Integrated servo electric cylinder assembly

Abstract

The invention discloses an integrated servo electric cylinder assembly, and belongs to the technical field of electromechanical transmission of industrial equipment. The electric cylinder push rod is sleeved with the electric cylinder body, the front end of the electric cylinder push rod is connected with the upper hinge head, and the electric cylinder push rod is driven by the driving component to linearly move along the electric cylinder body; the lower portion of an electric cylinder body is installed on the upper surface of a commutator, the other side of the upper surface of the commutator is connected with a driving part through a speed reducer, a servo controller is installed on the back of the driving part, and the lower surface of the commutator is connected with a lower hinge head. A sensor assembly is installed on the side face of the electric cylinder body, signal lines of the sensor assembly are connected into a servo controller, and the signal lines are output to an upper computer system through the servo controller to control the stroke of the electric cylinder push rod. According to the electric cylinder, the overall size and weight of the equipment can be reduced, meanwhile, the number of wires among the driving part, the servo controller and the sensor is reduced, when the electric cylinder breaks down, the electric cylinder can be switched to a manual mode for control operation, and the use performance of the electric cylinder is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of electromechanical transmission of industrial equipment, and in particular relates to an integrated servo electric cylinder assembly. Background Art

[0002] The servo electric cylinder is a modular product that integrates a servo motor and a lead screw. It converts the rotational motion of the servo motor into linear motion and has the characteristics of precise speed and position control, so it is widely used in industry.

[0003] With the development of weapons and equipment, higher requirements are put forward for the intelligence, miniaturization and lightness of equipment. As an actuator, the servo electric cylinder plays an increasingly important role in mechatronic equipment. However, the existing servo electric cylinder is integrated with servo motor, reducer, transmission screw, etc., which has poor integration, many transition links, large size, heavy weight, complicated cables and inconvenient use.

[0004] The servo motor matched with the servo electric cylinder in the prior art is connected to the actuator of the servo electric cylinder through a coupling or a synchronous pulley, resulting in an overly large external size. For some applications with limited space, ordinary servo electric cylinders cannot be used, especially on servo welding tongs. Such shortcomings will bring certain difficulties to production operations, thereby leading to a decrease in production efficiency. Summary of the invention

[0005] In view of this, the present invention provides an integrated servo electric cylinder assembly, which can reduce the overall volume and weight of the equipment, while reducing the number of wiring connections between the drive components, servo controllers and sensors. When the electric cylinder fails and cannot be powered on, it can be switched to manual mode for control operations, thereby improving the performance of the electric cylinder.

[0006] An integrated servo electric cylinder assembly, comprising an upper hinge head, an electric cylinder push rod, an electric cylinder body, a commutator, a reducer, a driving component, a servo controller, a lower hinge head and a sensor assembly;

[0007] The electric cylinder push rod is sleeved inside the electric cylinder body, the front end of the electric cylinder push rod is connected to the upper hinge head, and the electric cylinder push rod moves linearly along the electric cylinder body under the drive of the driving component; the lower part of the electric cylinder body is installed on the upper surface of the commutator, and the other side of the upper surface of the commutator is connected to the driving component through a reducer. A servo controller is installed on the back of the driving component to realize the control of the entire electric cylinder, and the lower surface of the commutator is connected to the lower hinge head; a sensor assembly is installed on the side of the electric cylinder body, and the signal lines of the sensor assembly are all connected to the servo controller, and the servo controller outputs to the upper computer system to control the stroke of the electric cylinder push rod.

[0008] Furthermore, the upper hinge head includes an upper hinge head base, a ball joint bearing and a bearing seat; the upper hinge head base is installed on the electric cylinder push rod, the bearing seat is installed inside the upper hinge head base, the ball joint bearing is nested inside the bearing seat, and is connected to the external drive component through the ball joint bearing and the pin shaft and adapts to the movement of the drive component; the lower hinge head includes a lower hinge head base, a ball joint bearing and a bearing seat, the lower hinge head base is installed on the commutator, and is installed and fixed with the external base through the ball joint bearing, and the upper hinge head and the lower hinge head are both connected in a rotating manner.

[0009] Furthermore, the electric cylinder push rod includes a trapezoidal lead screw, a lead screw nut and a push rod, and the electric cylinder cylinder body includes a tapered roller bearing, a bearing seat, a cylinder housing, an upper positioning block, a lower positioning block and a front end support sleeve; wherein, the front end of the trapezoidal lead screw is inserted into the commutator, and the rear end is fixed to the bearing seat through a tapered roller bearing, and the front end of the trapezoidal lead screw is in a floating state; the lead screw nut is connected to the trapezoidal lead screw, and the push rod is installed on the lead screw nut through a fastener, and the upper and lower side surfaces of the push rod are grooved and respectively nested in the upper positioning block and the lower positioning block, and the positioning block is used to stabilize the travel of the push rod, provide guidance for the push rod movement and stop rotation; the upper positioning block and the lower positioning block are installed on the cylinder housing through fasteners, and the lower end of the cylinder housing is connected to the bearing seat and fixed to the commutator, and the front end of the cylinder housing is sleeved with a front end support sleeve, and cooperates with the push rod to provide auxiliary support for the forward movement of the push rod and ensure the stability of the push rod movement.

[0010] Furthermore, the driving component includes a manual protective shell, a rotating shaft, a rotor, a stator, a brake, a manual lock, an absolute encoder, a rotating shaft protective shell, a bearing and a housing; the internal structure of the driving component is consistent with that of a conventional servo motor, wherein the manual lock can control the locking and unlocking of the rotating shaft. When the motor fails to power on, the brake and the rotating shaft are unlocked by controlling the manual lock, the rotating shaft protective shell at the end of the driving component is removed, and the rotation process of the rotating shaft is realized by a ratchet wrench, thereby realizing the manual control function.

[0011] Furthermore, the servo controller includes a CAN communication interface A, a CAN communication interface B, a debugging interface, a high-voltage electrical interface, a heat sink, a fan, a housing, wiring terminals and a heat insulation board; wherein, the CAN communication interface A and the CAN communication interface B are used to connect to the host computer system to control the servo controller and perform redundant backup, the high-voltage electrical interface and the wiring terminals realize in-situ replacement of the electrical connector, and the debugging interface is used to debug and test the servo controller and perform fault diagnosis; the heat insulation board is used to prevent the heat generated by the rotation of the driving components from being transferred to the inside of the driving controller, and the heat sink and the fan are used to dissipate the heat of the driving controller. The above measures are used to ensure that the servo controller is at a normal operating temperature and to ensure the control of the electric cylinder so that it works normally.

[0012] Furthermore, the reducer includes a connecting plate, a housing, a bearing and a gear set. The front end of the rotating shaft of the driving component is inserted into the reducer and is decelerated through the gear set to reduce the rotation speed and increase the torque, which is then output to the commutator.

[0013] Furthermore, the commutator includes a gear set A, a gear set B and a housing, and the commutator is used to realize the rotation reversal input by the driving component and output it to the electric cylinder push rod.

[0014] Beneficial effects:

[0015] 1. The integrated servo electric cylinder assembly of the present invention integrates the drive components, servo controller, electric cylinder transmission components, sensors and other mechanisms into one, which can reduce the overall volume and weight of the equipment; in addition, the integration of the drive components, servo controller and sensor can reduce the number of wiring, all control lines and power lines are connected to the servo controller, the interface is simple, the number of cables is small, and the control is convenient.

[0016] 2. The upper and lower hinge heads of the present invention both adopt ball joint bearings, which can be better installed on the driving component. The floating ball joint can adapt to the driving process and improve the stability of the driving. The electric cylinder adopts the brake and trapezoidal screw in the driving component for double self-locking, which improves the safety of the electric cylinder.

[0017] 3. A manual locker is added to the driving component of the present invention, and the manual locker can control the locking and unlocking of the rotating shaft. When the electric cylinder fails and cannot be powered on, it can be switched to manual mode for control operation, thereby improving the performance of the electric cylinder.

[0018] 4. The present invention sets a dual-channel CAN communication interface in the servo driver for redundant backup, and can perform dual-channel control with an external control system, thereby improving the reliability of the integrated servo motor; the high-voltage electrical interface and wiring terminals in the servo controller realize in-situ replacement of the electrical connector, and separate processing and wiring of the strong current can avoid interference of the strong current with the signal line during use. In addition, the purchase cost of the wiring terminals is much lower than that of the electrical connector, which can also reduce the use cost of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the structural diagram of the integrated servo electric cylinder assembly;

[0020] Figure 2 This is a side view of the integrated servo electric cylinder assembly;

[0021] Figure 3 It is the structural diagram of the drive components and servo controller;

[0022] Figure 4 It is a cross-sectional view of the integrated servo electric cylinder assembly.

[0023] Among them, 1-upper hinge head, 11-upper hinge head base, 12-ball hinge bearing, 13-bearing seat, 2-electric cylinder push rod, 21-trapezoidal screw, 22-push rod, 23-screw nut, 3-electric cylinder body, 31-tapered roller bearing, 32-bearing seat, 33-cylinder housing, 34-upper positioning block, 35-lower positioning block, 36-front end support sleeve, 4-commutator, 41-gear set A, 42-gear set B, 43-housing, 5-reducer, 6-driving component, 60-hand operation protective shell, 61-rotating shaft, 62-rotor, 63-stator , 64-brake, 65-manual lock, 66-absolute encoder, 67-rotating shaft protection shell, 68-bearing, 69-housing, 7-servo controller, 71-CAN communication interface A, 72-CAN communication interface B, 73-debugging interface, 74-high voltage interface, 75-heat sink, 76-fan, 77-housing, 78-terminal, 79-heat insulation board, 8-lower hinge head, 81-lower hinge head base, 82-ball joint bearing, 83-bearing seat, 91-grating ruler, 92-up position switch, 93-down position switch. DETAILED DESCRIPTION

[0024] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0025] As attached Figure 1 and 2 As shown, the present invention provides an integrated servo electric cylinder assembly, including an upper hinge head 1, an electric cylinder push rod 2, an electric cylinder body 3, a commutator 4, a reducer 5, a driving component 6, a servo controller 7 and a lower hinge head 8.

[0026] The upper hinge head 1 and the lower hinge head 8 are connected to the upper and lower sides of the electric cylinder respectively, and can be connected to the external interface respectively. The upper hinge head 1 and the lower hinge head 8 are both equipped with ball joint bearings, which can be better installed on the belt drive component. The floating ball joint can adapt to the driving process and improve the stability of the drive. The electric cylinder push rod 2 is sleeved inside the electric cylinder body 3, and the front end is connected to the upper hinge head 1. The electric cylinder push rod 2 can move linearly along the electric cylinder body 3 to realize the driving process. The lower part of the electric cylinder body 3 is installed on the commutator 4, and the other side of the commutator 4 is connected to the driving component 6 through the reducer 5. The servo controller 7 is installed on the back of the driving component 6 to realize the control of the entire electric cylinder. Sensor components are installed on the side of the electric cylinder body 3, including a grating ruler 91, an upper position switch 92, and a lower position switch 93. The signal lines of all sensors are connected to the servo controller 7, and the servo controller 7 outputs to the host computer system for control.

[0027] The structure and use of the electric cylinder are further explained in combination with the various component structures of the integrated servo electric cylinder assembly.

[0028] The upper hinge head 1 includes the upper hinge head base 11, the ball hinge bearing 12, the bearing seat 13 and other main parts. The upper hinge head base 11 is installed on the electric cylinder push rod 2, the bearing seat 13 is installed inside the upper hinge head base 11, and the ball hinge bearing 12 is nested inside the bearing seat 13. The ball hinge bearing 12 is connected to the pin shaft through the external drive component and adapts to the movement of the drive component. The upper hinge head 1 is equipped with an oil cup to lubricate the ball hinge bearing 12. The lower hinge head 8 has a similar structure to the upper hinge head 1, and is composed of the lower hinge head base 81, the ball hinge bearing 82, the bearing seat 83 and other main parts. The lower hinge head base 81 is installed on the commutator 4, and is installed and fixed with the external base through the ball hinge bearing 82. The upper hinge head 1 and the lower hinge head 8 are both connected in a rotating manner.

[0029] The electric cylinder push rod 2 includes a trapezoidal screw 21, a screw nut 23, a push rod 22 and other parts, and the electric cylinder body 3 includes a tapered roller bearing 31, a bearing seat 32, a cylinder housing 33, an upper positioning block 34, a lower positioning block 35, a front end support sleeve 36 and other parts. Among them, the trapezoidal screw 21 is inserted into the gear B42 of the commutator, and the rear end is fixed on the bearing seat 32 through the tapered roller bearing 31, and the front end is in a floating state. The screw nut 23 is connected to the trapezoidal screw 21, and the push rod 22 is installed on the screw nut 23 through fasteners. The push rod 22 is slotted up and down and nested in the upper positioning block 34 and the lower positioning block 35 respectively. The positioning block is used to stabilize the movement of the push rod 22, provide guidance for the movement of the push rod 22 and stop the rotation. The upper positioning block 34 and the lower positioning block 35 are installed on the cylinder housing 33 through fasteners. The lower end of the cylinder housing is connected to the bearing seat 32 and fixed on the commutator 4. The front end of the cylinder housing 33 is sleeved with a front end support sleeve 36 and cooperates with the push rod 22 to provide auxiliary support for the forward movement of the push rod 22 and ensure the stability of the movement of the push rod 22.

[0030] As attached Figure 3 and 4As shown, the driving component 6 includes a manual protective shell 60, a rotating shaft 61, a rotor 62, a stator 63, a brake 64, a manual lock 65, an absolute encoder 66, a rotating shaft protective shell 67, a bearing 68 and a housing 69. The internal structure of the driving component 6 is consistent with that of a conventional servo motor, and a manual operation function is added. The manual lock 65 can control the locking and unlocking of the rotating shaft 61. When the motor fails to power on, the brake 64 and the rotating shaft 61 are locked and unlocked by controlling the manual lock 65. The rotating shaft protective shell 67 at the end of the driving component 6 is removed, and the rotating shaft 61 can be rotated by a ratchet wrench to realize the manual control function. The servo controller 7 includes a CAN communication interface A71, a CAN communication interface B72, a debugging interface 73, a high-voltage interface 74, a heat sink 75, a fan 76, a subject 77, a wiring terminal 78 and a heat shield 79. Among them, the CAN communication interface A22 and the CAN communication interface B23 are used to connect to the host computer system to control the servo controller 7 and perform redundant backup, and the debugging interface 24 is used to debug and test the servo controller 7, diagnose faults, etc. The heat insulation board 79 is used to prevent the heat generated by the rotation of the driving component 6 from being transferred to the inside of the driving controller 7, and the heat sink 75 and the fan 76 are used to dissipate the heat of the driving controller 7. The above measures are used to ensure that the servo controller 7 is at a normal operating temperature and to ensure that the control of the electric cylinder allows it to work normally.

[0031] The reducer 5 includes a connecting plate 51, a housing 52, a bearing 53 and a gear set 54. The front end of the rotating shaft 61 of the driving component 6 is inserted into the reducer 5 and is decelerated by the gear set 54 to reduce the rotation speed and increase the torque, and output it to the commutator 4. The commutator 4 is composed of a gear set A41, a gear set B42 and a housing 43, etc., and is used to realize the rotation reversal input by the driving component 6 and output it to the electric cylinder push rod 2.

[0032] Specifically, the operation of the integrated servo electric cylinder assembly is described above.

[0033] The drive controller 7 is powered on, connected to the host computer system and receives the control command output by the host computer system and converts it to the drive component 6, and controls the rotation of the drive component 6. According to the command, the drive component 6 is controlled to rotate the shaft 61, the rotor 62 and the stator 63 relative to each other. The output end of the shaft 61 is connected to the reducer 5, and the output is output to the gear set A41 of the commutator 4 after being decelerated by the reducer 5. The gear set A41 is meshed with the gear set B42 to commutate the output, and the output is transmitted to the trapezoidal screw 21 connected to the gear set B42, and the trapezoidal screw 21 is controlled to rotate. The rotation of the trapezoidal screw 21 drives the screw nut 23 to move, and the extension and retraction of the push rod 22 is controlled.

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An integrated servo electric cylinder assembly, characterized in that: It includes an upper hinge head, an electric cylinder push rod, an electric cylinder body, a commutator, a reducer, a driving component, a servo controller, a lower hinge head and a sensor assembly; The electric cylinder push rod is sleeved inside the electric cylinder body, the front end of the electric cylinder push rod is connected to the upper hinge head, and the electric cylinder push rod moves linearly along the electric cylinder body under the drive of the driving component; the lower part of the electric cylinder body is installed on the upper surface of the commutator, and the other side of the upper surface of the commutator is connected to the driving component through a reducer. A servo controller is installed on the back of the driving component to realize the control of the entire electric cylinder, and the lower surface of the commutator is connected to the lower hinge head; a sensor assembly is installed on the side of the electric cylinder body, and the signal lines of the sensor assembly are all connected to the servo controller, and the servo controller outputs to the upper computer system to control the stroke of the electric cylinder push rod.

2. The integrated servo electric cylinder assembly according to claim 1, characterized in that: The upper hinge head includes an upper hinge head base, a ball joint bearing and a bearing seat; the upper hinge head base is installed on the electric cylinder push rod, the bearing seat is installed inside the upper hinge head base, the ball joint bearing is nested inside the bearing seat, and is connected to the external drive component through the ball joint bearing and the pin shaft and adapts to the movement of the drive component; the lower hinge head includes a lower hinge head base, a ball joint bearing and a bearing seat, the lower hinge head base is installed on the commutator, and is installed and fixed with the external base through the ball joint bearing, and the upper hinge head and the lower hinge head are both connected in a rotating manner.

3. The integrated servo electric cylinder assembly according to claim 2, characterized in that: The electric cylinder push rod includes a trapezoidal lead screw, a lead screw nut and a push rod, and the electric cylinder cylinder body includes a tapered roller bearing, a bearing seat, a cylinder housing, an upper positioning block, a lower positioning block and a front end support sleeve; wherein, the front end of the trapezoidal lead screw is inserted into the commutator, and the rear end is fixed to the bearing seat through a tapered roller bearing, and the front end of the trapezoidal lead screw is in a floating state; the lead screw nut is connected to the trapezoidal lead screw, and the push rod is installed on the lead screw nut through a fastener, and the upper and lower side surfaces of the push rod are grooved and respectively nested in the upper positioning block and the lower positioning block, and the positioning block is used to stabilize the travel of the push rod, provide guidance for the movement of the push rod and stop rotation; the upper positioning block and the lower positioning block are installed on the cylinder housing through fasteners, and the lower end of the cylinder housing is connected to the bearing seat and fixed to the commutator, and the front end of the cylinder housing is sleeved with a front end support sleeve, and cooperates with the push rod to provide auxiliary support for the forward movement of the push rod.

4. The integrated servo electric cylinder assembly according to claim 3, characterized in that: The driving component includes a manual protective shell, a rotating shaft, a rotor, a stator, a brake, a manual lock, an absolute encoder, a rotating shaft protective shell, a bearing and a housing; the internal structure of the driving component is consistent with that of a conventional servo motor, wherein the manual lock can control the locking and unlocking of the rotating shaft. When the motor fails to power on, the brake and the rotating shaft are unlocked by controlling the manual lock, the rotating shaft protective shell at the end of the driving component is removed, and the rotation process of the rotating shaft is realized by a ratchet wrench, thereby realizing the manual control function.

5. The integrated servo electric cylinder assembly according to claim 4, characterized in that: The servo controller includes a CAN communication interface A, a CAN communication interface B, a debugging interface, a high-voltage electrical interface, a heat sink, a fan, a housing, wiring terminals and a heat insulation board; wherein, the CAN communication interface A and the CAN communication interface B are used to connect to a host computer system to control the servo controller and perform redundant backup, the high-voltage electrical interface and the wiring terminals realize in-situ replacement of the electrical connector, the debugging interface is used to perform debugging testing and fault diagnosis on the servo controller; the heat insulation board is used to prevent the heat generated by the rotation of the driving components from being transferred to the inside of the driving controller, and the heat sink and the fan are used to dissipate the heat of the driving controller.

6. The integrated servo electric cylinder assembly according to claim 5, characterized in that: The reducer includes a connecting plate, a housing, a bearing and a gear set. The front end of the rotating shaft of the driving component is inserted into the reducer and is decelerated through the gear set to reduce the rotation speed and increase the torque, which is then output to the commutator.

7. The integrated servo electric cylinder assembly according to claim 6, characterized in that: The commutator comprises a gear set A, a gear set B and a housing. The commutator is used to realize the rotation reversal input by the driving component and output it to the electric cylinder push rod.

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