Series planetary gear transmission electric execution device
By adopting a series planetary gear transmission structure and central bearing support in the electric actuator, combined with torque detection and manual adjustment mechanism, the problems of low efficiency and insufficient load-bearing capacity of the existing planetary transmission device are solved, and more efficient and accurate Power transmission and easy maintenance.
Patent Information
- Application Number
- CN202420425381.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-06
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2034-03-06
AI Technical Summary
The existing planetary transmission output electric actuator has low efficiency and low load-bearing capacity, and the series-connected planetary gear structure is not conducive to production and maintenance.
An electric actuator with series planetary gear transmission is designed, using series-connected first and last planetary components, connecting the ring gears through convex keys and grooves, and supporting the output shaft with a central bearing and a needle roller bearing, which increases torque detection The device and manual adjustment mechanism, the motor and the manual worm are arranged 90° across, simplifying manufacturing and maintenance.
It improves transmission efficiency and control accuracy, enhances the load-bearing capacity of the device, simplifies the manufacturing and maintenance process, and extends the service life.
Smart Images
Figure CN222141918U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of mechanical processing equipment, and in particular relates to an electric actuator with serially connected planetary gear transmission output. Background Art
[0002] Existing planetary transmission output electric actuators have certain disadvantages. For example, the parallel layout of electric input and manual adjustment weakens the load-bearing capacity of the overall device; the series planetary gear is a gear ring, which is not conducive to production and maintenance; the output shaft adopts a sliding fit, which affects efficiency.
[0003] Compared with the existing electric actuators with planetary gear transmission, the electric actuators with tandem planetary gear transmission of the utility model have higher efficiency, better control accuracy and faster response speed, and well solve the shortcomings of the existing electric actuators with planetary gear transmission output. Utility Model Content
[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and provide an electric actuator with a series planetary gear transmission, so as to mainly solve the problems of low efficiency and low load-bearing capacity of the traditional planetary transmission output electric actuator.
[0005] The utility model is realized by the following technical solutions:
[0006] The utility model discloses an electric actuator with a series planetary gear transmission, comprising a housing (1), a motor (12) mounted on the housing (1), an input gear pair (10)-driving worm gear (4) transmission structure and a series planetary transmission output mechanism, a counting control device, a torque detection device (6) and a manual adjustment mechanism arranged in the housing (1); the motor (12) realizes an overall structural arrangement in which the final stage planet carrier serves as an output shaft (7) through the input gear pair (10)-driving worm gear (4) and the series-arranged planetary transmission device.
[0007] The input gear pair (10)-driving worm gear (4) transmission structure of the electric actuator comprises an input gear pair (10) driven by a motor (12), and a driving worm (5) and a driving worm gear (4) pair driven by the input gear pair; the input gear pair (10) comprises a motor shaft gear and an input driven gear, and the motor (12) drives the input driven gear to rotate via the motor shaft gear; the driving worm (5) is coaxially mounted with the input driven gear via a driving worm shaft string (15) and drives the driving worm gear (4) to rotate.
[0008] The series planetary transmission output mechanism of the electric actuator comprises a first-stage planetary assembly (13) and a last-stage planetary assembly (14) connected in series, with the last-stage planetary frame as the output terminal, i.e., the output shaft (7); the ring gear (3) in the first-stage planetary assembly (13) and the ring gear (2) in the last-stage planetary assembly (14) are combined into one body through a convex key groove, and the ring gear (3) in the first-stage planetary assembly (13) is fixed to the housing (1) at the same time; the driving worm gear (4) is combined into one body with the input gear, i.e., the sun gear, in the first-stage planetary assembly (13), and drives the planetary frame of the first-stage planetary assembly (13) to rotate; the planetary frame of the first-stage planetary assembly (13) and the input gear, i.e., the planetary gear, in the last-stage planetary assembly (14) are combined into one body; the output of the first-stage planetary frame constitutes the input of the last-stage planetary transmission, and drives the sun gear in the last-stage planetary assembly (14) to rotate synchronously, thereby driving the planetary frame of the last-stage planetary assembly, i.e., the output shaft (7) to rotate, thereby realizing output.
[0009] The electric actuator of the series planetary gear transmission, the output shaft (7) is located inside the electric actuator, is the planetary gear frame in the final planetary assembly (14), and is also the centering bearing support shaft of the whole mechanism. The shaft head of the output shaft (7) extending to the electrical control chamber of the housing (1) is connected to the circumferential limit device (8); the central axis of the output shaft (7) is the bearing support shaft of the sun gear of the first planetary assembly (13), and is also the centering bearing support shaft of the whole mechanism; the counting control device is connected to the shaft head of the output shaft (7) to measure the number of output turns or the output angle of the output shaft. The counting control device measures the number of rotations and the rotation angle of the output shaft (7) in the circumferential direction, and different control elements can be replaced according to the multi-turn control or the non-full circle angle control.
[0010] In the electric actuator of the series planetary gear transmission, the torque detection device (6) is a torque detection device arranged for the worm shaft of the active worm and worm gear pair. When the set torque is exceeded, the active worm (5) generates axial movement and sends a signal. The torque detection device (6) is installed near the output shaft of the input motor (12) and directly installed on the active worm shaft string (15) to directly detect the axial displacement formed by the change of torque transmitted to the worm shaft by the input motor. Since the direct connection method can provide accurate torque information, it is helpful to optimize torque control and improve the efficiency of the system, so the connection method adopts direct connection. The change of input torque will cause axial movement of the active worm (5), thereby triggering the detection element of the torque detection device.
[0011] The electric actuator of the series planetary gear transmission, the manual adjustment mechanism, comprises a manual worm (9) mounted on the housing, the outer circle of the gear ring (2) in the final planetary assembly (14) is processed into a worm wheel, and cooperates with the manual worm (9) to form a manual adjustment mechanism. The function of the manual adjustment mechanism is to drive the outer circle worm wheel tooth groove of the gear ring (2) in the final planetary assembly (14) by rotating the manual worm (9) when the power is off, so as to adjust the starting circumferential position of the output shaft (7).
[0012] In the electric actuator of the series planetary gear transmission, the motor (12) is the starting input power source of the whole device, the active worm (5) in the driving gear pair and the manual worm (9) in the manual adjustment mechanism are arranged at 90 degrees in the housing (1), and the manual worm is built into the input cavity of the motor (12) of the housing (1). The electric actuator of the series planetary gear transmission of the utility model has a series planetary assembly, adopts a standard NGW transmission mode, the series ring gear is fixed, the sun gear is used as input, and the planet carrier is used as output; the planet carrier of the first-stage planetary assembly (13) is connected to the sun gear of the last-stage planetary assembly (14) as a whole. The two series-connected planetary transmission ring gears in the series planetary transmission output mechanism are matched with convex keys and grooves to form a whole; it is convenient to manufacture and maintain.
[0013] The utility model discloses an electric actuator with serial planetary gear transmission, wherein the circumference of the transmission part adopts a radial bearing and a needle bearing as main supports, thereby improving the transmission efficiency and reducing sliding friction.
[0014] The advantages and beneficial effects of the utility model are:
[0015] 1. In the electric actuator with tandem planetary gear transmission provided by the utility model, the tandem planetary transmission is two sets of independent structures, and the gear rings are connected by convex keys and grooves; it is convenient to manufacture and maintain.
[0016] 2. The main drive including the output shaft adopts radial bearings and needle roller bearings to reduce the friction coefficient of the sliding support, improve the transmission efficiency and increase the service life.
[0017] 3. The power input worm and the manual adjustment worm of the serial planetary gear transmission of the utility model are arranged crosswise at 90 degrees, and the manual worm is located in the cavity of the motor gear box (1), which has a compact structure and improves the strength of the box (1). BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a full cross-sectional view of the main projection surface of the electric actuator with a series planetary gear transmission;
[0019] Figure 2 A half-section view of an electric actuator with a series planetary gear transmission under a top view;
[0020] Figure 3 It is a full cross-sectional view of a torque detection device in an electric actuator with a series planetary gear transmission;
[0021] In the figure, the housing (1), the final ring gear (2), the first ring gear (3), the active worm wheel (4), the active worm (5), the torque detection device (6), the output shaft (7), the circumferential limit device (8), the manual worm (9), the input passive gear (10), the output flange (11), the input motor (12), the first planetary assembly (13), the final planetary assembly (14), and the active worm shaft string (15). DETAILED DESCRIPTION
[0022] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments.
[0023] Example 1
[0024] An electric actuator with a series planetary gear transmission comprises a housing (1), an input motor (12) mounted on the housing, an input gear pair-active worm gear transmission structure and a series planetary transmission output mechanism arranged in the housing, a counting control device, a torque detection device and a manual adjustment mechanism.
[0025] The input gear pair-active worm gear transmission structure comprises an input (passive) gear pair (10) driven by a motor, and an active worm (5) and an active worm gear (4) pair driven by the input gear pair; a series planetary transmission output mechanism comprises a first-stage planetary assembly (13) and a final-stage planetary assembly (14) connected in series, with the final-stage planetary carrier as the output terminal, i.e., the output shaft (7); the torque detection device (6) is installed near the output shaft of the input motor (12) to directly detect the torque transmitted by the input motor, and the torque detection device (6) is directly installed on the active worm shaft string (15) to directly detect the torque borne by the worm shaft. The worm wheel machined on the outer circle of the gear ring in the final-stage planetary assembly (14) cooperates with the active worm (5) to form a manual adjustment mechanism.
[0026] The following description requires the three figures to be read together.
[0027] The parts box (1) is a core component; the final planetary gear ring (2) and the first planetary gear ring (3) can be combined into one body through a convex key groove; in the first planetary assembly (13) and the final planetary assembly (14), the driving worm wheel (4) and the first planetary gear ring (3) each form an independent set of planetary transmission pair drives; the output shaft (7), which is also the planet carrier of the final planetary assembly (14), is connected to the central shaft and is centrally mounted with the flange (11) and the box (1) through bearings; the torque detection device (6) is a torque detection device arranged for the worm shaft of the worm and worm gear pair. The torque detection device (6) is a connecting rod between the torque change of the active worm shaft string (15) and the active worm shaft string (15). The displacement of the active worm shaft string (15) is the change of the input torque. If the set torque is exceeded, the worm produces axial movement and sends a signal. The torque detection device (6) is installed near the output shaft of the motor (12) to directly detect the torque transmitted by the motor and the torque detection device (6) is directly installed on the active worm shaft string (15) to directly detect the torque borne by the worm shaft. The input gear pair (10) driven by the motor includes a motor shaft gear and an input passive gear driven by the motor, which drives the active worm (5) to rotate through the active worm shaft string (15), thereby driving the active worm wheel (4) to rotate. The input motor (12) drives the input passive gear to rotate through the motor shaft gear. The manual worm (9) is installed on the housing (1) to drive the final planetary gear ring (2) in the final planetary assembly.
[0028] The housing (1), the output shaft (7) (including the central shaft), and the output flange (11) constitute the main support of the overall transmission; the central shaft is installed in the bearing hole of the housing (1) through a radial bearing to control the circumferential and axial movement of the central shaft; Figure 1 As can be seen, the driving worm wheel (4) is installed on the central shaft through a radial bearing, and a needle bearing is installed at the other axial end; the driving worm wheel (4) is combined with the input gear (center wheel) in the first-stage planetary assembly (13) into one piece, and the axial and radial control of the worm wheel is the control of the first-stage planetary center wheel; the final planetary assembly (14) and the gear ring in the first-stage planetary assembly (13) are combined into a first-stage planetary transmission; the planetary carrier of the first-stage planetary assembly (13) and the input gear in the final planetary assembly (14) form a final planetary transmission. The output of the first-stage planetary carrier is the input of the final planetary transmission; the final planetary gear ring (2) and the first-stage planetary gear ring (3) are fixed to the box body during the active transmission through the manual worm (9) and the installation of the box body (1); the final planetary output is realized by the output shaft (7); the output shaft (7) is installed in the bearing hole of the flange (11) through a radial bearing to maintain axial and radial control.
[0029] During operation, the input motor (12) drives the input driven gear to rotate through the motor shaft gear, fixing the speed ratio; the input driven gear drives the active worm (5) to rotate through the active worm shaft string (15), drives the active worm wheel (4) to rotate, and then drives the center wheel of the first-stage planetary assembly (13) to rotate synchronously; because the first-stage planetary ring gear (3) and the housing (1) remain fixed, the first-stage planetary carrier of the first-stage planetary assembly (13) rotates around the center wheel according to the transmission ratio formed by the number of teeth, and the planetary carrier and the ring gear are not the same part; at the same time, the center wheel of the final planetary assembly (14) is driven to rotate synchronously, driving the planetary carrier of the final planetary assembly (14), that is, the output shaft (7) to rotate, realizing output, and connected to the device through the flange (11), and the output shaft (7) becomes the final output component.
[0030] The central shaft, the housing (1), the flange (11) and the output shaft (7) are connected and installed through a radial bearing and a needle bearing, so the friction coefficient is low and the transmission efficiency is high.
[0031] The electric actuator has sealing elements both at the outside and inside, so that the lubricating liquid in the transmission box will not flow into the electric control cavity and will not leak.
[0032] As attached Figure 3 When working, in the electric actuator of the practical series planetary gear transmission, the adjustable circumferential limit device (8) is a device for limiting the rotation range of the output shaft of the actuator, similar to a circumferential encoder, and can realize non-full circle output control. The circumferential limit device (8) is directly connected to the output shaft (7), and the circumferential limit device (8) can directly record each time the output shaft rotates a certain angle or number of turns. By changing the limit angle and damping characteristics of the adjustable circumferential limit device (8), the electric actuator of the series planetary gear transmission has higher positioning accuracy and the ability to adapt to different application requirements.
[0033] Example 2
[0034] When the output shaft angle adjustment of the device needs to be manually adjusted, the adjustment can be performed without disassembling the device.
[0035] At this time, the power supply of the driving motor is turned off, and the rotation direction of the manually adjusted hand wheel is determined as required. The manual worm (9) is rotated to drive the final planetary assembly (14) to rotate around the central gear. Since the final planetary ring gear (2) and the first planetary ring gear (3) are combined into one body through the convex key and the groove, the manual worm (9), the output shaft of the first planetary assembly (13) and the planets can all rotate. Since the input motor (12) stops, the first worm gear pair is a self-locking structure, and the rotation of the worm wheel cannot drive the rotation of the worm, that is, the central wheel of the first planetary assembly (13) cannot rotate, that is, the rotation of the final manual worm can only drive the rotation of the final planetary ring gear (2), thereby driving the rotation of the output shaft (7) of the planet carrier, and realizing the manual adjustment of the angle of the output shaft (7).
[0036] The utility model has been described exemplarily. It should be noted that, without departing from the core of the utility model, any simple deformation, modification or other equivalent replacement that can be done by other technicians in this field without expending creative labor falls within the protection scope of the utility model.
Claims
1. An electric actuator with a series planetary gear transmission, comprising a housing (1), a motor (12) mounted on the housing (1), characterized in that: The housing (1) is provided with an input gear pair (10) - an active worm gear transmission structure and a series planetary transmission output mechanism, a counting control device, a torque detection device (6) and a manual adjustment mechanism; The input gear pair (10)-driving worm gear (4) transmission structure of the electric actuator comprises an input gear pair (10) driven by a motor (12), and a driving worm (5) and a driving worm gear (4) pair driven by the input gear pair; the input gear pair (10) comprises a motor shaft gear and an input driven gear, and the motor (12) drives the input driven gear to rotate via the motor shaft gear; the driving worm (5) is coaxially mounted with the input driven gear via a driving worm shaft string (15) and drives the driving worm gear (4) to rotate; The series planetary transmission output mechanism of the electric actuator comprises a first-stage planetary assembly (13) and a last-stage planetary assembly (14) connected in series, with the last-stage planetary frame as the output terminal, i.e., the output shaft (7); the ring gear (3) in the first-stage planetary assembly (13) and the ring gear (2) in the last-stage planetary assembly (14) are combined into one body through a convex key groove, and the ring gear (3) in the first-stage planetary assembly (13) is fixed to the housing (1) at the same time; the driving worm gear (4) is combined into one body with the input gear, i.e., the sun gear, in the first-stage planetary assembly (13), and drives the planetary frame of the first-stage planetary assembly (13) to rotate; the planetary frame of the first-stage planetary assembly (13) and the input gear, i.e., the planetary gear, in the last-stage planetary assembly (14) are combined into one body; the output of the first-stage planetary frame constitutes the input of the last-stage planetary transmission, and drives the sun gear in the last-stage planetary assembly (14) to rotate synchronously, thereby driving the planetary frame of the last-stage planetary assembly, i.e., the output shaft (7) to rotate, thereby realizing output.
2. The electric actuator of series planetary gear transmission according to claim 1, characterized in that: The output shaft (7) is located inside the electric actuator and is the planetary gear frame in the final planetary assembly (14) and is also the centering bearing support shaft of the entire mechanism. The shaft head of the output shaft (7) extending into the electrical control chamber of the housing (1) is connected to the circumferential limit device (8); the central axis of the output shaft (7) is the bearing support shaft of the sun gear of the first planetary assembly (13) and is also the centering bearing support shaft of the entire mechanism; the counting control device is connected to the shaft head of the output shaft (7) to measure the number of output turns or the output angle of the output shaft; the counting control device measures the number of rotations and the rotation angle of the output shaft (7) in the circumferential direction and can replace different control elements according to multi-turn control or non-full circle angle control.
3. The electric actuator with tandem planetary gear transmission according to claim 1, characterized in that: The torque detection device (6) is a torque detection device arranged for the worm shaft of the active worm gear pair. When the set torque is exceeded, the active worm (5) generates axial movement and sends a signal. The torque detection device (6) is installed near the output shaft of the input motor (12) and directly installed on the active worm shaft string (15) so as to directly detect the axial displacement formed by the change of torque transmitted to the worm shaft by the input motor. Since the direct connection method can provide accurate torque information, it is helpful to optimize torque control and improve the efficiency of the system, so the connection method adopts direct connection. The change of input torque will cause axial movement of the active worm (5), thereby triggering the detection element of the torque detection device.
4. The electric actuator with tandem planetary gear transmission according to claim 1, characterized in that: The manual adjustment mechanism comprises a manual worm (9) mounted on a housing, and a worm wheel is machined on the outer circle of the gear ring (2) in the final planetary assembly (14), and cooperates with the manual worm (9) to form a manual adjustment mechanism; the manual adjustment mechanism is used to drive the outer circle worm wheel tooth groove of the gear ring (2) in the final planetary assembly (14) by rotating the manual worm (9) when power is off, thereby adjusting the starting circumferential position of the output shaft (7).
5. The electric actuator with tandem planetary gear transmission according to any one of claims 1 to 4, characterized in that: The motor (12) is the starting input power source of the entire device. The active worm (5) in the driving gear pair and the manual worm (9) in the manual adjustment mechanism are arranged at a 90° angle in the housing (1), and the manual worm is built into the input cavity of the motor (12) of the housing (1).
6. The electric actuator with tandem planetary gear transmission according to any one of claims 1 to 4, characterized in that: The series-connected planetary assembly adopts a standard NGW transmission mode, the series-connected ring gears are fixed, the sun gear is used as input, and the planet carrier is used as output; the planet carrier of the first-stage planetary assembly (13) and the sun gear of the last-stage planetary assembly (14) are connected as a whole; the two series-connected planetary transmission ring gears in the series-connected planetary transmission output mechanism are matched with convex keys and grooves to form a whole; it is convenient to manufacture and maintain.
7. The electric actuator of series planetary gear transmission according to any one of claims 1 to 4, characterized in that: The circumference of the transmission part adopts radial bearings and needle bearings as main supports to improve transmission efficiency and reduce sliding friction.