Torque motor and planetary gear combination device

Abstract

The utility model relates to the technical field of servo control, in particular to a torque motor and planetary gear combination device. The torque motor and planetary gear combination device comprises a stator part and a rotor part, the stator part comprises a disc-shaped rotor shaft, a pressing ring fixedly connected with the outer edge of the rotor shaft and a magnetic ring fixedly arranged on the inner wall of the pressing ring, the rotor shaft and the pressing ring are connected to form a barrel shape, and the rotor part is located in the barrel; the driving mechanism and the speed reducing mechanism are fused together, the enlarged rotor and stator can reduce current and enlarge the arm of force, and the enlarged size is also beneficial to heat dissipation. The structure is compact, the heat dissipation area is large, the serious heating problem is solved from the two aspects of magnetic force reduction and area enlargement under the conditions of long endurance and large load of equipment, and the small size solves the technical problems of miniaturization, small torque and the like of current electric steering engines and robot joints.

Description

Technical Field

[0001] The utility model relates to the technical field of servo control, in particular to a torque motor and planetary gear combination device. Background Art

[0002] In the field of electric servo systems, the requirements for integrated and integrated design are becoming increasingly higher, and integrated designs are also diverse. Especially in the design of electric servos and exoskeleton robot joints, the volume and weight of the products are being reduced and the performance of the whole machine is being improved. The existing structure is complex to assemble and generally does not have a disassembly function. At the same time, the biggest disadvantage is that the whole machine will heat up seriously after working for a long time, thus terminating the work. The designed output power of the whole machine is relatively low compared to the quality of the whole machine. Existing similar devices in the servo field products have short working time, serious heat, complex structure, inconvenient disassembly, and high cost. Therefore, it is urgent to design a new motor and planetary gear combination device to solve the problems of the existing electric servo system. Utility Model Content

[0003] In order to make up for the above shortcomings, the utility model provides a torque motor and planetary gear combination device to solve the problem of small torque and high heat generation.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a torque motor and planetary gear combination device includes a stator part embedded in a rotor part in a stator; the stator part includes: a disc-shaped rotor shaft, a pressure ring fixedly connected to the outer extension of the rotor shaft, and a magnetic ring fixedly arranged on the inner wall of the pressure ring, the rotor shaft is connected to the pressure ring to form a cylinder, and the rotor part is located in the cylinder; the rotor part includes: a stator ring, an inner gear ring embedded in the stator ring, and a planetary wheel carrier meshed with the inner gear ring, and the planetary wheel carrier is connected to the rotor shaft through a rotor bearing; the planetary wheel carrier includes a planetary carrier and an end cover fixedly connected to the planetary carrier, the planetary carrier is fixedly provided with three mounting columns and three mounting shafts for mounting planetary wheels, the planetary wheels are mounted on the mounting shafts through planetary wheel bearings, the three planetary wheels are meshed with the central sun gear at the same time, the sun gear is connected to the planetary carrier through a planetary carrier bearing, the end cover is connected to the rotor shaft through a rotor bearing, and the three planetary wheels are meshed with the inner gear ring. The sun gear is fixedly connected to the rotor shaft.

[0005] Furthermore, the magnetic ring is composed of 28 pieces of magnetic steel, 14 pieces for the N pole and 14 pieces for the S pole, and the magnetic steel is fixedly installed by bonding with the pressure ring through a glue layer.

[0006] Furthermore, the outer side surface of the inner gear ring is provided with 12 evenly distributed semicircular grooves 18, and the inner side surface of the stator ring is provided with corresponding 12 evenly distributed semicircular grooves, which form a full circle of screw holes for external connection together with the 12 evenly distributed semicircular grooves on the outer circular surface of the inner gear ring.

[0007] Furthermore, the winding method of the stator ring is single-turn winding, the diameter of the enameled wire is 1 mm, the material is polyimide, it is divided into 12 units, each unit has 15 turns, and the wire resistance of the winding is 0.2 ohms.

[0008] Furthermore, the stator ring is an iron core welded with electrical steel, and the stator ring is provided with 12 screw holes for external fixed connection; the enameled wire of the stator ring is QY-2 / 220 type material;

[0009] Furthermore, the magnetic ring is connected to the rotor shaft via a glue layer.

[0010] Furthermore, the reduction ratio of the planetary carrier is designed to be 7.1 and the width is designed to be 8 mm.

[0011] The utility model has the following beneficial effects:

[0012] The drive mechanism and the speed reduction mechanism of the utility model are integrated together. The enlarged rotor and stator can reduce the current and expand the lever arm. The enlarged volume is also conducive to heat dissipation. The compact structure has a large heat dissipation area. Under the conditions of long flight time and heavy load of the equipment, the problem of serious heating can be solved by reducing the magnetic force and expanding the area. The small volume can also solve the technical problems of the current electric steering gear and robot joint miniaturization and low torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the planetary surface structure of the device proposed by the utility model;

[0014] Figure 2 This is a schematic diagram of the rotor axial surface structure of the device proposed by the utility model;

[0015] Figure 3 This is a schematic diagram of the transfer structure of the device proposed by the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the planetary wheel carrier of the device proposed by the utility model.

[0017] Legend:

[0018] 1. Planetary gear carrier, 2. Internal gear ring, 3. Stator ring, 4. Magnetic ring, 5. Rotor bearing, 6. Pressure ring, 7. Rotor shaft, 8. Magnetic steel, 9. Screw hole, 11. Planetary carrier, 12. Planetary carrier bearing, 13. Planetary gear, 14. Sun gear, 15. End cover, 16. Snap ring, 17. Planetary gear bearing, 18. Semicircular groove. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Reference Figures 1 to 4 , the utility model provides an embodiment: a torque motor and planetary gear combination device, characterized in that: it includes a stator part embedded in a rotor part in the stator; the stator part includes: a disc-shaped rotor shaft 7, a pressure ring 6 fixedly connected to the outer extension of the rotor shaft 7, and a magnetic ring 4 fixedly arranged on the inner wall of the pressure ring 6, the rotor shaft 7 is connected to the pressure ring 6 to form a cylinder, and the rotor part is located in the cylinder; the rotor part includes: a stator ring 3, an inner gear ring 2 embedded in the stator ring 3, and a planetary wheel carrier 1 meshing with the inner gear ring 2, and the planetary wheel carrier 1 is connected to the rotor shaft 7 through a rotor bearing 5;

[0021] The planetary wheel carrier 1 comprises a planetary carrier 11 and an end cover 15 fixedly connected to the planetary carrier 11. The planetary carrier 11 is fixedly provided with three mounting columns and three mounting shafts for mounting planetary wheels 13. The planetary wheels 13 are mounted on the mounting shafts through planetary wheel bearings 17. A retaining ring 16 is respectively provided on both sides of the planetary wheels 13. The retaining ring 16 is sleeved on the mounting shafts to limit the position of the planetary wheels 13. The three planetary wheels 13 are simultaneously meshed with the central sun gear 14. The sun gear 14 is connected to the planetary carrier 11 through the planetary carrier bearing 12. The end cover 15 is connected to the rotor shaft 7 through the rotor bearing 5. The three planetary wheels 13 are meshed with the inner gear ring 2.

[0022] like Figure 3 As shown, the sun gear 14 is provided with a transmission shaft extending toward one side of the rotor shaft 7, and the transmission shaft is plugged into and fixedly connected to the rotor shaft 7 to form a transmission relationship. The interface of the transmission shaft is non-circular and matches the center hole of the rotor shaft 7, and the two bite and form a transmission relationship between the wheel and the shaft. Therefore, the sun gear 14 is fixedly connected to the rotor shaft 7.

[0023] The magnetic ring 4 is composed of 28 magnetic steels, 14 for each of the N pole and the S pole, and the magnetic steels are fixedly mounted by bonding with the pressure ring 6 through a glue layer. The rotor uses ordinary magnetic steel, and the magnetic ring 4 and the rotor shaft 7 are mounted by gluing, which has a simple structure.

[0024] like Figure 3As shown, the outer side of the inner gear ring 2 is provided with 12 evenly distributed semicircular grooves 18, and the inner side of the stator ring 3 is provided with corresponding 12 evenly distributed semicircular grooves 18, and together with the 12 evenly distributed semicircular grooves 18 on the outer circumferential surface of the inner gear ring 2, a full circle of screw holes 9 for external connection is formed. 12 screws are used to connect with the external housing through the screw holes 9, and the overall structure has the ability to be disassembled.

[0025] like Figure 3 As shown, the winding method of the stator ring 3 is single-turn winding, the diameter of the enameled wire is 1 mm, the material is polyimide, divided into 12 units, each unit has 15 turns, and the wire resistance of the winding is 0.2 ohms. The winding method of the stator ring 3 can be adjusted according to actual use, and there is no single restriction.

[0026] The stator ring 3 is an iron core welded with electrical steel. The material of the stator ring 3 is ordinary electrical steel, which is machined into laminations, and the laminations are welded to form the stator ring iron core, which is simple and easy to shape; the stator ring 3 is provided with 12 screw holes 9 for external fixed connection; the enameled wire of the stator ring 3 is QY-2 / 220 type material, which has extremely high reliability, and the internal resistance is designed to be 0.2 ohms, which can work for a long time and reduce heat; the magnetic ring 4 is connected to the rotor shaft 7 through a glue layer. The reduction ratio of the planetary wheel carrier 1 is designed to be 7.1, and the width is designed to be 8mm, which can withstand a large output force.

[0027] like Figure 3 , 4 As shown, the working principle is as follows: the planetary gear and sun gear assembly 1 specifically comprises: a planet carrier 11, a planet carrier bearing 12, a planetary gear 13, a sun gear 14, an end cover 15, a retaining ring 16, a planetary gear bearing 17 and the like.

[0028] like Figure 4 As shown, the planet carrier 11 includes 3 mounting columns and 3 planetary gear 13 mounting shafts, and 6 evenly distributed M3 screw holes are designed. The end cover 15 is designed with 6 evenly distributed screw mounting holes and 1 bearing mounting hole. Two bearings 17 are installed inside each planetary gear 13. One end of the sun gear 14 is mounted and connected to the planet carrier 11 through the bearing 12, and the other end is fixedly connected to the rotor shaft 7 by interference fit. The pressure ring 6 is fixedly connected to the rotor shaft 7 by interference fit. The magnetic ring 4 is composed of 28 magnetic steels, 14 for each N and S poles, and is fixedly installed by bonding with the pressure ring 6 through a glue layer. The end cover 15 is mounted and connected to the rotor shaft 7 through the bearing 5. The magnetic steel 8 is fixedly installed on the other end of the rotor shaft 7 through a glue layer.

[0029] The outer surface of the inner gear ring 2 is designed with 12 evenly distributed semicircular grooves, and the inner surface of the stator ring 3 is also designed with 12 evenly distributed semicircular grooves, which form a full circle with the 12 evenly distributed semicircular grooves on the outer surface of the inner gear ring 2. It can be fixedly connected to the external structure through a screw hole. The winding method of the stator ring 3 is single-turn winding, the diameter of the enameled wire is 1mm, the material is polyimide, divided into 12 units, each unit has 15 turns, and the wire resistance of the winding is 0.2 ohms. The winding method of the stator ring 3 is not limited to one design scheme, and can be adjusted according to actual needs.

[0030] The bolts fix the peripheral equipment on the screw holes 9, so that the external equipment is fixed to the stator ring 3 and the inner gear ring 2. When the coil is energized, it generates magnetic force, which acts on the permanent magnet on the magnetic ring 4 to drive the pressure ring 6 and the rotor shaft 7 assembly to rotate, and the sun gear 14 inserted in the center of the rotor shaft 7 is driven to rotate. Since the stator ring 3 and the inner gear ring 2 are fixed to the external equipment, the rotation of the sun gear 14 will drive the planetary gear 13 to rotate. Since the inner gear ring 2 is fixed, the planetary carrier 11 will be driven to form a deceleration and torque increase effect. The equipment fixed by the screw holes on the planetary carrier 11 through the bolts will be driven accordingly. The end cover 15 on one side of the planetary carrier 11 is connected to the rotor shaft 7 through the rotor bearing 5, so the speed of the rotor shaft 7 has nothing to do with the planetary carrier 11, and it only plays a supporting role. The stator ring 3 is much larger than the traditional motor, and the magnetic force generated will generate a large torque when multiplied by the moment, so the power can be further improved, and it is located at the outermost layer of the entire device, so it is easier to dissipate heat.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A torque motor and planetary gear combination device, Features: It includes a stator portion and a rotor portion embedded in the stator; The stator part comprises: a disc-shaped rotor shaft (7), a pressure ring (6) fixedly connected to the outer extension of the rotor shaft (7), and a magnetic ring (4) fixedly arranged on the inner wall of the pressure ring (6); the rotor shaft (7) and the pressure ring (6) are connected to form a cylinder, and the rotor part is located in the cylinder; The rotor part comprises: a stator ring (3), an inner gear ring (2) embedded in the stator ring (3), and a planetary wheel carrier (1) meshing with the inner gear ring (2), wherein the planetary wheel carrier (1) is connected to the rotor shaft (7) via a rotor bearing (5); The planetary wheel carrier (1) comprises a planetary carrier (11) and an end cover (15) fixedly connected to the planetary carrier (11); the planetary carrier (11) is fixedly provided with three mounting columns and three mounting shafts for mounting planetary wheels (13); the planetary wheels (13) are mounted on the mounting shafts via planetary wheel bearings (17); the three planetary wheels (13) are simultaneously meshed with a central sun wheel (14); the sun wheel (14) is connected to the planetary carrier (11) via a planetary carrier bearing (12); the end cover (15) is connected to a rotor shaft (7) via a rotor bearing (5); and the three planetary wheels (13) are meshed with an inner gear ring (2).

2. A torque motor and planetary gear combination device according to claim 1, Features: The magnetic ring (4) is composed of 28 pieces of magnetic steel, 14 pieces for the N pole and 14 pieces for the S pole. The magnetic steel is fixedly mounted by bonding with the pressure ring (6) through a glue layer.

3. A torque motor and planetary gear combination device according to claim 1, Features: The outer side surface of the inner gear ring (2) is provided with 12 evenly distributed semicircular grooves (18), and the inner side surface of the stator ring (3) is provided with corresponding 12 evenly distributed semicircular grooves (18), and together with the 12 evenly distributed semicircular grooves (18) on the outer cylindrical surface of the inner gear ring (2), a full-circle screw hole (9) for external connection is formed.

4. A torque motor and planetary gear combination device according to any one of claims 1 to 3, Features: The winding method of the stator ring (3) is single-turn winding, the diameter of the enameled wire is 1 mm, the material is polyimide, it is divided into 12 units, each unit has 15 turns, and the wire resistance of the winding is 0.2 ohms.

5. A torque motor and planetary gear combination device according to claim 4, Features: The stator ring (3) is an iron core welded with electrical steel, and is provided with 12 screw holes (9) for external fixed connection; the enameled wire of the stator ring (3) is QY-2 / 220 type material.

6. A torque motor and planetary gear combination device according to claim 5, Features: The magnetic ring (4) is connected to the rotor shaft (7) via a glue layer.

7. A torque motor and planetary gear combination device according to claim 5, Features: The reduction ratio of the planetary wheel carrier (1) is designed to be 7.1, and the width is designed to be 8 mm.

8. A torque motor and planetary gear combination device according to claim 1, Features: The sun gear (14) is fixedly connected to the rotor shaft (7).

Images