Torque closed-loop control gear motor module

Abstract

The invention discloses a torque closed-loop control gear motor module which comprises a motor assembly, an encoder assembly, a sensor assembly and a planetary output assembly. The motor assembly is transversely arranged, the encoder assembly is fixedly located on the left side of the motor assembly, the planetary output assembly is located on the right side of the motor assembly, and the sensor assembly is located between the motor assembly and the planetary output assembly. According to the invention, modular design is adopted, the use difficulty of a user is reduced, the assembly and debugging cost is reduced, the torque sensor adopts a non-rotating design, the cost is greatly reduced, moving parts such as a collecting ring are not needed, the service life is not limited, and the stability is improved; the design principle is based on the sensor to measure the relative torque of the planetary reducer shell and the output shaft; and the measurement precision is not influenced by the friction force of the gear, the reduction ratio of the speed reducer, and the transmission efficiency of the speed reducer.

Description

Technical Field

[0001] The present invention relates to the field of motors, and in particular to a torque closed-loop controlled reduction motor module. Background Art

[0002] As production equipment develops, the demand for digital automation is increasing rapidly, and there are more and more application scenarios that require precise control of the rotational output torque of servo motors, such as screw locking and precision assembly.

[0003] Currently, commonly used servo motors cannot accurately control the output torque and can only be roughly controlled through the current loop. In most application scenarios, servo motors must be used with a reducer to increase the output torque, which further amplifies the torque control error. In addition, the existing precise torque control solutions usually connect dynamic torque sensors in series outside the motor, which is not only very costly, but also highly dependent on the selection, processing, assembly and debugging capabilities of the equipment integrator. Summary of the invention

[0004] The purpose of the present invention is to provide a torque closed-loop control reduction motor module with a modular design, which reduces the difficulty of use, assembly and debugging costs for users. The torque sensor adopts a non-rotating design, which greatly reduces the cost, and has no moving parts such as collector rings, no life limit, and improved stability. The design principle is based on the sensor measuring the relative torque between the planetary reducer housing and the output shaft, which is equivalent to the actual torque of the output shaft. The measurement accuracy is not affected by the gear friction, the reduction ratio of the reducer, and the transmission efficiency of the reducer.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions: The torque closed-loop control reduction motor module is characterized by comprising a motor component, an encoder component, a sensor component, and a planetary output component; The motor assembly is placed horizontally, the encoder assembly is fixedly located on the left side of the motor assembly, the planetary output assembly is located on the right side of the motor assembly, and the sensor assembly is located between the motor assembly and the planetary output assembly; The sensor assembly includes a torque sensor and a mounting flange, wherein the mounting flange is annular, and the mounting flange is flange-connected to the right side of the motor assembly, and a first annular plug-in block is provided on the right side of the mounting flange, and the torque sensor is a rectangular parallelepiped, and a second circular through-hole is provided on the left side of the torque sensor, and a first annular flange is fixedly provided on the left side of the torque sensor, and a circular groove is provided on the left side of the first flange, and the first plug-in block of the mounting flange is fixedly inserted in the circular groove, and a second annular flange is fixedly provided on the right side of the torque sensor, and a second annular plug-in block is fixedly provided on the right side of the second flange, and the second plug-in block is fixedly inserted in the planetary output assembly; Strain gauges are attached to the side walls around the torque sensor.

[0006] The preferred solutions are as follows: Preferably: the motor assembly includes a motor housing stator and a motor rotor, the motor housing stator is a horizontally placed cylinder, the right side of the motor housing stator is provided with a first placement circular groove, the left side wall inside the first placement circular groove is provided with a first circular through-hole, the motor rotor is placed in the first placement circular groove, the left side of the motor rotor is provided with a first transmission shaft, the first transmission shaft passes through the first circular through-hole and is located in the encoder assembly, the right side of the motor rotor is provided with a second transmission shaft, the second transmission shaft passes through the sensor assembly and is located in the planetary output assembly, and the second transmission shaft is transmission-connected to the planetary output assembly.

[0007] Preferably: the encoder assembly includes an encoder housing and a reflective photoelectric code disk, the encoder housing is a horizontally placed cylinder, the right side of the encoder housing is provided with a second placement circular groove, the encoder housing is flange-connected to the left side of the motor housing stator, the first transmission shaft of the motor rotor is located in the second placement circular groove of the encoder housing, and the reflective photoelectric code disk is fixedly mounted on the first transmission shaft.

[0008] Preferably, the planetary output assembly comprises three planetary gears, a planetary reducer housing, and a planetary carrier output shaft, the planetary reducer housing is a horizontally placed cylinder, a third placement circular groove is provided on the left side of the planetary reducer housing, and a third circular through hole is provided on the inner right side wall of the third placement circular groove; An internal gear is provided on the right side of the planetary reducer housing; The planetary carrier output shaft is in the shape of a circular plate, three first rotating shafts are arranged in a circumferential array on the left side of the planetary carrier output shaft, a second rotating shaft is arranged in the middle of the right side of the planetary carrier output shaft, and a third rotating shaft is arranged in the middle of the left side of the planetary carrier output shaft; An output gear is fixedly provided on the right side of the second transmission shaft, and a slot is provided on the right side of the output gear; The three planetary gears are respectively sleeved on the three first rotating shafts, and the three planetary gears are all meshed with the internal gear in the planetary reducer housing. The slot of the output gear on the right side of the first transmission shaft is plugged into the third rotating shaft, and the output gear is meshed with the three planetary gears; The second rotating shaft on the right side of the planetary carrier output shaft passes through the third circular through hole and is located outside the planetary reducer housing.

[0009] In summary, the present invention has the following beneficial effects: 1. Through the setting of the torque sensor and the mounting flange, the left end of the torque sensor is fixed on the mounting flange, the mounting flange is rigidly connected to the user equipment base, and the right side of the torque sensor is fixedly connected to the planetary reducer housing. When working, the planetary reducer housing generates a relative torque relative to the equipment base, causing the torque sensor to undergo a slight torsional deformation. The deformation is converted into an electrical signal output through the four strain gauges on the side wall, thereby accurately measuring the real-time torque of the third rotating shaft; 2. Through the setting of the planetary output assembly, the planetary reducer housing can be completely supported by the torque sensor without additional constraints, and all torque can be transmitted to the torque sensor; 3. Through the setting of the motor assembly, the motor assembly can be a brushless hollow cup motor, and the right side of the first transmission shaft of the motor assembly is fixedly provided with an output gear as the power input end of the planetary output assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the overall structure of the embodiment; Figure 2 is a cross-sectional view of an embodiment; Figure 3 It is an exploded view of the overall structural modeling schematic diagram of the embodiment.

[0011] In the figure, 1, motor assembly; 2, encoder assembly; 3, sensor assembly; 4, planetary output assembly; 111, motor housing stator; 112, motor rotor; 113, first transmission shaft; 114, output gear; 115, second transmission shaft; 211, encoder housing; 212, reflective photoelectric code disk; 311, torque sensor; 312, mounting flange; 313, first plug-in block; 314, first flange; 315, second flange; 316, second plug-in block; 317, strain gauge; 411, planetary gear; 412, planetary reducer housing; 413, planetary carrier output shaft; 414, first rotating shaft; 415, second rotating shaft; 416, third rotating shaft. DETAILED DESCRIPTION

[0012] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0013] The same components are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings.

[0014] Torque closed-loop control reduction motor module, such as Figure 1-Figure 3 As shown, it includes a motor component 1, an encoder component 2, a sensor component 3, and a planetary output component 4; The motor assembly 1 is placed horizontally, the encoder assembly 2 is fixed on the left side of the motor assembly 1 , the planetary output assembly 4 is located on the right side of the motor assembly 1 , and the sensor assembly 3 is located between the motor assembly 1 and the planetary output assembly 4 .

[0015] The motor assembly 1 includes a motor housing stator 111 and a motor rotor 112. The motor housing stator 111 is a horizontally placed cylinder. The right side of the motor housing stator 111 is provided with a first placement circular groove, and the left side wall inside the first placement circular groove is provided with a first circular through-hole. The motor rotor 112 is placed in the first placement circular groove. The left side of the motor rotor 112 is provided with a first transmission shaft 113, and the first transmission shaft 113 passes through the first circular through-hole and is located in the encoder assembly 2. The right side of the motor rotor 112 is provided with a second transmission shaft 115, and the second transmission shaft 115 passes through the sensor assembly 3 and is located in the planetary output assembly 4, and the second transmission shaft 115 is transmission-connected to the planetary output assembly 4.

[0016] The encoder assembly 2 includes an encoder housing 211 and a reflective photoelectric code disk 212. The encoder housing 211 is a horizontally placed cylinder. A second placement circular groove is opened on the right side of the encoder housing 211. The encoder housing 211 is flange-connected to the left side of the motor housing stator 111. The first transmission shaft 113 of the motor rotor 112 is located in the second placement circular groove of the encoder housing 211, and the reflective photoelectric code disk 212 is fixedly mounted on the first transmission shaft 113.

[0017] The encoder housing 211 is provided with an output terminal, which is integrated in the encoder housing 211. The module and the external controller are connected by cables to output encoder signals and torque sensor 311 signals, and are also used as motor and sensor power input terminals. The external controller is responsible for collecting the encoder's real-time angle signal and real-time torque signal, and drives the motor in real time according to the torque and angle parameters set by the user through the pid algorithm. The reserved serial port, Ethernet interface and other data interfaces are responsible for communicating with the host computer, controlling process parameters and outputting process parameters to the user's mes system, etc.

[0018] A plurality of first threaded holes are provided in a circular array on the left side of the motor housing stator 111, and a plurality of fourth circular through holes corresponding to the plurality of first threaded holes are provided on the left side of the encoder housing 211. A first bolt is provided in each fourth circular through hole, and the first bolt is threadedly connected to the corresponding first threaded hole to fix the encoder housing 211 to the motor housing stator 111.

[0019] The sensor assembly 3 includes a torque sensor 311 and a mounting flange 312. The mounting flange 312 is annular and connected to the right side flange of the motor assembly 1. The right side of the mounting flange 312 is provided with an annular first plug-in block 313. The torque sensor 311 is a rectangular parallelepiped. The left side of the torque sensor 311 is provided with a second circular through hole. The left side of the torque sensor 311 is fixedly provided with an annular first flange 314. The left side of the first flange 314 is provided with a recessed circular groove. The first plug-in block 313 of the mounting flange 312 is fixedly inserted in the recessed circular groove. The right side of the torque sensor 311 is fixedly provided with an annular second flange 315. The right side of the second flange 315 is fixedly provided with an annular second plug-in block 316. The second plug-in block 316 is fixedly inserted in the planetary output assembly 4. Strain gauges 317 are attached to the side walls around the torque sensor 311. Four strain gauges 317 form a Wheatstone bridge. The Wheatstone bridge converts the strain signal into an electrical signal, and performs signal amplification, filtering, digitization and other processing to finally measure the changing real-time torque.

[0020] A plurality of second threaded holes are provided in an array on the side wall of the mounting flange 312, and the plurality of second threaded holes are used to facilitate threaded connection between the mounting flange 312 and the user equipment base; A plurality of third threaded holes are provided in a circular array on the right side of the motor housing stator 111, and a fifth circular through-hole corresponding to the plurality of third threaded holes is provided on the right side of the mounting flange 312. The plurality of fifth circular through-holes and the plurality of second threads are staggered with each other, and a second bolt is provided in each fifth circular through-hole, which is threadably connected to the corresponding third threaded hole through the second bolt, thereby fixing the mounting flange 312 to the motor housing stator 111.

[0021] A plurality of fourth threaded holes are provided in a circular array on the outer wall of the first plug block 313, and a plurality of sixth circular through holes corresponding to the fourth threaded holes are provided on the outer wall of the first flange 314. A third bolt is provided in each sixth circular through hole, and the third bolt is threadedly connected to the corresponding fourth threaded hole to fix the torque sensor 311 to the mounting flange 312.

[0022] The planetary output assembly 4 includes three planetary gears 411, a planetary reducer housing 412, and a planetary carrier output shaft 413. The planetary reducer housing 412 is a horizontally placed cylinder. A third placement circular groove is opened on the left side of the planetary reducer housing 412, and a third circular through hole is opened on the inner right side wall of the third placement circular groove. A plurality of fifth threaded holes are provided in a circumferential array on the outer wall of the second plug block 316, and a plurality of seventh circular through holes corresponding to the plurality of fifth threaded holes are provided in a left circumferential array on the outer wall of the planetary reducer housing 412. A fourth bolt is provided in each seventh circular through hole, and the fourth bolt is threadedly connected to the corresponding fifth threaded hole to fix the planetary reducer housing 412 to the torque sensor 311.

[0023] An internal gear is provided on the right side of the interior of the planetary reducer housing 412; The planet carrier output shaft 413 is in the shape of a circular plate. Three first rotating shafts 414 are arranged in a circumferential array on the left side of the planet carrier output shaft 413. A second rotating shaft 415 is arranged in the middle of the right side of the planet carrier output shaft 413. A third rotating shaft 416 is arranged in the middle of the left side of the planet carrier output shaft 413. An output gear 114 is fixedly provided on the right side of the second transmission shaft 115, and a slot is provided on the right side of the output gear 114; The three planetary gears 411 are respectively sleeved on the three first rotating shafts 414, and the three planetary gears 411 are all meshed with the internal gears in the planetary reducer housing 412. The slot of the output gear 114 on the right side of the first transmission shaft 113 is plugged into the third rotating shaft 416, and the output gear 114 and the three planetary gears 411 are meshed with each other; The second rotating shaft 415 on the right side of the planetary carrier output shaft 413 passes through the third circular through hole and is located outside the planetary reducer housing 412 .

[0024] When the first transmission shaft 113 rotates clockwise, the output gear 114 also rotates clockwise. At this time, the three planetary gears 411 rotate counterclockwise, thereby driving the planetary carrier output shaft 413 to rotate clockwise.

[0025] Specific installation process: Step 1: Insert the motor rotor 112 into the motor housing stator 111, and the first transmission shaft 113 on the left side of the motor rotor 112 passes through the first circular through hole on the left side of the motor housing stator 111; Step 2: Fixedly connect the reflective photoelectric code disk 212 to the first transmission shaft 113 on the left side of the motor drill; Step 3: The encoder housing 211 is sleeved on the reflective photoelectric code disk 212, and is threadedly connected to the first threaded holes corresponding to the encoder housing 211 by a plurality of first bolts, thereby fixing the encoder housing 211 to the motor housing stator 111; Step 4: Place the mounting flange 312 on the right side of the motor housing stator 111, and install a second bolt in each fifth circular through hole of the mounting flange 312, and each second bolt is threadedly connected with its corresponding third threaded hole, thereby fixing the mounting flange 312 to the motor housing stator 111; Step 5: Insert the torque sensor 311 onto the first plug block 313 of the mounting flange 312 through the circular groove on the left side of the torque sensor 311, and provide a third bolt in each sixth circular through hole of the torque sensor 311 so that each third bolt is threadedly connected with its corresponding fourth threaded hole, thereby fixing the torque sensor 311 to the mounting flange 312; Step 6: Place the planet carrier output shaft 413 in the planetary reducer housing 412; Planetary gears 411 are respectively placed on the three first rotating shafts 414 on the left side of the planetary carrier output shaft 413, and the three planetary gears 411 are all meshed with the internal gears in the planetary reducer housing 412; The planetary reducer housing 412 is sleeved on the outer wall of the second plug block 316 of the torque sensor 311. At this time, the slot of the output gear 114 on the right side of the first transmission shaft 113 of the motor rotor 112 is inserted into the third rotating shaft 416 on the left side of the planetary carrier output shaft 413. At this time, the output gear 114 is meshed with the three planetary gears 411. Step seven: a fourth bolt is provided in each seventh circular through hole of the planetary reducer housing 412 , and the fourth bolt is threadedly connected to the corresponding fifth threaded hole of the torque sensor 311 , thereby fixing the planetary reducer housing 412 and the torque sensor 311 together.

[0026] Specific steps: Step 1: The flange 312 is fixedly connected to the base of the user equipment through a plurality of second threaded holes on the outer wall of the flange 312; Step 2: The second rotating shaft 415 on the right side of the planetary output shaft is connected to the device in a transmission manner; Step 3: The motor assembly 1 works, driving the first transmission shaft 113 to rotate clockwise, and the output gear 114 also rotates clockwise. At this time, the three planetary gears 411 rotate counterclockwise, thereby driving the planetary carrier output shaft 413 to rotate clockwise; Step 4: Since the second rotating shaft 415 on the right side of the planetary output shaft is connected to the device, the planetary reducer housing generates a relative torque relative to the device base, causing a slight torsional deformation of the torque sensor 311. The four strain gauges 317 on the side wall convert the deformation into an electrical signal output, thereby accurately measuring the real-time torque of the third rotating shaft 416; Step 5: The reflective photoelectric encoder 212 rotates synchronously with the motor rotor 112, and the real-time angle and speed of the motor rotor 112 are measured through the encoder photoelectric pulse signal.

[0027] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. Torque closed-loop control reduction motor module, characterized by: It comprises a motor assembly (1), an encoder assembly (2), a sensor assembly (3), and a planetary output assembly (4); The motor assembly (1) is placed in a horizontal direction, the encoder assembly (2) is fixedly located on the left side of the motor assembly (1), the planetary output assembly (4) is located on the right side of the motor assembly (1), and the sensor assembly (3) is located between the motor assembly (1) and the planetary output assembly (4); The sensor assembly (3) comprises a torque sensor (311) and a mounting flange (312); the mounting flange (312) is annular and connected to the right side flange of the motor assembly (1); the right side of the mounting flange (312) is provided with a first annular plug-in block (313); the torque sensor (311) is a rectangular parallelepiped; the left side of the torque sensor (311) is provided with a second circular through-hole; the left side of the torque sensor (311) is fixed A first annular flange (314) is provided, a left side portion of the first flange (314) is provided with a clearance circular groove, a first plug block (313) of the mounting flange (312) is fixedly inserted in the clearance circular groove, a second annular flange (315) is fixedly provided on the right side portion of the torque sensor (311), a second annular plug block (316) is fixedly provided on the right side portion of the second flange (315), and the second plug block (316) is fixedly inserted in the planetary output assembly (4); Strain gauges (317) are attached to the side walls around the torque sensor (311).

2. The torque closed-loop control reduction motor module according to claim 1, characterized in that: The motor assembly (1) comprises a motor housing stator (111) and a motor rotor (112); the motor housing stator (111) is a horizontally placed cylinder; a first placement circular groove is provided on the right side of the motor housing stator (111); a first circular through hole is provided on the left side wall of the first placement circular groove; the motor rotor (112) is placed in the first placement circular groove; a first transmission shaft (113) is provided on the left side of the motor rotor (112); the first transmission shaft (113) passes through the first circular through hole and is located in the encoder assembly (2); a second transmission shaft (115) is provided on the right side of the motor rotor (112); the second transmission shaft (115) passes through the sensor assembly (3) and is located in the planetary output assembly (4); and the second transmission shaft (115) is transmission-connected to the planetary output assembly (4).

3. The torque closed-loop control reduction motor module according to claim 2 is characterized in that: The encoder assembly (2) comprises an encoder housing (211) and a reflective photoelectric code disk (212); the encoder housing (211) is a horizontally placed cylinder; a second placement circular groove is provided on the right side of the encoder housing (211); the encoder housing (211) is flange-connected to the left side of a motor housing stator (111); a first transmission shaft (113) of the motor rotor (112) is located in the second placement circular groove of the encoder housing (211); and the reflective photoelectric code disk (212) is fixedly sleeved on the first transmission shaft (113).

4. The torque closed-loop control reduction motor module according to claim 3 is characterized in that: The planetary output assembly (4) comprises three planetary gears (411), a planetary reducer housing (412), and a planetary carrier output shaft (413); the planetary reducer housing (412) is a horizontally placed cylinder; a third placement circular groove is provided on the left side of the planetary reducer housing (412); and a third circular through hole is provided on the inner right side wall of the third placement circular groove; An internal gear is provided on the right side of the interior of the planetary reducer housing (412); The planet carrier output shaft (413) is in the shape of a circular plate, three first rotating shafts (414) are arranged in a circumferential array on the left side of the planet carrier output shaft (413), a second rotating shaft (415) is arranged in the middle of the right side of the planet carrier output shaft (413), and a third rotating shaft (416) is arranged in the middle of the left side of the planet carrier output shaft (413); An output gear (114) is fixedly provided on the right side of the second transmission shaft (115), and a slot is provided on the right side of the output gear (114); The three planetary gears (411) are respectively sleeved on the three first rotating shafts (414), and the three planetary gears (411) are all meshed with the internal gear in the planetary reducer housing (412); the slot of the output gear (114) on the right side of the first transmission shaft (113) is plugged into the third rotating shaft (416), and the output gear (114) and the three planetary gears (411) are meshed with each other; The second rotating shaft (415) on the right side of the planetary carrier output shaft (413) passes through the third circular through hole and is located outside the planetary reducer housing (412).

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