A high-precision servo motor

Abstract

The invention relates to the technical field of motors, and specifically discloses a high-precision servo motor, comprising a shell, one end of which is provided with an opening; a driving mechanism, the driving mechanism comprising a motor and a transmission shaft, the output end of the motor being connected to the transmission shaft; a harmonic reduction mechanism, the harmonic reduction mechanism comprising a harmonic cam, a flexible wheel and a steel wheel, the flexible wheel comprising a sleeve and a chuck, the harmonic cam being connected to the sleeve, the sleeve being provided with a toothed protrusion, the chuck being provided with a toothed concave block, the toothed protrusion and the toothed concave block being meshed with each other; a first gear being provided on the outer end of the chuck, and a second gear being provided on the inner wall of the steel wheel; an output mechanism, the output mechanism comprising a first bearing, a second bearing and an output connection port, the rotation of the steel wheel driving the output mechanism to rotate; the invention overcomes the defects of the servo motor in the prior art, namely, insufficient precision, inconvenient internal disassembly and assembly, and lack of self-detection function and automation function.

Description

Technical Field

[0001] The invention relates to the field of motors, and in particular to a high-precision servo motor. Background Art

[0002] As a high-performance motor, servo motor has the characteristics of precise control, high torque and high speed, and is widely used in the aerospace field.

[0003] In the prior art, servo motor processing usually has the defect of insufficient precision; at the same time, when the internal parts of the servo motor are damaged, they need to be replaced as a whole, which easily causes waste and is difficult to disassemble and assemble. In addition, the parts installed inside the servo motor usually do not have self-detection and automation functions. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The problem to be solved by the present invention is to provide a high-precision servo motor to overcome the defects of the servo motor in the prior art, such as insufficient precision, inconvenient internal disassembly and assembly, and lack of self-detection function and automation function.

[0006] (II) Technical solution

[0007] In order to solve the technical problem, the present invention provides a high-precision servo motor, comprising:

[0008] A shell, wherein the interior of the shell is hollow and one end of the shell is provided with a plurality of openings;

[0009] A driving mechanism, the driving mechanism comprising a motor and a transmission shaft, the output end of the motor is connected to one end of the transmission shaft, and the motor is connected to the opening through a bolt;

[0010] A harmonic reduction mechanism, the harmonic reduction mechanism comprises a harmonic cam, a flexible wheel and a steel wheel, the flexible wheel comprises a sleeve and a chuck, the harmonic cam is arranged at the other end of the transmission shaft, a hollow notch is arranged inside the sleeve, the harmonic cam is connected to the hollow notch, a plurality of tooth-shaped protrusions are distributed in a circumferential array on the outer wall of the sleeve, the chuck is hollow, a plurality of tooth-shaped concave blocks are distributed in a circumferential array on the hollow inner wall of the chuck, and the tooth-shaped protrusions and the tooth-shaped concave blocks are meshed with each other;

[0011] A first gear is arranged on the outer end of the chuck, the steel wheel is hollow, the inner wall of the steel wheel is elliptical, a second gear is arranged on the inner wall of the steel wheel, the first gear and the second gear are meshed at both ends, the motor drives the harmonic cam to rotate through the transmission shaft, and the harmonic cam drives the flexible wheel and the steel wheel to rotate;

[0012] An output mechanism, one end of which is connected to the outer side of the steel wheel, a first bearing is arranged between one end of the output mechanism and the shell, an output connection port is provided at the other end of the output mechanism, a second bearing is arranged between the other end of the output mechanism and the shell, and the rotation of the steel wheel drives the output mechanism to rotate.

[0013] As the high-precision servo motor mentioned above, optionally, the servo motor includes a rotary transformer, and the rotary transformer is arranged between the housing and the output mechanism.

[0014] As for the high-precision servo motor mentioned above, optionally, the rotary transformer includes a stator and a rotor, and the rotary transformer detects the rotation angle and rotation speed of the motor through the position change of the rotor relative to the stator.

[0015] As for the high-precision servo motor mentioned above, optionally, the flexible wheel is provided with a plurality of connection holes, and the plurality of connection holes are distributed in an array around the axis of the flexible wheel.

[0016] As for the high-precision servo motor mentioned above, optionally, the flexible wheel is connected to the motor by bolts passing through the connecting hole.

[0017] As the high-precision servo motor mentioned above, optionally, the transmission shaft, harmonic cam, flexible wheel, steel wheel and output mechanism are coaxial.

[0018] As the high-precision servo motor mentioned above, optionally, the motor is connected to a control device of an external device, the control device receives a detection signal from a rotary transformer, and the control device controls the rotation of the motor.

[0019] As for the high-precision servo motor mentioned above, optionally, a connecting notch and a fixing hole are provided on an end surface of one side of the output mechanism, and the connecting notch and the fixing hole are distributed at equal intervals around the bearing of the output mechanism.

[0020] As for the high-precision servo motor mentioned above, optionally, the housing is made of aluminum alloy 7075T6, and the transmission shaft is made of titanium alloy TC4.

[0021] (III) Beneficial effects

[0022] The invention provides a high-speed servo motor, which has the following beneficial effects:

[0023] (1) The present invention connects a harmonic reduction mechanism to the output end of the motor. The harmonic reduction mechanism includes a harmonic cam, a flexible wheel and a steel wheel. The flexible wheel includes a sleeve and a chuck. The sleeve has a hollow notch. The harmonic cam is connected to the hollow notch. The outer surface of the sleeve has a circumferential array of toothed protrusions. The hollow inner surface of the chuck has a circumferential array of toothed recesses. The toothed protrusions and the toothed recesses are meshed. When the sleeve rotates, the chuck can be driven to rotate. Since the chuck and the sleeve are separate, a groove can be provided in front of the sleeve. A retaining spring can be connected inside the groove. The retaining spring can completely engage and fix the chuck and the sleeve. Therefore, in this way, the chuck and the sleeve can be easily disassembled and assembled, and the cost is greatly saved.

[0024] (2) The present invention provides a first gear on the outer surface of the chuck, and a second gear on the hollow inner surface of the steel wheel, and the hollow inner surface of the steel wheel is elliptical, and the first gear and the second gear are meshed at both ends. In the harmonic reduction mechanism, the flexible wheel undergoes controllable elastic deformation under the action of the harmonic cam, thereby meshing with the steel wheel. Through this unique meshing mode and the elastic deformation of the flexible wheel, the power transmission and deceleration are achieved. The harmonic reduction mechanism matched in this way has the characteristics of high transmission ratio, high precision and small size.

[0025] (3) The present invention connects an output mechanism to the outer side of the steel wheel, and the output mechanism includes an output connection port, a first bearing and a second bearing. The first bearing and the second bearing are both located between the housing and the output mechanism. The output mechanism can rotate through the first bearing and the second bearing, and the operator can connect the transmission mechanism that requires external power to the output connection port, thereby transmitting power.

[0026] (4) The present invention connects a rotary transformer adjacent to the output mechanism. The rotary transformer can detect the rotation angle and speed of the motor through the cooperation between the stator and the rotor, and transmit the detection signal to the external control device. The control device can automatically and accurately control the transmission of the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 An exploded view of a high-precision servo motor of the present invention;

[0029] Figure 2 A cross-sectional view of a high-precision servo motor of the present invention;

[0030] Figure 3 A side view of a high-precision servo motor of the present invention;

[0031] Figure 4 A three-dimensional diagram of a flexible wheel of a high-precision servo motor according to the present invention;

[0032] Figure 5 A three-dimensional diagram of the meshing of a flexible wheel and a steel wheel of a high-precision servo motor of the present invention;

[0033] Figure 6 for Figure 5 Side view of

[0034] Figure 7 It is a side view of a flexible wheel of a high-precision servo motor of the present invention;

[0035] Figure 8 The figure is a top view of a flexible wheel of a high-precision servo motor according to the present invention.

[0036] The names of the components corresponding to the various figure marks in the figure are: 1. Shell; 11. Opening; 2. Driving mechanism; 21. Motor; 22. Transmission shaft; 3. Harmonic reduction mechanism; 31. Harmonic cam; 32. Flexible wheel; 33. Steel wheel; 34. Sleeve; 35. Chuck; 36. Hollow notch; 37. Toothed protrusion; 38. Toothed recess; 39. First gear; 40. Second gear; 41. Connecting hole; 5. Output mechanism; 51. First bearing; 52. Second bearing; 53. Output connecting port; 54. Connecting notch; 55. Fixing hole; 6. Rotary transformer; 61. Stator; 62. Rotor. DETAILED DESCRIPTION

[0037] The present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0039] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0040] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0041] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the examples can be practiced without these specific details.

[0042] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0043] See also Figures 1 to 8 The present invention provides a high-precision servo motor, including a housing 1, a driving mechanism 2, a harmonic reduction mechanism 3, a rotary transformer 6 and an output mechanism 5. The driving mechanism 2 is connected to one end of the housing 1, the harmonic reduction mechanism 3 is connected to the output end of the driving mechanism 2, the output mechanism 5 is connected to the harmonic reduction mechanism 3, and the rotary transformer 6 is used to detect the rotation angle and rotation speed of the motor.

[0044] Specifically, the interior of the shell 1 is hollow, and a plurality of openings 11 are provided at one end of the shell 1 . The plurality of openings 11 are distributed in a circular array around the axis of the shell 1 , and bolts pass through the openings 11 to fix the driving mechanism 2 to the shell 1 .

[0045] Furthermore, the driving mechanism 2 includes a motor 21 and a transmission shaft 22, and an output end of the motor 21 is connected to one end of the transmission shaft 22. The motor 21 can drive the transmission shaft 22 to rotate.

[0046] exist Figures 1 to 8In an optional embodiment, the harmonic reduction mechanism 3 includes a harmonic cam 31, a flexible wheel 32 and a steel wheel 33. The flexible wheel 32 includes a sleeve 34 and a chuck 35, a hollow slot 36 is provided inside the sleeve 34, the harmonic cam 31 is connected to the other end of the transmission shaft 22, and the harmonic cam 31 is provided in the hollow slot 36, the harmonic cam 31 is connected to the transmission shaft 22 by bolts, and as the transmission shaft 22 rotates, the harmonic cam 31 also rotates.

[0047] Furthermore, as the harmonic cam 31 rotates, the flexible wheel 32 is driven to rotate, wherein a plurality of toothed protrusions 37 are provided on the outer wall of the sleeve 34, and the plurality of toothed protrusions 37 are distributed in a circular array around the axis of the sleeve 34. The chuck 35 is hollow, and a plurality of toothed recesses 38 are distributed in a circular array on the hollow inner wall of the chuck 35, and the toothed protrusions 37 and the toothed recesses 38 are meshed with each other.

[0048] Furthermore, a first gear 39 is provided on the outer end of the chuck 35, the steel wheel 33 is hollow, the inner wall of the steel wheel 33 is elliptical, a second gear 40 is provided on the inner wall of the steel wheel 33, the first gear 39 and the second gear 40 are meshed at both ends, the motor 21 drives the harmonic cam 31 to rotate through the transmission shaft 22, and the harmonic cam 31 drives the flexible wheel 32 and the steel wheel 33 to rotate.

[0049] It should be noted that the flexible wheel 32 undergoes controllable elastic deformation under the action of the harmonic cam 31, thereby engaging with the steel wheel 33. Through this unique engagement method and the elastic deformation of the flexible wheel 32, power transmission and deceleration are achieved, which has the characteristics of achieving high transmission ratio, high precision and small size.

[0050] Furthermore, a plurality of connection holes 41 are provided on the flexible spline 32 , and the plurality of connection holes 41 are distributed in an array around the axis of the flexible spline 32 .

[0051] It should be noted that the flexible wheel 32 is connected to the motor 21 by bolts passing through the connection hole 41 .

[0052] exist Figures 1 to 8 In an optional embodiment, one end of the output mechanism 5 is connected to the outer side of the steel wheel 33, a first bearing 51 is arranged between one end of the output mechanism 5 and the shell 1, an output connection port 53 is opened at the other end of the output mechanism 5, and a second bearing 52 is arranged between the other end of the output mechanism 5 and the shell 1. The rotation of the steel wheel 33 drives the output mechanism 5 to rotate.

[0053] It should be noted that a connection notch 54 and a fixing hole 55 are provided on an end surface of one side of the output mechanism 5 , and the connection notch 54 and the fixing hole 55 are distributed at equal intervals around the bearing of the output mechanism 5 .

[0054] exist Figures 1 to 8In an optional embodiment, the servo motor includes a rotary transformer 6 , and the rotary transformer 6 is arranged between the housing 1 and the output mechanism 5 .

[0055] Furthermore, the rotary transformer 6 includes a stator 61 and a rotor 62 . The rotary transformer 6 detects the rotation angle and the rotation speed of the motor through the position change of the rotor 62 relative to the stator 61 .

[0056] Further, optionally, the transmission shaft 22 , the harmonic cam 31 , the flexible wheel 32 , the steel wheel 33 and the output mechanism 5 are coaxial.

[0057] Furthermore, the motor 21 is connected to an external control device, and the control device receives a detection signal from the rotary transformer 6 , and controls the rotation of the motor 21 .

[0058] Furthermore, the housing 1 is made of aluminum alloy 7075T6, and the transmission shaft 22 is made of titanium alloy TC4, which can greatly reduce the weight of the servo motor and enhance its mechanical properties.

[0059] A high-precision servo motor of the present invention has the following specific steps:

[0060] A harmonic reduction mechanism 3 is connected to the output end of the motor 21. The harmonic reduction mechanism 3 includes a harmonic cam 31, a flexible wheel 32 and a steel wheel 33, wherein the flexible wheel 32 includes a sleeve 34 and a chuck 35. The sleeve 34 has a hollow slot 36, and the harmonic cam 31 is connected to the hollow slot 36. The outer surface of the sleeve 34 has a circumferential array of toothed protrusions 37, and the hollow inner surface of the chuck 35 has a circumferential array of toothed recesses 38. The toothed protrusions 37 and the toothed recesses 38 are meshed. When the sleeve 34 rotates, the chuck 35 can be driven to rotate. Since the chuck 35 and the sleeve 34 are separable, the chuck 35 and the sleeve 34 can be easily disassembled and assembled. A groove can be provided in front of the sleeve 34, and a retaining spring can be connected inside the groove. The retaining spring can completely engage and fix the chuck 35 and the sleeve 34.

[0061] A first gear 39 is provided on the outer surface of the chuck 35, a second gear 40 is provided on the hollow inner surface of the steel wheel 33, and the hollow inner surface of the steel wheel 33 is elliptical, and the first gear 39 and the second gear 40 are meshed at both ends. In the harmonic reduction mechanism 3, the flexible wheel 32 undergoes controllable elastic deformation under the action of the harmonic cam 31, thereby meshing with the steel wheel 33. Through this unique meshing mode and in conjunction with the elastic deformation of the flexible wheel 32, the functions of power transmission and deceleration are achieved. The harmonic reduction mechanism 3 coordinated in this manner has the characteristics of high transmission ratio, high precision and small volume.

[0062] An output mechanism 5 is connected to the outside of the steel wheel 33, and the output mechanism 5 includes an output connection port 53, a first bearing 51 and a second bearing 52. The first bearing 51 and the second bearing 52 are both located between the housing 1 and the output mechanism 5. The output mechanism 5 can rotate through the first bearing 51 and the second bearing 52, and the operator can connect the transmission mechanism that requires external power to the output connection port 53, thereby transmitting power.

[0063] By connecting the rotary transformer 6 adjacent to the output mechanism 5, the rotary transformer 6 can detect the rotation angle and rotation speed of the motor through the cooperation between the stator 61 and the rotor 62, and transmit the detection signal to the external control device. The control device can automatically and accurately control the transmission of the servo motor.

[0064] The same and similar parts between the various embodiments in this specification can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0065] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A high-precision servo motor, characterized in that: include: A shell (1), the interior of the shell (1) is hollow, and one end of the shell (1) is provided with a plurality of openings (11); A driving mechanism (2), the driving mechanism (2) comprising a motor (21) and a transmission shaft (22), the output end of the motor (21) being connected to one end of the transmission shaft (22), and the motor (21) being connected to the opening (11) via bolts; A harmonic reduction mechanism (3), the harmonic reduction mechanism (3) comprising a harmonic cam (31), a flexible wheel (32) and a steel wheel (33), the flexible wheel (32) comprising a sleeve (34) and a chuck (35), the harmonic cam (31) being arranged at the other end of the transmission shaft (22), the sleeve (34) being provided with a hollow notch (36) inside, the harmonic cam (31) being connected to the hollow notch (36), a plurality of tooth-shaped protrusions (37) being distributed in a circumferential array on the outer wall of the sleeve (34), the chuck (35) being hollow, a plurality of tooth-shaped recesses (38) being distributed in a circumferential array on the hollow inner wall of the chuck (35), the tooth-shaped protrusions (37) and the tooth-shaped recesses (38) being meshed with each other; A first gear (39) is arranged on the outer end of the chuck (35); the steel wheel (33) is hollow; the inner wall of the steel wheel (33) is elliptical; a second gear (40) is arranged on the inner wall of the steel wheel (33); the first gear (39) and the second gear (40) are meshed at both ends; the motor (21) drives the harmonic cam (31) to rotate via the transmission shaft (22); and the harmonic cam (31) drives the flexible wheel (32) and the steel wheel (33) to rotate; an output mechanism (5), one end of the output mechanism (5) being connected to the outer side of the steel wheel (33), a first bearing (51) being arranged between the one end of the output mechanism (5) and the housing (1), the other end of the output mechanism (5) being provided with an output connection port (53), a second bearing (52) being arranged between the other end of the output mechanism (5) and the housing (1), and the rotation of the steel wheel (33) driving the output mechanism (5) to rotate; The servo motor comprises a rotary transformer (6), wherein the rotary transformer (6) is arranged between the housing (1) and the output mechanism (5).

2. The high-precision servo motor according to claim 1, characterized in that: The rotary transformer (6) comprises a stator (61) and a rotor (62), and the rotary transformer (6) detects the rotation angle and rotation speed of the motor (21) through the position change of the rotor (62) relative to the stator (61).

3. The high-precision servo motor according to claim 1, characterized in that: The flexible wheel (32) is provided with a plurality of connection holes (41), and the plurality of connection holes (41) are distributed in an array around the axis of the flexible wheel (32).

4. The high-precision servo motor according to claim 3, characterized in that: The flexible wheel (32) is connected to the motor (21) by means of bolts passing through the connection holes (41).

5. The high-precision servo motor according to claim 1, characterized in that: The transmission shaft (22), the harmonic cam (31), the flexible wheel (32), the steel wheel (33) and the output mechanism (5) are coaxial.

6. The high-precision servo motor according to claim 1, characterized in that: The motor (21) is connected to an external control device, the control device receives a detection signal from a rotary transformer (6), and the control device controls the rotation of the motor (21).

7. The high-precision servo motor according to claim 1, characterized in that: A connection notch (54) and a fixing hole (55) are provided on an end surface of one side of the output mechanism (5), and the connection notch (54) and the fixing hole (55) are distributed at equal intervals around the bearing of the output mechanism (5).

8. The high-precision servo motor according to claim 1, characterized in that: The housing (1) is made of aluminum alloy 7075T6, and the transmission shaft (22) is made of titanium alloy TC4.

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