Control electromechanical servo mechanism

Abstract

The utility model relates to a control electromechanical servo mechanism, which comprises a shell, four brushless motors, a four-redundancy displacement sensor and a clutch, the left side wall of the shell is rotatably connected with a power output shaft through a rolling bearing, a servo controller is fixed on each brushless motor, microgenerators in one-to-one correspondence with the brushless motors are fixed in the shell, and the four-redundancy displacement sensor is connected with the clutch. Each brushless motor corresponds to one feedback device, when the brushless motors break down, any one brushless motor and the servo controllers corresponding to the other three brushless motors form feedback through the feedback devices, and it is ensured that when two brushless motors break down, it can still be ensured that the power output shaft outputs at rated power; and when the number of the faulted brushless motors is less than two, the actual output power of the brushless motors is lower than the rated output power, so that when the power output shaft exceeds the rated power in a short time, the actual output power of the brushless motors can still be prevented from exceeding the rated power, and the brushless motors are protected.

Description

Technical Field

[0001] The utility model belongs to the technical field of urban and rural planning, and particularly relates to a control electromechanical servo mechanism. Background Art

[0002] A servo control system is an automatic control system that can track input command signals to perform actions, thereby obtaining precise position, speed, and power output. Mechanical transmission is an intermediate device that transmits the motion and power generated by the power machine to the actuator. It is a torque and speed converter. Its purpose is to reasonably match the torque between the power machine and the load, and to achieve output speed adjustment through mechanism transformation. In mechatronic systems, the servo speed change function of the servo motor has largely replaced the speed change mechanism in traditional mechanical transmission. Only when the speed range of the servo motor cannot meet the system requirements is the speed changed through the transmission device. Since the mechatronic system has very high requirements for fast response indicators, the mechanical transmission device in the mechatronic system is not only to solve the torque matching problem between the servo motor and the load, but more importantly to improve the servo performance of the system. In order to improve the servo performance of the mechanical system, the mechanical transmission components are required to have small rotational inertia, low friction, and reasonable damping.

[0003] Chinese patent application number 201310530174.4 discloses a quad-redundant electromechanical servo mechanism. When a motor jam occurs, the channel fault can be isolated to protect the entire electromechanical servo mechanism and improve reliability. The rated power of each motor is designed to be 50% of the system's rated output power. When one, two, or three of the motors fail, the mechanism can still operate normally. However, when a non-motor jam occurs in one of the four brushless motors, the overload separation mechanism will not cut off the branch, and the servo controller will cut off the power and control power of the brushless motor. The branch will be driven by other normal branches to move, generating friction resistance, which will place an additional burden on the normally operating brushless motor.

[0004] In view of the shortcomings of existing technologies, further technical improvements are needed. Utility Model Content

[0005] In view of this, an object of the present invention is to provide a control electromechanical servo mechanism to solve the above-mentioned problem.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a control electromechanical servo mechanism, including a housing, four brushless motors, a four-redundant displacement sensor and a clutch, the four brushless motors are evenly fixed on the right side of the housing in a circular shape, the output shaft of the brushless motor is inserted into the interior of the housing from the right side wall of the housing, four clutches corresponding to the brushless motors are fixed in the housing, the input shaft of the clutch is fixedly connected to the output shaft of the corresponding brushless motor through a coupling, a first pinion is fixed on the output shaft of the clutch, the left side wall of the housing is rotatably connected to the power output shaft through a rolling bearing, the right end of the power output shaft is located inside the housing, and a first large gear is fixed on the power output shaft, the first large gear is located between the four first small gears, and the first large gear is meshed with the four first small gears, a four-redundant displacement sensor is fixed on the middle right side of the housing, the output of the four-redundant displacement sensor The input end is fixedly connected to the power output shaft through a connecting sleeve, and the power output shaft drives the input end of the four-redundant displacement sensor to rotate. The four-redundant displacement sensor contains four internal branches, and the four back branches are connected in parallel and have the same output signal. A servo controller is fixed on each of the brushless motors. The internal branches of the four-redundant displacement sensor are each connected to a signal response end of the servo controller. The four-redundant displacement sensor transmits the position information of the power output shaft to the servo controller in the form of a voltage signal. The output end of the servo controller is connected to the input end of the brushless motor through a signal line. The servo controller controls the speed and direction of the brushless motor, and the brushless motor feeds back the current signal and Hall voltage to the servo controller. When one, two, or three of the internal branches fail, it can still be guaranteed that at least one internal branch correctly transmits the position information of the power output shaft.

[0007] A micro-generator corresponding to the brushless motor is fixed inside the shell, and the micro-generator is fixed to the right side wall of the shell. A second small gear is fixed on the rotor of the micro-generator, and a second large gear is fixed on the output shaft of the brushless motor. The second large gear is engaged with the corresponding second small gear. Each brushless motor corresponds to a feedback device, which is fixed on the shell. The feedback device consists of three side-by-side feedback boxes. The bottom end of the feedback box is fixedly connected to the shell. An electromagnet and a piston are provided inside the feedback box. The electromagnet is fixedly connected to the top of the feedback box. The electromagnet in the feedback device corresponding to the brushless motor is connected to the corresponding micro-generator through a wire. The micro-generator The electric energy generated by the machine is passed to the electromagnet through a wire, causing the electromagnet to generate magnetic force. A magnet is fixed to the top of the piston, and the electromagnet and the magnet repel each other with the same polarity, pushing the piston to slide. A first protrusion is fixed to the bottom of the piston, and a second protrusion is fixed to the bottom of the feedback box. A pressure sensor is fixed to the top end face of the second protrusion. A spring is arranged between the feedback box and the piston, one end of the spring is fixedly connected to the bottom of the feedback box, and the other end of the spring is fixedly connected to the bottom of the piston. The three pressure sensors in the feedback device are respectively connected to the signal receiving ends of the servo controllers on the other three brushless motors to ensure that any brushless motor forms feedback with the other three brushless motors through the feedback device and the servo controller.

[0008] Preferably, the clutch is an electronically controlled automatic clutch, which is connected in series with the power supply of the corresponding brushless motor through a wire to ensure that when the brushless motor circuit is cut off due to overload, the clutch circuit corresponding to the brushless motor is cut off synchronously.

[0009] Preferably, the pressure sensor is a pancake-type pressure sensor.

[0010] The beneficial effects of the utility model are:

[0011] The utility model relies on a mechanical structure to achieve a four-redundancy design. The four brushless motors synthesize the torque to the first large gear through the four first small gears. The first large gear drives the power output shaft to rotate. When the brushless motor fails, the feedback device enables any brushless motor to form feedback with the servo controllers corresponding to the other three brushless motors, ensuring that when less than two brushless motors fail, the power output shaft can still be guaranteed to output at the rated power; and when the number of failed brushless motors is less than two, the actual output power of the brushless motor is lower than the rated output power. Therefore, when the power output shaft exceeds the rated power for a short time, the actual output power of the brushless motor can still be prevented from exceeding the rated power, thereby protecting the brushless motor and preventing the brushless motor from being damaged due to working beyond the rated power. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the structural diagram of the electromechanical servo mechanism;

[0013] Figure 2 It is a side view of the electromechanical servo mechanism;

[0014] Figure 3 This is the internal structure diagram of the feedback device.

[0015] Numbers in the figure: 1 housing; 2 brushless motor; 3 four-degree-of-redundancy displacement sensor; 4 clutch; 5 first small gear; 6 power output shaft; 7 first large gear; 8 servo controller; 9 micro generator; 10 feedback device; 11 second small gear; 12 second large gear; 13 feedback box; 14 electromagnet; 15 piston; 16 magnet; 17 first bump; 18 second bump; 19 pressure sensor; 20 spring. DETAILED DESCRIPTION

[0016] The present invention is described in further detail below with reference to the accompanying drawings and specific embodiments:

[0017] like Figure 1-3 As shown, a control electromechanical servo mechanism includes a housing 1, four brushless motors 2, a four-redundant displacement sensor 3 and a clutch 4. The four brushless motors 2 are evenly fixed on the right side of the housing 1 in a circular shape, and the output shaft of the brushless motor 2 is inserted into the interior of the housing 1 from the right side wall of the housing 1. Four clutches 4 corresponding to the brushless motors 2 are fixed in the housing 1. The input shaft of the clutch 4 is fixedly connected to the output shaft of the corresponding brushless motor 2 through a coupling. A first pinion 5 is fixed on the output shaft of the clutch 4. The left side wall of the housing 1 is rotatably connected to the power output shaft 6 through a rolling bearing. The right end of the power output shaft 6 is located inside the housing 1, and a first large gear 7 is fixed on the power output shaft 6. The first large gear 7 is located between the four first small gears 5, and the first large gear 7 is meshed with the four first small gears 5. A four-redundant displacement sensor 3 is fixed to the middle of the right side of the housing 1. The input end of the four-redundant displacement sensor 3 is connected to the power output shaft 6 through a rolling bearing. The output shaft 6 is fixedly connected through a connecting sleeve, and the power output shaft 6 drives the input end of the four-redundant displacement sensor 3 to rotate. The four-redundant displacement sensor 3 contains four internal branches. The four back branches are connected in parallel and have the same output signals. A servo controller 8 is fixed on each of the brushless motors 2. The internal branches of the four-redundant displacement sensor 3 are each connected to a signal response end of a servo controller 8. The four-redundant displacement sensor 3 transmits the position information of the power output shaft 6 to the servo controller 8 in the form of a voltage signal. The output end of the servo controller 8 is connected to the input end of the brushless motor 2 through a signal line. The servo controller 8 controls the speed and direction of the brushless motor 2, and the brushless motor 2 feeds back the current signal and Hall voltage to the servo controller 8. When one, two, or three of the internal branches fail, it can still be guaranteed that at least one internal branch correctly transmits the position information of the power output shaft 6.

[0018] In this embodiment, a micro-generator 9 corresponding to the brushless motor 2 is fixed inside the housing 1, and the micro-generator 9 is fixed to the right side wall of the housing 1. A second pinion 11 is fixed to the rotor of the micro-generator 9, and a second large gear 12 is fixed to the output shaft of the brushless motor 2. The second large gear 12 is engaged with the corresponding second pinion 11. Each brushless motor 2 corresponds to a feedback device 10, which is fixed to the housing 1. The feedback device 10 consists of three side-by-side feedback boxes 13. The bottom end of the feedback box 13 is fixedly connected to the housing 1. An electromagnet 14 and a piston 15 are provided inside the feedback box 13. The electromagnet 14 is fixedly connected to the top of the feedback box 13, and the electromagnet 14 in the feedback device 10 corresponding to the brushless motor 2 is connected to the corresponding micro-generator 9 through a wire. The micro-generator 9 The electric energy generated during operation is passed to the electromagnet 14 through a wire, causing the electromagnet 14 to generate magnetic force. A magnet 16 is fixed to the top of the piston 15. The electromagnet 14 and the magnet 16 repel each other with the same polarity, pushing the piston 15 to slide. A first protrusion 17 is fixed to the bottom of the piston 15, and a second protrusion 18 is fixed to the bottom of the feedback box 13. A pressure sensor 19 is fixed to the top end face of the second protrusion 18. A spring 20 is provided between the feedback box 13 and the piston 15. One end of the spring 20 is fixedly connected to the bottom of the feedback box 13, and the other end of the spring 20 is fixedly connected to the bottom of the piston 15. The three pressure sensors 19 in the feedback device 10 are respectively connected to the signal receiving ends of the servo controller 8 on the other three brushless motors 2, ensuring that any brushless motor 2 forms feedback with the other three brushless motors 2 through the feedback device 10 and the servo controller 8.

[0019] In this embodiment, the clutch 4 is an electronically controlled automatic clutch, which is connected in series with the power supply of the corresponding brushless motor 2 through a wire to ensure that when the brushless motor 1 is cut off due to an overload circuit, the clutch 3 circuit corresponding to the brushless motor 1 is also cut off synchronously.

[0020] In this embodiment, the pressure sensor 19 is a pancake-type pressure sensor.

[0021] The working process of the present invention is as follows: when the four brushless motors 2 are working normally, the four clutches 4 are in a connected state, the four clutches 4 transmit the torque of the brushless motor 2 to the first small gear 5, the four first small gears 5 synthesize the torque to the first large gear 7, the first large gear 7 drives the power output shaft 6 to rotate, and the four redundant displacement sensors 3 output the position signal of the output shaft 8 to the four servo controllers 9. At the same time, feedback is formed between the brushless motor 2 and the corresponding servo controller 8, so as to facilitate the use of the feedback signal between the servo controller 8 and the brushless motor 2 to control the output power of the power output shaft 6; during the operation of the brushless motor 2, the second large gear 12 and the first large gear 7 are connected to the first small gear 5. The two pinions 11 cooperate to drive the corresponding micro-generator 9 to work. The micro-generator 9 generates electrical energy to enable the electromagnet 14 to generate magnetic force. The magnetic poles of the electromagnet 14 and the magnet 16 on the opposite side have the same magnetic properties and repel each other to push the piston 15 to slide. The piston 15 compresses the spring 20 and drives the first protrusion 17 to squeeze the pressure sensor 19, converting the working information of the corresponding brushless motor 2 into a pressure signal. The three pressure sensors 19 in the feedback device 10 corresponding to each brushless motor 2 respectively output the pressure signal to the servo controllers 8 on the other three brushless motors 2, so that any brushless motor 2 can form feedback with the servo controllers 8 corresponding to the other three brushless motors 2.

[0022] The rated power of each brushless motor 2 is half of the rated output power of the system. Therefore, during normal operation, each brushless motor 2 only needs to output at half of the rated power to ensure that the power output shaft 6 outputs power at the rated power. When any brushless motor 2 has a non-motor stuck fault, the servo controller 8 cuts off the circuit of the brushless motor 2 according to the feedback signal, the brushless motor 2 is turned off, and the clutch 4 corresponding to the brushless motor 2 is disconnected. At this time, the remaining normally operating brushless motors 2 ensure the power output of the power output shaft 6; after the brushless motor 2 is turned off due to a fault and stuck, the micro-generator 9 on the brushless motor 2 is turned off, the electromagnet 14 is turned off, and under the elastic force of the spring 20, the first protrusion 17 is separated from the pressure sensor 19, the pressure signal on the pressure sensor 19 changes and the changed pressure signal is output to the servo controller 8 on the other three brushless motors 2. The servo controller 8 adjusts the output power of the normally operating brushless motor 2 according to the feedback signal received from the remaining brushless motors 2 to ensure the output power of the power output shaft 6; when one When a brushless motor 2 is stuck, the remaining three brushless motors 2 output at two-thirds of the rated power, ensuring that when any one brushless motor 2 fails, the remaining three brushless motors 2 can still ensure that the power output shaft 6 outputs at the rated power; when two brushless motors 2 are stuck, the remaining two brushless motors 2 output at the rated power, ensuring that when any two brushless motors 2 fail, the remaining two brushless motors 2 can still ensure that the power output shaft 6 outputs at the rated power; that is, the power output of the remaining brushless motors 2 is adjusted according to the feedback information of the feedback device 10 on the working status of the brushless motors 2, so that after one or two brushless motors 2 fail, the power output shaft 6 can still be guaranteed to output power at the rated power; in addition, since the power output shaft 6 outputs at the rated power and the number of failed brushless motors 2 is less than two, the actual output power of the brushless motors 2 is lower than the rated output power. Therefore, when the power output shaft 6 exceeds the rated power for a short time, the actual output power of the brushless motor 2 can still be prevented from exceeding the rated power, thereby protecting the brushless motor 2. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control electromechanical servo mechanism, comprising a housing, four brushless motors, a quadruple-redundant displacement sensor, and a clutch, characterized in that: The four brushless motors are evenly distributed in a circle and fixed on the right side of the housing. The output shafts of the brushless motors are inserted into the housing from the right side wall of the housing. Four clutches corresponding to the brushless motors are fixed in the housing. The input shafts of the clutches are fixedly connected to the output shafts of the corresponding brushless motors through a coupling. A first pinion is fixed on the output shaft of the clutch. The left side wall of the housing is rotatably connected to a power output shaft through a rolling bearing. The right end of the power output shaft is located inside the housing, and a first large gear is fixed on the power output shaft. The first large gear is located between the four first small gears and the first large gear is meshed with the four first small gears. A four-degree redundant displacement sensor is fixed in the middle of the right side of the housing. The input end of the four-degree redundant displacement sensor is fixedly connected to the power output shaft through a connecting sleeve. The power output shaft drives the input end of the four-degree redundant displacement sensor to rotate. The four-degree redundant displacement sensor contains four internal branches. The four back branches are connected in parallel and have the same output signals. A servo controller is fixed on each of the brushless motors. The internal branches of the four-degree redundant displacement sensor are each connected to a signal response end of the servo controller. The output end of the servo controller is connected to the input end of the brushless motor through a signal line.

2. A control electromechanical servo mechanism according to claim 1, characterized in that A micro-generator corresponding to the brushless motor is fixed inside the shell, and the micro-generator is fixed to the right side wall of the shell. A second small gear is fixed on the rotor of the micro-generator, and a second large gear is fixed on the output shaft of the brushless motor. The second large gear is engaged with the corresponding second small gear. Each brushless motor corresponds to a feedback device, which is fixed on the shell. The feedback device consists of three side-by-side feedback boxes. The bottom end of the feedback box is fixedly connected to the shell. An electromagnet and a piston are provided inside the feedback box. The electromagnet is fixedly connected to the top of the feedback box and corresponds to the feedback device of the brushless motor. The inner electromagnet is connected to the corresponding micro-generator through a wire. The electric energy generated by the micro-generator is passed to the electromagnet through the wire. A magnet is fixed to the top of the piston. The electromagnet and the magnet repel each other and push the piston to slide. A first bump is fixed to the bottom of the piston, and a second bump is fixed to the bottom of the feedback box. A pressure sensor is fixed to the top end face of the second bump. A spring is arranged between the feedback box and the piston. One end of the spring is fixedly connected to the bottom of the feedback box, and the other end of the spring is fixedly connected to the bottom of the piston. The three pressure sensors in the feedback device are respectively connected to the signal receiving ends of the servo controllers on the other three brushless motors.

3. A control electromechanical servo mechanism according to claim 1, characterized in that The clutch is an electronically controlled automatic clutch, which is connected in series with the power supply of the corresponding brushless motor through a wire.

4. A control electromechanical servo mechanism according to claim 2, characterized in that The pressure sensor is a pancake-type pressure sensor.

Images