100) to rotate, characterized in that: include A driven component (1) is used to drive a load (100) to rotate; A driving assembly (2) for outputting torque, the driving assembly (2) comprising a fixed assembly (21) and a rotating assembly (22), the rotating assembly (22) being rotatably connected to the fixed assembly (21); A torque transmission member (3) is connected to the rotating assembly (22) and the driven assembly (1), and the rotating assembly (22) drives the driven assembly (1) to rotate through the torque transmission member (3); a first torque sensor (4), connected to the fixing assembly (21) and the torque transmission member (3), for detecting a torque applied by the torque transmission member (3) to the first torque sensor (4); as well as, A second torque sensor (5) is provided on the driven component (1) and is used to detect the output torque of the driving component (2); The rotating assembly (22) comprises a wave generator (222), the torque transmission member (3) is a flexible gear (31), the driven assembly (1) comprises a rigid gear (11), the wave generator (222), the flexible gear (31) and the rigid gear (11) constitute a harmonic drive reducer; the flexible gear (31) is at least partially sleeved on the wave generator (222), the portion of the flexible gear (31) sleeved on the wave generator (222) cooperates with the wave generator (222) to form an elliptical gear structure, and the long axis end of the elliptical gear structure is meshed with the rigid gear (11); The driven component (1) further comprises an output flange (12), wherein the output flange (12) is connected to the rigid gear (11), and the output flange (12) is used to connect to a load (100), and the rigid gear (11) can drive the load (100) to rotate via the output flange (12); The output flange (12) comprises a supporting portion (121) and an assembling portion (122); the supporting portion (121) is cylindrical; one end of the supporting portion (121) is folded outward to form the assembling portion (122); one side of the assembling portion (122) is connected to the rigid gear (11); the other side of the assembling portion (122) is used to connect to the load (100); the rigid gear (11) can drive the load (100) to rotate through the assembling portion (122); and the second torque sensor (5) is arranged between the assembling portion (122) and the rigid gear (11); One end of the flexible gear (31) is fixedly connected to the first torque sensor (4); The output torque G2 of the driving component (2) is measured by a second torque sensor (5) provided on the driven component (1), and the torque G1 of the torque transmission component (3) acting on the first torque sensor (4) is measured by a first torque sensor (4) connected to the torque transmission component (3). The system error of the rotary drive device is corrected by the formula: G2-G1=M*a, wherein in the above formula, M is the moment of inertia of the load (100), and a is the angular acceleration of the load (100).

2. The rotary drive device according to claim 1, characterized in that: The fixed component (21) comprises a motor support (211) and a motor stator (212), the rotating component (22) comprises a motor rotor (221), and the motor support (211), the motor stator (212) and the motor rotor (221) constitute a rotating motor; The motor stator (212) is fixed to the motor bracket (211), the motor rotor (221) is rotatably connected to the motor bracket (211) via a first bearing (71), and the motor stator (212) can drive the motor rotor (221) to rotate.

3. The rotary drive device according to claim 2, characterized in that: The invention also comprises a control component (6), wherein the control component (6) is electrically connected to the rotating motor; the rotating motor further comprises an incremental encoder (81), wherein the incremental encoder (81) is arranged at one end of the motor rotor (221), and the incremental encoder (81) is used to measure the rotation speed of the motor rotor (221); the control component (6) can control the rotation speed change of the motor rotor (221) according to the measurement result of the incremental encoder (81).

4. The rotary drive device according to claim 2, characterized in that: The fixing assembly (21) further comprises a mounting seat (213), wherein the mounting seat (213) is fixedly connected to the motor bracket (211); the rotation driving device further comprises a brake (9), wherein the brake (9) is mounted on the mounting seat (213), and the brake (9) movably cooperates with the motor rotor (221) to brake the motor rotor (221).

5. The rotary drive device according to claim 1, characterized in that: The flexible gear (31) comprises a meshing portion (311) and a connecting portion (312); the meshing portion (311) is cylindrical; at least a portion of the meshing portion (311) is sleeved on the wave generator (222); and the outer wall of the portion of the meshing portion (311) sleeved on the wave generator (222) is meshedly connected to the inner wall of the rigid gear (11); One end of the meshing portion (311) away from the wave generator (222) is folded outward to form the connecting portion (312); The connecting portion (312) is fixedly connected to the first torque sensor (4).

6. The rotary drive device according to claim 1, characterized in that: The second torque sensor (5) is arranged between the output flange (12) and the rigid gear (11).

7. The rotary drive device according to claim 1, characterized in that: The rotary drive device further comprises a second bearing (72), wherein the second bearing (72) is sleeved on the support portion (121), and the support portion (121) is rotatably connected to the drive assembly (2) via the second bearing (72).

8. The rotary drive device according to claim 1, characterized in that: It also includes a control component (6) and an absolute encoder (82), wherein the control component (6) is electrically connected to the absolute encoder (82), and the absolute encoder (82) is arranged at one end of the support portion (121) away from the assembly portion (122); The absolute encoder (82) is used to measure the rotational position of the output flange (12) when it rotates, and the control component (6) can control the rotation angle change of the output flange (12) according to the measurement result of the absolute encoder (82).

9. The rotary drive device according to claim 1, characterized in that: The first torque sensor (4) is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor; and / or the second torque sensor (5) is any one of a strain gauge torque sensor, a capacitive torque sensor, a piezoelectric torque sensor and a piezoresistive torque sensor.

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