Auxiliary servo drive device and auxiliary drive method

Abstract

The present application discloses an auxiliary servo drive device and an auxiliary drive method, which relate to the technical field of servo motors, wherein the auxiliary servo drive device includes a rotating shaft, a one-way auxiliary wheel and an energy storage connection structure. The rotating shaft has a driving part and a connecting part, wherein the driving part is combined with a first rotor, and the first rotor is arranged corresponding to the first stator fixed in the housing, and is used to drive the rotating shaft to rotate; the one-way auxiliary wheel can be unidirectionally rotatable in the housing, and is connected to the connecting part of the rotating shaft, and is used to elastically link with the rotating shaft; the energy storage connection structure is connected between the one-way auxiliary wheel and the connecting part, and is used to absorb the kinetic energy of the auxiliary wheel; wherein the one-way auxiliary wheel rotates unidirectionally along the rotation direction of the rotating shaft, so that the one-way auxiliary wheel stops in front of the rotation direction of the rotating shaft. By storing the kinetic energy of the one-way auxiliary wheel in the energy storage connection structure, when the rotating shaft starts, the energy storage connection structure provides initial power to the rotating shaft, so that the starting response of the rotating shaft is faster.

Description

Technical Field

[0001] The present application relates to the technical field of servo motors, and in particular to an auxiliary servo drive device and an auxiliary drive method, which can be applied to high-end manufacturing industries. Background Art

[0002] Servo drives are widely used in the field of industrial automation and play an important role in improving production efficiency and precision. With the continuous development of industrial production, the efficiency and stability requirements of equipment are getting higher and higher. As one of the key components of the automated production line, servo drives not only need to have the characteristics of high precision and fast response, but also need to be able to maintain stable performance in a complex working environment to ensure continuous production needs. Therefore, how to improve the operating efficiency and reliability of servo drives has become a research focus in recent years.

[0003] Invention patent publication number CN117713584A discloses a rotary drive device, including an electromagnetic drive device, a piezoelectric drive device and a housing, wherein the electromagnetic drive device is used to connect with a rotating shaft and can drive the rotating shaft to rotate along the axis of the rotating shaft; the first piezoelectric stack, the second piezoelectric stack, the third piezoelectric stack and the fourth piezoelectric stack can all extend when receiving a first driving voltage signal, and can all retract when the driving voltage is zero, the first piezoelectric stack and the fourth piezoelectric stack can apply a first extrusion force to the rotating shaft that can cause the rotating shaft to rotate forward during the extension process, and the second piezoelectric stack and the third piezoelectric stack can apply a second extrusion force to the rotating shaft that can cause the rotating shaft to reverse during the extension process. The rotating device is driven by the piezoelectric stack by extrusion, and the operation steps are relatively large, and the extension and retraction of the piezoelectric stack need to be precisely controlled, resulting in complicated operation.

[0004] Invention patent publication number CN103795309A discloses a disc-type micro-servo motor system, which is respectively connected to an external power supply and a laser scanner main structure, and includes a driver, a motor, an angular displacement offset detection device and a DB box which are electrically connected in sequence, and the driver is also electrically connected to the DB box, and the motor is connected to the laser scanner main structure; the driver is used to receive the power signal of the external power supply and output a pulse signal; the motor is used to receive the pulse signal output by the driver and drive the laser scanner main structure to rotate; the angular displacement offset detection device is used to detect the rotational angular displacement of the motor and output an angular displacement offset signal; the DB box is used to receive the angular displacement offset signal output by the angular displacement offset detection device and analyze it, and output a feedback signal to the driver. The rapid response of the signal still requires the stator and rotor of the motor to drive the rotating shaft, so there is still the problem of slow response of the brushless electronic structure of the stator and rotor. Summary of the invention

[0005] In order to solve the problem that the brushless electronic structure of the stator and rotor in the servo motor structure has a slow response and the driving operation by physical squeezing is complicated, the purpose of this application is to provide an auxiliary servo drive device and an auxiliary drive method.

[0006] The auxiliary servo drive device provided in this application adopts the following technical solution:

[0007] An auxiliary servo drive device comprises:

[0008] A rotating shaft, comprising a driving portion and a connecting portion, wherein the driving portion is combined with a first rotor, and the first rotor is arranged corresponding to a first stator fixed in the housing, and is used to drive the rotating shaft to rotate;

[0009] A one-way auxiliary wheel, rotatably disposed in the housing in one direction and connected to the connecting portion of the rotating shaft, for elastically linking with the rotating shaft;

[0010] An energy storage connection structure, connected between the one-way auxiliary wheel and the connection portion, for absorbing the kinetic energy of the auxiliary wheel;

[0011] Wherein, the one-way auxiliary wheel rotates unidirectionally along the rotation direction of the rotating shaft, so that the one-way auxiliary wheel stops in front of the rotation direction of the rotating shaft.

[0012] By adopting the above technical solution, under the elastic force of the energy storage connection structure and the inertia of the one-way auxiliary wheel, when the shaft stops rotating, the one-way auxiliary wheel that rotates with the shaft will continue to rotate a certain angle in the direction of rotation and stretch the energy storage connection structure, thereby converting the kinetic energy of the one-way auxiliary wheel into the elastic potential energy of the energy storage connection structure, thereby saving the kinetic energy. When the shaft starts to rotate again, the one-way auxiliary wheel is restricted from rotating in the opposite direction, so that the elastic potential energy of the energy storage connection structure drives the shaft to rotate in the direction of the one-way auxiliary wheel. Since a large torque is required to drive the shaft to rotate in a stationary state, the shaft cannot start and respond quickly through the action between the stator and the rotor, and if it is stopped in a poor starting position, the action between the stator and the rotor is weakened, which will cause the starting response of the shaft to be slower. Therefore, by providing a one-way auxiliary wheel, the one-way auxiliary wheel provides initial power to the shaft through the energy storage connection structure, so that the starting response of the shaft is faster.

[0013] Optionally, the energy storage connection structure includes a connecting rod, a connecting sleeve and a first elastic member, the connecting rod is rotatably connected to the connecting part, the connecting sleeve is rotatably connected to the inner wall of the one-way auxiliary wheel, the connecting sleeve is sleeved on the outside of the connecting rod, and the first elastic member connects the connecting rod and the connecting sleeve and is arranged between the connecting rod and the connecting sleeve.

[0014] By adopting the above technical solution, the first elastic member of the energy storage connection structure can be stretched in a fixed form through the connecting rod and the connecting sleeve, so that the elasticity of the first elastic member can be kept stable, thereby ensuring the stability of the function of the energy storage connection structure.

[0015] Optionally, a retractable limit block is respectively provided on both sides of the connecting sleeve, and the limit block can abut against one side of the connecting sleeve to limit the relative angle between the one-way auxiliary wheel and the rotating shaft.

[0016] By adopting the above technical solution, the relative positions of the rotating shaft and the one-way auxiliary wheel will not change during synchronous rotation. Therefore, the limit block prevents the connecting sleeve from rotating relative to the one-way auxiliary wheel, so that the first elastic member will not be stretched during synchronous rotation, thereby ensuring the stable performance of the elastic member.

[0017] Optionally, the one-way auxiliary wheel is provided with a second rotor, the inner side wall of the shell is provided with a second stator, and the second rotor and the second stator are arranged correspondingly to drive the one-way auxiliary wheel to rotate through magnetic force.

[0018] By adopting the above technical solution, during the rotation process, the rotating shaft needs to rotate synchronously with the one-way auxiliary wheel. If the rotating shaft is driven to rotate only by the first stator and the first rotor, the one-way auxiliary wheel needs to be driven and bears an additional load. Therefore, by providing the second rotor and the second stator, the one-way auxiliary wheel can also be driven by the magnetic force when rotating, thereby reducing the rotation load of the first rotor and the first stator.

[0019] Optionally, a control space is provided in the side wall of the one-way auxiliary wheel connected to the connecting sleeve, the connecting rod extends into the control space, a rotor battery is provided in the one-way auxiliary wheel, and a control component is provided at the portion of the connecting rod located in the control space for activating the one-way auxiliary wheel (3) to generate magnetic force.

[0020] By adopting the above technical solution, in order to avoid the magnetic force of the second rotor affecting the operation of other components when the rotating shaft and the one-way auxiliary wheel rotate asynchronously, the second rotor adopts the form of an electromagnetic coil instead of a permanent magnet. Only when the rotor battery is connected to the second rotor through the control member, the second rotor releases the magnetic force through electricity. By providing a control space in the one-way auxiliary wheel and inserting the connecting rod into the control space, when the one-way auxiliary wheel and the rotating shaft rotate relative to each other, the position of the connecting rod relative to the control space will also change. When the one-way auxiliary wheel and the rotating shaft rotate synchronously, the connecting rod and the connecting sleeve are in a stable intermediate state under the action of the limit block. At this time, the connecting rod is connected to the control member in the control space to activate the second rotor. When the one-way auxiliary wheel and the rotating shaft rotate relative to each other, the control member moves with the connecting rod to disconnect the second rotor, so that the second rotor does not emit magnetic force to avoid affecting the operation of other components.

[0021] Optionally, a locking structure is further included, wherein the locking structure is installed on the inner side wall of the shell and is used to limit the one-way auxiliary wheel from rotating in one direction.

[0022] By adopting the above technical solution, the locking structure can limit the one-way auxiliary wheel from rotating in one direction, and the locking structure is installed on the inner side wall, so that the control of the one-way auxiliary wheel is more stable.

[0023] Optionally, the locking structure includes a one-way clamping block, a driving member and a second elastic member, the driving member is arranged in the side wall of the shell, two ends of the second elastic member are respectively connected to the driving member and the one-way clamping block, a clamping groove is provided on the surface of the one-way auxiliary wheel, and the driving member is used to push the one-way clamping block and the clamping groove to form a one-way clamping connection, so as to limit the one-way rotation of the one-way auxiliary wheel.

[0024] By adopting the above technical solution, the one-way clamping block can make the one-way auxiliary wheel rotate only in one direction with the cooperation of the second elastic member. After the energy storage connection structure is stretched, the one-way auxiliary wheel can be clamped, so that the energy storage connection structure stores elastic potential energy. When the one-way auxiliary wheel rotates in the non-clamping direction, the clamping groove can push the one-way clamping block to avoid clamping. When the one-way auxiliary wheel rotates in the clamping direction, the clamping groove and the clamping block form a clamping connection, so that the one-way auxiliary wheel can only rotate in one direction. The driving member can push the second elastic member and the one-way clamping block to move. When the one-way auxiliary wheel and the rotating shaft rotate synchronously, the one-way clamping block is received, so that the one-way clamping block does not form a load on the one-way auxiliary wheel. When the rotating shaft is locked, the driving member pushes out the one-way clamping block, so that the one-way auxiliary wheel can be clamped and fixed after the energy storage connection structure is stretched.

[0025] Optionally, a brake and an encoder are provided inside the shell, and both the brake and the encoder are sleeved on the outside of the shaft body of the rotating shaft.

[0026] By adopting the above technical solution, the brake is used to fix the shaft after it rotates to a specified angle. Since the servo motor requires an accurate rotation stroke, the brake is required to accurately control the stop angle of the shaft. The encoder is used to sense the rotation direction of the shaft, so that the stator can adjust the magnetic field direction according to the shaft position to drive the shaft to rotate, and the brake can accurately brake at the corresponding rotation angle of the shaft.

[0027] In a second aspect, the present application provides an auxiliary driving method using the following technical solution:

[0028] An auxiliary driving method can be implemented based on the auxiliary servo driving device as described above, and the auxiliary driving method comprises the following steps:

[0029] S1. activating the first stator to drive the rotating shaft and the one-way auxiliary wheel to rotate synchronously;

[0030] S2, braking the rotating shaft to make the one-way auxiliary wheel rotate relative to the rotating shaft, converting the kinetic energy of the one-way auxiliary wheel into the elastic potential energy of the energy storage connection structure, wherein the one-way auxiliary wheel rotates unidirectionally along the rotation direction of the rotating shaft to maintain the kinetic energy absorbed by the energy storage connection structure;

[0031] S3. Release the brake on the rotating shaft so that the energy storage connection structure releases elastic potential energy to assist in driving the rotating shaft to rotate.

[0032] By adopting the above technical solution, the synchronous rotation can make the one-way auxiliary wheel have initial kinetic energy, so that while being stored by the energy storage connection structure, it can stop in front of the stop position of the rotating shaft, so that the rotating shaft can be driven by the energy storage connection structure when it is started for the second time. The control of the driving device only needs to brake the rotating shaft and release the rotating shaft, making the control of the driving device more convenient and simple.

[0033] Optionally, before step S3, the unidirectional rotation direction of the unidirectional auxiliary wheel is adjusted to be consistent with the rotation direction of the rotating shaft.

[0034] By adopting the above technical solution, the unidirectional rotation direction is changed before the rotating shaft is started, so that the energy storage connection structure releases the elastic potential energy and then re-stretches the energy storage connection structure in another direction, thereby changing the release direction of the elastic potential energy. As a result, after the rotating shaft changes its rotation direction, it can still be assisted by the energy storage connection structure.

[0035] In summary, the present application includes at least one of the following beneficial technical effects:

[0036] 1. Since a large torque is required to drive the rotating shaft to rotate in a stationary state, the action between the stator and the rotor cannot enable the rotating shaft to start and respond quickly, and if it is stopped in a bad starting position, the action between the stator and the rotor is weakened, which will cause the starting response of the rotating shaft to be slower. Therefore, a one-way auxiliary wheel is provided, and the one-way auxiliary wheel provides initial power to the rotating shaft through an energy storage connection structure, so that the starting response of the rotating shaft is faster;

[0037] 2. By providing a control space in the one-way auxiliary wheel and inserting the connecting rod into the control space, when the one-way auxiliary wheel and the rotating shaft rotate relative to each other, the position of the connecting rod relative to the control space will also change. When the one-way auxiliary wheel and the rotating shaft rotate synchronously, the connecting rod and the connecting sleeve are in a stable intermediate state under the action of the limit block. At this time, the control member of the connecting rod in the control space is connected to activate the second rotor. When the one-way auxiliary wheel and the rotating shaft rotate relative to each other, the control member moves with the connecting rod to disconnect the second rotor, so that the second rotor does not emit magnetic force, avoiding affecting the operation of other components;

[0038] 3. With the cooperation of the second elastic member, the one-way clamping block can make the one-way auxiliary wheel rotate only in one direction. After the energy storage connection structure is stretched, the one-way auxiliary wheel can be clamped, so that the energy storage connection structure stores elastic potential energy. When the one-way auxiliary wheel rotates in the non-clamping direction, the clamping groove can push the one-way clamping block to avoid clamping. When the one-way auxiliary wheel rotates in the clamping direction, the clamping groove and the clamping block form a clamping connection, so that the one-way auxiliary wheel can only rotate in one direction. The driving member can push the second elastic member and the one-way clamping block to move. When the one-way auxiliary wheel and the rotating shaft rotate synchronously, the one-way clamping block is retracted, so that the one-way clamping block does not form a load on the one-way auxiliary wheel. When the rotating shaft is locked, the driving member pushes out the one-way clamping block, so that the one-way auxiliary wheel can be clamped and fixed after the energy storage connection structure is stretched. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of the explosion structure of an embodiment of the present application;

[0041] Figure 3 is a schematic cross-sectional structural diagram of a one-way auxiliary wheel in a first state according to an embodiment of the present application;

[0042] Figure 4 is a schematic cross-sectional structural diagram of a one-way auxiliary wheel in a second state according to an embodiment of the present application;

[0043] Figure 5 is a schematic cross-sectional structural diagram of an embodiment of the present application;

[0044] Figure 6 yes Figure 2 A partial enlarged schematic diagram of part A;

[0045] Figure 7 yes Figure 2 A partial enlarged schematic diagram of part B;

[0046] Figure 8 yes Figure 3 A partial enlarged schematic diagram of part C in the middle;

[0047] Fig. 9 yes Figure 5 A partial enlarged schematic diagram of part D in the middle;

[0048] Fig.10 It is a flowchart of an embodiment of the present application.

[0049] Figure numerals: 1. housing; 11. first stator; 12. second stator; 13. first bearing; 14. second bearing; 15. bearing seat; 16. brake; 17. encoder; 18. connecting piece; 2. rotating shaft; 21. driving part; 22. connecting part; 23. first rotor; 3. one-way auxiliary wheel; 31. snap-fit ​​groove; 32. limit block; 33. second rotor; 34. control space; 35. rotor battery; 4. energy storage connection structure; 41. connecting rod; 42. connecting sleeve; 43. first elastic piece; 44. control piece; 5. locking structure; 51. one-way snap-fit ​​block; 52. second elastic piece; 53. driving piece; 54. first snap-fit ​​block; 55. second snap-fit ​​block. DETAILED DESCRIPTION

[0050] The present application is further described in detail below in conjunction with the accompanying drawings.

[0051] This application provides an embodiment, referring to Figure 1 and Figure 2 An auxiliary servo drive device includes a shell 1, a rotating shaft 2, a one-way auxiliary wheel 3, an energy storage connection structure 4 and a locking structure 5. The shell 1 is the installation structure of the drive device, and the rotating shaft 2, the one-way auxiliary wheel 3, the energy storage connection structure 4 and the locking structure 5 are all installed in the shell 1. The rotating shaft 2 is the rotating output shaft of the drive device. A second bearing 14 and a bearing seat 15 are provided between the rotating shaft 2 and the shell 1, so that the rotating shaft 2 can rotate relative to the shell 1. A first stator 11 is provided in the groove on the inner wall of the shell 1. The first stator 11 is an electromagnetic coil for generating a magnetic field. The surface side of the rotating shaft 2 has a driving part 21 and a connecting part 22. The surface of the driving part 21 is combined with a first rotor 23. The first rotor 23 is a permanent magnet and can cooperate with the first stator 11 to drive the rotating shaft 2 to rotate.

[0052] Reference Figure 2 and Figure 5 , a brake 16, an encoder 17 and a connector 18 are also provided inside the housing 1, and the brake 16 and the encoder 17 are both sleeved on the outside of the rotating shaft 2. The brake 16 is used to fix the rotating shaft 2 after it rotates to a specified angle. Since the servo motor requires an accurate rotation stroke, the brake 16 is required to accurately control the stop angle of the rotating shaft 2. The encoder 17 is used to sense the rotation direction of the rotating shaft 2, so that the stator can adjust the magnetic field direction according to the position of the rotating shaft 2 to drive the rotating shaft 2 to rotate, and the brake 16 can accurately brake at the corresponding rotation angle of the rotating shaft 2. The connector 18 is used to connect the drive device and the external device to realize the electrical connection of the drive device.

[0053] Reference Figure 3 and Figure 5The connection part 22 on the surface of the rotating shaft 2 is recessed inward relative to the driving part 21, and the inner wall of the corresponding shell is also recessed outward, thereby forming an installation space for the one-way auxiliary wheel 3. The one-way auxiliary wheel 3 is sleeved with a first bearing 13 on the outer side, and the first bearing 13 is installed on the inner wall, so that the one-way auxiliary wheel 3 can rotate relative to the shell 1. Three energy storage connection structures 4 are connected between the one-way auxiliary wheel 3 and the rotating shaft 2. The energy storage connection structure 4 is an elastic structure. When a rotation angle is formed between the one-way auxiliary wheel 3 and the rotating shaft 2, the energy storage connection structure 4 is stretched, thereby forming elastic potential energy for rebound.

[0054] Reference Figure 2 , Figure 6 and Figure 7 The locking structure 5 is arranged on the inner side wall of the housing 1, corresponding to the side wall of the one-way auxiliary wheel 3. A circle of continuously arranged clamping grooves 31 are arranged on the one-way auxiliary wheel 3. The locking structure 5 includes a one-way clamping block 51, a second elastic member 52 and a driving member 53. The one-way clamping block 51 and the driving member 53 are connected to the inner wall of the housing 1. The driving member 53 is connected to the second elastic member 52. The second elastic member 52 is connected to the one-way clamping block 51. When the driving member 53 pushes the second elastic member 52 out, the one-way clamping block 51 extends into the clamping groove 31 to limit the one-way rotation of the one-way auxiliary wheel 3. When the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the driving member 53 retracts the one-way auxiliary wheel 3 to prevent the one-way clamping block 51 from forming resistance to the rotation of the one-way auxiliary wheel 3. When the rotating shaft 2 is braked, the one-way auxiliary wheel 3 begins to stretch the energy storage connection structure 4. At this time, the driving member 53 pushes the one-way clamping block 51 to extend into the clamping groove 31. When the one-way auxiliary wheel 3 stops rotating, the one-way clamping block 51 and the clamping groove 31 form a clamping connection to prevent the one-way auxiliary wheel 3 from rotating in the opposite direction.

[0055] Reference Figure 2 , Figure 6 and Figure 7 The one-way clamping block 51 has an inclined surface and a vertical surface. When the inclined surface faces the rotation direction, the clamping slot 31 pushes the inclined surface during rotation, and pushes the one-way clamping block 51 out of the clamping slot 31. After the one-way clamping slot 31 is completely pushed out, it is reinserted into the clamping slot 31 under the action of the second elastic member 52. When the rotation direction changes, the clamping slot 31 forms a clamping connection with the vertical surface, thereby limiting the one-way rotation of the one-way auxiliary wheel 3. The one-way clamping block 51 is divided into a first clamping block 54 and a second clamping block 55. The inclined surfaces of the first clamping block 54 and the second clamping block 55 face opposite directions, so the first clamping block 54 and the second clamping block 55 limit the one-way rotation of the one-way auxiliary wheel 3 in opposite directions. When the rotation direction of the rotating shaft 2 needs to be changed, the driving member 53 changes the extended one-way clamping block 51, thereby completing the transformation of the one-way rotation of the one-way auxiliary wheel 3.

[0056] Reference Figure 2 and Figure 3The energy storage connection structure 4 is arranged between the connection part 22 and the one-way auxiliary wheel 3. The energy storage connection structure 4 includes a connecting rod 41, a connecting sleeve 42 and a first elastic member 43. The connecting rod 41 is rotatably connected to the connection part 22, the connecting sleeve 42 is rotatably connected to the one-way auxiliary wheel 3, and the connecting sleeve 42 is sleeved on the connecting rod 41. The first elastic member 43 is arranged between the connecting sleeve 42 and the connecting rod 41, and the two ends are respectively connected to the connecting rod 41 and the connecting sleeve 42. When the rotating shaft 2 rotates relative to the one-way auxiliary wheel 3, the connecting rod 41 rotates relative to the rotating shaft 2 and the connecting sleeve 42 rotates relative to the one-way auxiliary wheel 3, and the connecting rod 41 also moves relative to the connecting sleeve 42, thereby compressing the first elastic member 43 between the two, and converting the kinetic energy of the one-way auxiliary wheel 3 into the elastic potential energy of the first elastic member 43. When the elastic potential energy is released, the first elastic member 43 drives the connecting rod 41 and the rotating shaft 2 to rotate, thereby assisting in driving the rotating shaft 2 to rotate when the rotating shaft 2 starts.

[0057] Reference Figure 3 and Figure 4 The one-way auxiliary wheel 3 is provided with a protruding limit block 32 at both sides of the connecting sleeve 42. When the limit block 32 on one side protrudes, the connecting sleeve 42 cannot rotate to the side where the limit block 32 protrudes. Since the connecting sleeve 42 is sleeved on the outside of the connecting rod 41, the connecting sleeve 42 cannot rotate relative to the one-way auxiliary wheel 3, resulting in the connecting rod 41 also being unable to rotate relative to the one-way auxiliary wheel 3. When the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the limit block 32 on the side of the connecting sleeve 42 and the rotation direction protrudes, thereby limiting the rotation of the connecting rod 41 and the connecting sleeve 42, so that the rotating shaft 2 and the one-way auxiliary wheel 3 can rotate synchronously at the corresponding positions, avoiding the need to stretch the first elastic member 43 during synchronous rotation, and making the synchronous rotation more stable. When the rotation direction changes, the protruding direction of the limit block 32 also changes accordingly, so that the rotating shaft 2 can play a limiting effect when rotating in both directions.

[0058] Reference Figure 3 and Figure 8, a control space 34 is provided in the side wall of the one-way auxiliary wheel 3 corresponding to the connecting sleeve 42, and the connecting rod 41 passes through the connecting sleeve 42 and penetrates into the control space 34. A control member 44 is provided at the end of the connecting rod 41 located in the control space 34. The control space 34 has a certain range. When the rotating shaft 2 and the one-way auxiliary wheel 3 rotate relative to each other, the part of the connecting rod 41 located in the control space 34 will also move relative to the control space 34. A second rotor 33 and a rotor battery 35 are provided on both sides of the control space 34, respectively. The second rotor 33 is an electromagnetic coil, in order to avoid interference with other magnetic components during the asynchronous rotation of the permanent magnet. When the rotating shaft 2 and the one-way auxiliary wheel 3 are in a synchronous rotation state, that is, when the connecting sleeve 42 is restricted from rotating by the limit block 32, the position of the control member 44 in the control space 34 is stable. At this time, the control member 44 connects the second rotor 33 and the rotor battery 35, so that the second rotor 33 can emit magnetic force under the drive of the rotor battery 35.

[0059] Reference Figure 5 and Fig. 9 , a second stator 12 is also provided on the side wall of the housing 1, and the second stator 12 is also an electromagnetic coil. The second stator 12 and the first stator 11 operate synchronously, and the electromagnetic force emitted by the second rotor 33 is in the same direction as the magnetic force of the permanent magnet of the first rotor 23, so that when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the second rotor 33 and the second stator 12 can provide electromagnetic drive for the rotation of the one-way auxiliary wheel 3, avoiding the one-way auxiliary wheel 3 being driven to rotate by the rotating shaft 2 through the connecting energy storage structure, thereby increasing the load of the rotating shaft 2 and the connecting energy storage structure. When the rotating shaft 2 is braked, the first stator 11 and the second stator 12 both stop working, the one-way auxiliary wheel 3 rotates relative to the rotating shaft 2, and the control member 44 also moves relative to the control space 34 with the connecting rod 41, and the control member 44 disconnects the second rotor 33 and the rotor battery 35, so that the second rotor 33 will not be affected by the magnetic force of the first rotor 23. When the rotating shaft 2 is driven, the first stator 11 and the second stator 12 generate a magnetic field in the same mode, and the rotating shaft 2 rotates under the drive of the first rotor 23 and the connected energy storage structure. At this time, the one-way auxiliary wheel 3 is in a stationary state, and the control member 44 is not connected to the second rotor 33 and the rotor battery 35. The second rotor 33 will not generate magnetic force, so that the one-way auxiliary wheel 3 will not be affected by the magnetic field. When the rotating shaft 2 rotates to rotate synchronously with the one-way auxiliary wheel 3, that is, when the connecting sleeve 42 is blocked by the limit block 32, the control member 44 moves to the position connecting the second rotor 33 and the rotor battery 35, activating the second rotor 33 to emit magnetic force, and due to the blocking of the limit block 32, the relative position of the rotating shaft 2 and the one-way auxiliary wheel 3 does not change when they rotate synchronously, and the control member 44 can also stably connect the second rotor 33 and the rotor battery 35, thereby ensuring that the second rotor 33 stably emits magnetic force when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously.

[0060] The implementation principle of the embodiment of the present application is as follows: through the elastic connection energy storage structure and the locking structure 5 that limits the unidirectional rotation of the one-way auxiliary wheel 3, the one-way auxiliary wheel 3 still maintains kinetic energy under the action of inertia after the rotating shaft 2 is braked, and after the kinetic energy is converted into elastic potential energy by stretching the connection energy storage structure, the one-way auxiliary wheel 3 is unidirectionally locked by the locking structure 5, thereby maintaining the stretched state of the connection energy storage structure, thereby maintaining the elastic potential energy in the connection energy storage structure. When the rotating shaft 2 is driven again, since the one-way locked one-way auxiliary wheel 3 cannot rotate in the opposite direction, the elastic potential energy of the connection energy storage structure acts on the rotating shaft 2, so that the rotating shaft 2 is not only driven by the magnetic force of the first stator 11 and the first rotor 23, but also by the elastic drive of the connection energy storage structure, so that the driving response of the rotating shaft 2 is faster.

[0061] The auxiliary servo drive device of the present application not only solves the problem of slow response of magnetic drive, but also provides additional driving force during the startup phase, so that the current of the stator coil can be appropriately reduced, thereby avoiding the need to pass a large current during the startup phase, which may cause excessive heating and excessive loss of the coil. This can not only reduce the energy consumed by thermal effects, but also improve the durability of servo motor components.

[0062] Another embodiment of the present application, referring to Fig.10 , an auxiliary driving method is provided, which is implemented based on the auxiliary servo driving device as described above, and the auxiliary driving method comprises the following steps:

[0063] S1. Activate the first stator 11 to drive the rotating shaft 2 and the one-way auxiliary wheel 3 to rotate synchronously.

[0064] Specifically, refer to Figure 5 The first stator 11 is arranged inside the inner wall of the housing 1 and is a coil structure capable of generating magnetic force through electric current, and the first rotor 23 arranged on the rotating shaft 2 relative to the first stator 11 is a permanent magnet that always has magnetic force. When the first stator 11 is activated and generates magnetic force, a magnetic force is generated between the first stator 11 and the first rotor 23, thereby driving the rotating shaft 2 to rotate. There are three groups of first stators 11, which are evenly distributed on the inner wall of the housing 1. The encoder 17 arranged on the inner wall of the housing 1 senses the rotation position of the rotating shaft 2, thereby adjusting the magnetic force change of the first stator 11 accordingly, so that the first stator 11 can keep driving the rotating shaft 2 to rotate.

[0065] More specifically, refer to Figure 3 and 8When the rotating shaft 2 is driven to rotate, the rotating shaft 2 drives the one-way auxiliary wheel 3 to rotate under the connection of the energy storage connection structure 4. When the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the limit blocks 32 in the corresponding direction protrude outward, thereby limiting the connection sleeve 42 from rotating in the opposite direction of the rotation direction of the rotating shaft 2 relative to the one-way auxiliary wheel 3. Specifically, there are two limit blocks 32. When the rotating shaft 2 rotates clockwise, the limit block 32 located on the right side of the connection sleeve 42 protrudes, and when the rotating shaft 2 rotates counterclockwise, the limit block 32 located on the left side of the connection sleeve 42 protrudes. Since the relative positions of the rotating shaft 2 and the one-way auxiliary wheel 3 are fixed, the gap between the rotating shaft 2 and the one-way auxiliary wheel 3 is also unchanged. When the limit block 32 protrudes so that the connection sleeve 42 cannot rotate relative to the one-way auxiliary wheel 3, the connecting rod 41 is also unable to rotate relative to the rotating shaft 2, so that the rotating shaft 2 drives the one-way steering shaft to rotate through the energy storage connection structure 4.

[0066] Since a first elastic member 43 for storing potential energy is provided between the connecting sleeve 42 and the connecting rod 41, during the rotation process, by limiting the rotation of the connecting sleeve 42 relative to the one-way auxiliary wheel 3, the connecting rod 41 passing through the connecting sleeve 42 is also unable to rotate relative to the rotating shaft 2, thereby maintaining the stability of the energy storage connection structure 4. When the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the first elastic member 43 will not be stretched or compressed, thereby reducing the load on the first elastic member 43.

[0067] More specifically, when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the limit block 32 limits the connection sleeve 42 to the center of the rotating shaft 2, and the connection rod 41 is also set to the center of the rotating shaft 2. At this time, the position of the connection rod 41 relative to the one-way auxiliary wheel 3 is determined, and when rotating in different directions, the connection rod 41 is fixed at the same position relative to the one-way auxiliary wheel 3. In addition, the connection rod 41 passes through the connection sleeve 42 and extends into the control space 34 inside the one-way auxiliary wheel 3. When the rotating shaft 2 rotates relative to the one-way auxiliary wheel 3, the position of the connection rod 41 in the control space 34 also changes.

[0068] Reference Fig. 9 When the limit block 32 extends to fix the positions of the connecting sleeve 42 and the connecting rod 41 relative to the rotating shaft 2 and the one-way auxiliary wheel 3, the control member 44 at the end of the connecting rod 41 is located at the innermost side of the control space 34. At this position, the control member 44 can connect the second rotor 33 and the rotor battery 35 arranged at the front and rear sides of the control space 34, so that the second rotor 33 can receive power from the rotor battery 35 when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, thereby emitting magnetic force. Under the magnetic force of the second stator 12 arranged on the inner side wall of the housing 1 relative to the second rotor 33, the second rotor 33 can drive the one-way auxiliary wheel 3 to rotate.

[0069] Since the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously when the second rotor 33 is activated, the rotating shaft 2 rotates under the drive of the first stator 11 at this time, and after the second rotor 33 is activated by the control member 44, the second rotor 33 continues to maintain magnetic force during the rotation process just like the first rotor 23 of the permanent magnet, so that the rotating shaft 2 and the one-way auxiliary wheel 3 are maintained to rotate synchronously, it is only necessary to make the second stator 12 and the first stator 11 operate in the same way, and when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, the one-way auxiliary wheel 3 can be driven to rotate by the action of the second stator 12 and the second rotor 33. When the relative positions of the rotating shaft 2 and the one-way auxiliary wheel 3 change, the connecting sleeve 42 and the connecting rod 41 both rotate relative to the one-way auxiliary wheel 3, and the connecting rod 41 also moves relative to the control space 34, so that the control member 44 disconnects the second rotor 33 from the rotor battery 35, so that the second rotor 33 no longer emits magnetic force, and the magnetic force of the second rotor 33 is prevented from interfering with the operation of other magnetic components.

[0070] S2, braking the rotating shaft 2 to make the one-way auxiliary wheel 3 rotate relative to the rotating shaft 2.

[0071] Specifically, refer to Figure 4 The rotating shaft 2 is braked by the brake 16, and the action of the first stator 11 is stopped, so that the rotating shaft 2 is limited to a specified rotation angle. When the rotating shaft 2 is braked, since the energy storage connection structure 4 connecting the rotating shaft 2 and the one-way auxiliary wheel 3 is non-rigidly connected, the one-way auxiliary wheel 3 can still rotate in the rotation direction under the action of inertia after the rotating shaft 2 is braked, and compresses the first elastic member 43 between the connecting rod 41 and the connecting sleeve 42, so that the kinetic energy of the rotation of the one-way auxiliary wheel 3 is converted into elastic potential energy in the first elastic member 43.

[0072] More specifically, refer to Figure 2 , 67, the one-way auxiliary wheel 3 realizes unidirectional rotation through the locking structure 5. When the direction of the unidirectional rotation is determined, the corresponding one-way clamping block 51 protrudes outward under the drive of the driving member 53 and is clamped into the clamping groove 31 of the one-way auxiliary wheel 3. The one-way clamping block 51 is connected to the second elastic member 52. When pushed by an external force, it can withdraw from the clamping groove 31, and when there is no external force, it can be clamped into the clamping groove 31 again. The contact surface of the one-way clamping block 51 and the clamping groove 31 is an inclined surface relative to the clamping groove 31 on one side and a vertical surface relative to the clamping groove 31 on the other side. When the inclined surface contacts the clamping groove 31, since the clamping groove 31 rotates with the one-way auxiliary wheel 3, the inclined surface can be pushed out of the clamping groove 31 under the push of the edge of the clamping groove 31. When the one-way auxiliary wheel 3 rotates in the reverse direction, the vertical surface contacts the edge of the clamping groove 31. Since the vertical surface cannot be pushed out, the clamping groove 31 will be clamped by the vertical surface, so that the one-way auxiliary wheel 3 cannot rotate in the reverse direction. The one-way clamping block 51 is divided into a first clamping block 54 and a second clamping block 55 according to the different directions of the inclined surface. According to the one-way rotation in different directions, the first clamping block 54 or the second clamping block 55 protrudes under the drive of the driving member 53, thereby realizing one-way clamping in different directions.

[0073] When the rotating shaft 2 is braked, the one-way clamping block 51 corresponding to the rotation direction of the one-way auxiliary wheel 3 protrudes, and the one-way auxiliary wheel 3 continues to rotate in the previous rotation direction of the rotating shaft 2 under the action of inertia. The one-way clamping block 51 will not hinder the rotation of the one-way auxiliary wheel 3. After the one-way auxiliary wheel 3 stretches the energy storage connection structure 4, the rotation of the one-way auxiliary wheel 3 slows down until it stops. At this time, the one-way auxiliary wheel 3 is subjected to the pulling force of the energy storage connection structure 4, but under the action of the one-way clamping block 51, the one-way auxiliary wheel 3 cannot rotate in the opposite direction, thereby maintaining the stretched state of the energy storage connection structure 4, so that it can maintain the stored elastic potential energy.

[0074] In addition, since the limit block 32 only protrudes on one side of the rotation direction, when the rotating shaft 2 is braked, the one-way auxiliary wheel 3 rotates forward relative to the rotating shaft 2, and the connecting rod 41 and the connecting sleeve 42 rotate to the other side relative to the one-way auxiliary wheel 3 without being blocked by the limit block 32. As the connecting rod 41 moves relative to the one-way auxiliary wheel 3, the position of the control member 44 in the control space 34 also shifts, so that the control member 44 disconnects the second rotor 33 from the rotor battery 35, so that the second rotor 33 does not emit magnetic force except when the rotating shaft 2 and the one-way auxiliary wheel 3 rotate synchronously, thereby ensuring the normal operation of the remaining magnetic components.

[0075] S3, releasing the brake on the rotating shaft 2, so that the energy storage connection structure 4 releases elastic potential energy.

[0076] Specifically, refer to Figure 4, the brake 16 releases the brake on the rotating shaft 2, and the first stator 11 starts to work to generate magnetic force to drive the rotating shaft 2 to rotate. Since the one-way clamping block 51 maintains the position of the one-way auxiliary wheel 3, the energy storage connection structure 4 will generate a pulling force on the rotating shaft 2, so that the rotating shaft 2 accelerates to rotate in the direction of the one-way auxiliary wheel 3, providing additional power for the rotating shaft 2 at the starting stage, thereby reducing the power load of the first stator 11 at the starting stage of the rotating shaft 2, and it is not necessary to generate an excessively strong magnetic force, thereby increasing the service life of the motor.

[0077] More specifically, refer to Figure 3 and 8 Since the limit block 32 on the side of the connecting sleeve 42 facing the rotation direction of the rotating shaft 2 will protrude, when the rotating shaft 2 rotates until the connecting groove abuts the limit block 32, that is, when the connecting rod 41 faces the axis of the rotating shaft 2, the connecting sleeve 42 and the connecting rod 41 cannot continue to rotate under the action of the limit block 32, so that the one-way auxiliary wheel 3 is driven by the rotating shaft 2 to move synchronously under the connection of the connecting rod 41, and since the connecting rod 41 is in a fixed position under the push of the rotating shaft 2 and the abutment of the limit block 32 at this time, the position of the control member 44 in the control space 34 is also fixed. At this time, the control member 44 is at the uppermost end of the control space 34, connecting the second rotor 33 and the rotor battery 35, so that the second rotor 33 can generate magnetic force when the one-way auxiliary wheel 3 rotates synchronously with the rotating shaft 2, so that the second stator 12 with the same operation mode as the first stator 11 can drive the one-way auxiliary wheel 3 to rotate, avoiding the need for the first stator 11 to drive the rotating shaft 2 and the one-way auxiliary wheel 3 at the same time, thereby reducing the load of the first stator 11.

[0078] Reference Figure 6 and 7 When the rotation direction of the rotating shaft 2 changes, the one-way clamping block 51 that plays a clamping role needs to be changed through the driving member 53 first, so that the one-way rotation direction of the one-way auxiliary wheel 3 is changed. At this time, the rotating shaft 2 is in a braking state, and the elastic potential energy of the connecting energy storage structure acts on the one-way auxiliary wheel 3 again. The one-way auxiliary wheel 3 rotates relative to the rotating shaft 2, and re-stretches the connecting energy storage structure in the opposite direction, that is, in front of the new rotation direction of the rotating shaft 2, and forms a clamping connection with the new one-way clamping block 51, changing the direction of action of the elastic potential energy. And in this process, the protruding state of the limit block 32 is changed. Since the limit block 32 protrudes along the rotation direction of the connecting sleeve 42, the original limit block 32 is retracted, and the limit block 32 on the other side protrudes, so that the one-way auxiliary wheel 3 can rotate to the front end of the rotation direction of the rotating shaft 2. Therefore, after the rotating shaft 2 changes its rotation direction, it can still be driven by the auxiliary connection energy storage structure.

[0079] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An auxiliary servo drive device, characterized in that: include: The rotating shaft (2) comprises a driving portion (21) and a connecting portion (22), wherein the driving portion (21) is combined with a first rotor (23), and the first rotor (23) is arranged corresponding to a first stator (11) fixed in the housing (1) and is used to drive the rotating shaft (2) to rotate; A one-way auxiliary wheel (3) is unidirectionally rotatably disposed in the housing (1) and connected to the connecting portion (22) of the rotating shaft (2) for elastically linking with the rotating shaft (2); An energy storage connection structure (4), connected between the one-way auxiliary wheel (3) and the connection portion (22), and used for absorbing the kinetic energy of the auxiliary wheel; The one-way auxiliary wheel (3) rotates unidirectionally along the rotation direction of the rotating shaft (2), so that the one-way auxiliary wheel (3) stops in front of the rotation direction of the rotating shaft (2); The energy storage connection structure (4) comprises a connecting rod (41), a connecting sleeve (42) and a first elastic member (43); the connecting rod (41) is rotatably connected to the connecting portion (22); the connecting sleeve (42) is rotatably connected to the inner side wall of the one-way auxiliary wheel (3); the connecting sleeve (42) is sleeved on the outside of the connecting rod (41); and the first elastic member (43) connects the connecting rod (41) and the connecting sleeve (42), and is arranged between the connecting rod (41) and the connecting sleeve (42).

2. The auxiliary servo drive device according to claim 1, characterized in that: A retractable limit block (32) is provided on each side of the connecting sleeve (42); the limit block (32) can abut against one side of the connecting sleeve (42) to limit the relative angle between the one-way auxiliary wheel (3) and the rotating shaft (2).

3. The auxiliary servo drive device according to claim 1, characterized in that: The one-way auxiliary wheel (3) is provided with a second rotor (33), the inner side wall of the housing (1) is provided with a second stator (12), and the second rotor (33) and the second stator (12) are arranged correspondingly to drive the one-way auxiliary wheel (3) to rotate through magnetic force.

4. The auxiliary servo drive device according to claim 1, characterized in that: A control space (34) is provided in the side wall of the one-way auxiliary wheel (3) connected to the connecting sleeve (42), the connecting rod (41) extends into the control space (34), a rotor battery (35) is provided in the one-way auxiliary wheel (3), and a control member (44) is provided at the portion of the connecting rod (41) located in the control space (34) for activating the one-way auxiliary wheel (3) to generate magnetic force.

5. The auxiliary servo drive device according to claim 1, characterized in that: It also comprises a locking structure (5), which is mounted on the inner side wall of the housing (1) and is used to limit the one-way auxiliary wheel (3) from rotating in one direction.

6. The auxiliary servo drive device according to claim 5, characterized in that: The locking structure (5) comprises a one-way clamping block (51), a driving member (53) and a second elastic member (52); the driving member (53) is arranged in the side wall of the housing (1); two ends of the second elastic member (52) are respectively connected to the driving member (53) and the one-way clamping block (51); a clamping groove (31) is provided on the surface of the one-way auxiliary wheel (3); the driving member (53) is used to push the one-way clamping block (51) and the clamping groove (31) to form a one-way clamping connection, so as to limit the one-way rotation of the one-way auxiliary wheel (3).

7. The auxiliary servo drive device according to claim 1, characterized in that: A brake (16) and an encoder (17) are arranged inside the housing (1), and both the brake (16) and the encoder (17) are sleeved on the outside of the shaft body of the rotating shaft (2).

8. An auxiliary driving method, characterized in that: Based on the auxiliary servo drive device according to any one of claims 1 to 7, the auxiliary drive method comprises: S1. activating the first stator (11) to drive the rotating shaft (2) and the one-way auxiliary wheel (3) to rotate synchronously; S2, braking the rotating shaft (2) so that the one-way auxiliary wheel (3) rotates relative to the rotating shaft (2), wherein the one-way auxiliary wheel (3) rotates unidirectionally along the rotation direction of the rotating shaft (2) so as to maintain the kinetic energy absorbed by the energy storage connection structure (4); S3, releasing the brake on the rotating shaft (2), so that the energy storage connection structure (4) releases elastic potential energy to assist in driving the rotating shaft (2) to rotate.

9. The auxiliary driving method according to claim 8, characterized in that: Before step S3, the unidirectional rotation direction of the unidirectional auxiliary wheel (3) is adjusted to be consistent with the rotation direction of the rotating shaft (2).

Images