A new type of servo mechanism that can be self-locked

Abstract

The utility model relates to the field of servo mechanism discloses a new servo mechanism of self -locking can, including motor, one end of motor is fixedly connected with the lead screw, is screw -threaded to have the action lever on the lead screw, the front branch ear of one end swing mounting of action lever, the rear end fixed mounting of motor has the rear branch ear, motor fixed mounting has the brake shell, brake shell inside fixed mounting has the brake, brake shell right side fixed mounting has the harmonic reducer connection brake, the right side fixed mounting of motor has the gear box, gear box inside installation has gear one, gear two and gear three, action lever outside swing mounting has the actuator shell, actuator shell inside fixed mounting has the straight line electric potential meter and guiding device. In the utility model, the motor output shaft is directly connected with the lead screw through the spline, there is no other transmission mechanism in the middle, the reliability is high, the transmission efficiency is high, and the coaxial layout makes the radial space occupation reduce.

Description

Technical Field

[0001] This utility model relates to the field of servo mechanisms, and in particular to a novel self-locking servo mechanism. Background Technology

[0002] A servo motor combined with a rotary encoder or potentiometer forms a servo mechanism, which in turn can form part of another servo mechanism. The potentiometer provides a simple analog signal to indicate position, while the encoder provides position and speed feedback. By using a PID controller, the position can be controlled more precisely, thus reaching a stable position (for a given motor power) faster.

[0003] Existing servo mechanisms use a motor to transmit output force to a lead screw via gears to achieve actuation. Efficiency is lost during gear transmission, especially under low-temperature conditions, and there is a risk of failure, reducing reliability. In addition, aerospace rockets have high load forces and require high locking braking force, which corresponds to a large output torque of the motor. If the brake is directly connected to the motor to lock the motor output shaft, the locking torque of the brake must be greater than the output torque of the motor, resulting in a large brake power and size, occupying valuable space.

[0004] Therefore, those skilled in the art have provided a novel self-locking servo mechanism to solve the problems mentioned in the background art. Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a new type of self-locking servo mechanism. The motor output shaft and the lead screw are directly connected by a spline, without any other transmission mechanism in between. This results in high reliability, high transmission efficiency, and a coaxial layout that reduces the radial space occupied.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A novel self-locking servo mechanism includes a motor, a lead screw fixedly connected to one end of the motor, an actuating rod threaded onto the lead screw, a front support lug movably mounted at one end of the actuating rod, a rear support lug fixedly mounted at the rear end of the motor, a brake housing fixedly mounted at the top of the motor, a brake fixedly mounted inside the brake housing, a harmonic reducer connected to the brake fixedly mounted on the right side of the brake housing, a gearbox fixedly mounted on the right side of the motor, gear one, gear two, and gear three installed inside the gearbox, an actuator housing movably mounted outside the actuating rod, a bearing installed inside the actuator housing, and a linear potentiometer and a guiding device fixedly mounted inside the actuator housing. Through the above technical solution, the motor provides rotational power, which is converted into linear motion of the actuator rod through the lead screw. The front and rear supports realize the installation and fixation of the mechanism with external equipment. The brake and harmonic reducer work together to realize the self-locking function. The linear potentiometer and guide device ensure motion accuracy. This solution eliminates the multiple intermediate transmission components of traditional servo mechanisms. While simplifying the structure and reducing the size, it integrates power transmission, action execution, safety locking and accuracy detection into the same housing, which is suitable for the use requirements of precision equipment for "compact layout + multi-functional integration".

[0007] Furthermore, a spline is fixedly installed on the output shaft of the motor, and the output shaft of the motor is directly connected to the lead screw through the spline; Through the above technical solutions, spline connections have a larger contact area and stronger torque transmission compared to traditional methods such as couplings and gears. They can avoid the compensation error of couplings or the meshing clearance of gears. The motor output shaft and the lead screw are directly engaged without intermediate transition parts, so that the power transmission from the motor to the lead screw is lossless. At the same time, it ensures that the axes of the two are completely aligned, reducing the radial runout when the lead screw rotates, and laying the foundation for the smooth linear motion of the actuator.

[0008] Furthermore, the lead screw is installed inside the actuator housing, and the actuating rod is slidably connected to the actuator housing; Through the above technical solution, the lead screw is installed inside the actuator housing, which can isolate external dust and impurities, avoid wear of the lead screw threads, and extend service life. The actuator rod is slidably connected to the actuator housing, and the housing forms a radial constraint on the actuator rod, preventing the actuator rod from rotating synchronously with the lead screw, ensuring that the actuator rod only makes reciprocating linear motion along the axial direction, and avoiding execution errors caused by the deflection of the actuator rod.

[0009] Furthermore, a locking nut is installed on the actuating rod, and the actuating rod is connected to the front support lug through the locking nut; The above technical solution allows the locking nut to be easily disassembled, facilitating later maintenance or replacement of the front support lug.

[0010] Furthermore, the brake is fixedly connected to the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected to the gear three. Through the above technical solution, the braking force output by the brake is amplified by the harmonic reducer and then transmitted to the gear set through the fixed connection with gear three, and finally acts on the lead screw. Compared with the direct braking of a single brake, this solution improves the braking force by reducing speed and increasing torque, ensuring that the lead screw can still be stably locked under the load of gravity or inertia.

[0011] Furthermore, gear one is fixedly connected to the lead screw, gear two meshes with gear one, and gear three meshes with gear two; With the above technical solution, gear one is fixed to the lead screw, gear three is fixed to the output end of the harmonic reducer, and gear two serves as an intermediate transmission component to achieve meshing between the two, forming a transmission chain of "lead screw - gear one - gear two - gear three - harmonic reducer connected to brake". During normal operation, the lead screw can drive the harmonic reducer to rotate freely through the gear set without affecting the power output. When locked, the braking force output by the harmonic reducer can be transmitted in reverse to the lead screw through the gear set to achieve precise braking.

[0012] Furthermore, grooves are provided at both the upper and lower ends of the inner wall of the actuator housing, and the slider of the linear potentiometer is embedded in the grooves. The slider of the linear potentiometer moves back and forth as the actuator rod moves. With the above technical solution, the slider of the linear potentiometer is embedded in the groove of the actuator housing. The groove provides a directional movement track for the slider, preventing the slider from deviating. When the slider and the actuator rod move synchronously, the potentiometer can convert the displacement of the actuator rod into an electrical signal and feed it back to the control system, so that the system can adjust the motor operating status in real time.

[0013] Furthermore, the guide device is fixedly installed at the bottom end of the inner wall of the actuator housing, and the slider of the guide device is embedded in the groove. The slider of the guide device moves back and forth following the movement of the actuating rod. Through the above technical solution, the slider and actuator of the guide device are fixed, and the slide rail and groove are fixed, forming a double redirection constraint. The slider moves along the slide rail in the groove, which can effectively suppress the radial runout or deflection of the actuator during the movement, ensuring that the actuator always moves in a straight line along the axial direction, and avoiding the decrease in execution accuracy or component collision and wear caused by actuator shaking.

[0014] This utility model has the following beneficial effects: 1. The present invention proposes a novel self-locking servo mechanism, in which the motor output shaft and the lead screw are directly connected by a spline, without any other transmission mechanism in between, which has high reliability and high transmission efficiency, and the coaxial layout reduces the radial space occupied.

[0015] 2. The present invention proposes a novel self-locking servo mechanism in which the torque output by the motor is transmitted to the brake through a gearbox and a harmonic reducer, thereby reducing the torque and significantly reducing the braking force required by the brake. Therefore, the self-locking force of a small brake can reach 5 times the load force of the servo mechanism, achieving a self-locking function of not less than 5 times the load, while reducing the volume and weight. Attached Figure Description

[0016] Figure 1 An isometric view of a novel self-locking servo mechanism proposed in this utility model; Figure 2This is a schematic diagram of the internal structure of a novel self-locking servo mechanism proposed in this utility model. Figure 3 for Figure 1 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view at point B in the middle; Figure 5 for Figure 2 Enlarged view of point C.

[0017] Explanation of reference numerals in the attached figures: 1. Motor; 2. Lead screw; 3. Actuating rod; 4. Locking nut; 5. Front support lug; 6. Rear support lug; 7. Brake housing; 8. Brake; 9. Harmonic reducer connected to brake; 10. Gearbox; 11. Gear 1; 12. Gear 2; 13. Gear 3; 14. Actuator housing; 15. Bearing; 16. Linear potentiometer; 17. Guide device. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments. Obviously, the described specific embodiments are only a part of the specific embodiments of the present invention, and not all of them. Based on the specific embodiments of the present invention, all other specific embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Reference Figures 1-3 This utility model provides a specific implementation method: A novel self-locking servo mechanism includes a motor 1, with a lead screw 2 fixedly connected to one end of the motor 1. An actuating rod 3 is threaded onto the lead screw 2. The motor 1 provides rotational power, which is converted into linear motion of the actuating rod 3 via the lead screw 2. A front support lug 5 is movably mounted on one end of the actuating rod 3, and a rear support lug 6 is fixedly mounted on the rear end of the motor 1. The front and rear support lugs 5 and 6 enable the mechanism to be mounted and fixed to external equipment. A brake housing 7 is fixedly mounted on the top of the motor 1, and a brake 8 is fixedly mounted inside the brake housing 7. The brake housing 7 has a right side... A harmonic reducer connected to a brake 9 is fixedly installed on the side. The brake 8 and the harmonic reducer connected to the brake 9 cooperate to achieve a self-locking function. A gearbox 10 is fixedly installed on the right side of the motor 1. Gear 11, gear 2 12 and gear 3 13 are installed inside the gearbox 10. An actuator housing 14 is movably installed outside the actuator rod 3. A bearing 15 is installed inside the actuator housing 14. A linear potentiometer 16 and a guide device 17 are fixedly installed inside the actuator housing 14. The linear potentiometer 16 and the guide device 17 ensure motion accuracy.

[0020] Reference Figures 3-5A spline is fixedly mounted on the output shaft of motor 1. The output shaft of motor 1 is directly connected to lead screw 2 via the spline. Compared with traditional methods such as couplings and gears, spline connection has a larger contact area and stronger torque transmission. It can avoid the compensation error of couplings or the meshing clearance of gears. The direct engagement of motor 1 output shaft and lead screw 2 eliminates the need for intermediate transition parts, ensuring lossless power transmission from motor 1 to lead screw 2. At the same time, it ensures that the axes of the two are completely aligned, reducing the radial runout when lead screw 2 rotates. This lays the foundation for the smooth linear motion of actuator 3. Lead screw 2 is installed inside actuator housing 14, and actuator 3 is slidably connected to actuator housing 14. The installation of lead screw 2 inside actuator housing 14 can isolate external dust and impurities, prevent wear on the threads of lead screw 2, and extend its service life. For extended service life, the actuator rod 3 is slidably connected to the actuator housing 14. The housing provides radial constraint to the actuator rod 3, preventing it from rotating synchronously with the lead screw 2. This ensures that the actuator rod 3 only performs reciprocating linear motion along the axial direction, avoiding execution errors caused by the deflection of the actuator rod 3. A locking nut 4 is installed on the actuator rod 3, which is connected to the front support lug 5 via the locking nut 4. The locking nut 4 can be flexibly disassembled for easy maintenance or replacement of the front support lug 5. The brake 8 is fixedly connected to the input end of the harmonic reducer connected to the brake 9. The output end of the harmonic reducer connected to the brake 9 is fixedly connected to the gear set 13. The braking force output by the brake 8 is amplified by the harmonic reducer connected to the brake 9, and then transmitted to the gear set through the fixed connection with the gear set 13, ultimately acting on the lead screw. 2. Compared to direct braking with a single brake 8, this scheme enhances braking force through deceleration and torque amplification, ensuring that the lead screw 2 remains stably locked under load or inertia. Gear 11 is fixedly connected to the lead screw 2, gear 212 meshes with gear 11, and gear 313 meshes with gear 212. Gear 11 is fixed to the lead screw 2, and gear 313 is fixed to the output end of the harmonic reducer connected to the brake 9. Gear 212 acts as an intermediate transmission component to achieve meshing between the two, forming a transmission chain of "lead screw 2 - gear 11 - gear 212 - gear 313 - harmonic reducer connected to brake 9". During normal operation, the lead screw 2 can drive the harmonic reducer to idle through the gear set without affecting power output. When locked, the braking force output by the harmonic reducer connected to the brake 9 is... Precise braking can be achieved by transmitting power in reverse to the lead screw 2 via a gear set. Grooves are provided at both the upper and lower ends of the inner wall of the actuator housing 14. The slider of the linear potentiometer 16 is embedded in these grooves, and moves reciprocally along with the actuator rod 3. The grooves provide a directional track for the slider, preventing it from deviating. When the slider and actuator rod 3 move synchronously, the potentiometer converts the displacement of the actuator rod 3 into an electrical signal, which is then fed back to the control system for real-time adjustment of the motor 1's operating status. The guide device 17 is fixedly installed at the bottom of the inner wall of the actuator housing 14, and its slider is embedded in a groove. The slider of the guide device 17 moves reciprocally along with the actuator rod 3.The slider of the guide device 17 is fixed to the actuator rod 3, and the slide rail is fixed to the groove, forming a double redirection constraint. The slider moves along the slide rail in the groove, which can effectively suppress the radial runout or deflection of the actuator rod 3 during the movement, ensuring that the actuator rod 3 always moves in a straight line along the axial direction, and avoiding the decrease in execution accuracy or component collision and wear caused by the shaking of the actuator rod 3.

[0021] It should be noted that the harmonic reducer connected to the brake 9 is not limited to harmonic reducers, RV reducers, planetary reducers, etc. The specific reducer used needs to be selected and determined according to the actual situation of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be described.

[0022] Working principle: After the motor 1 starts, it directly drives the lead screw 2 to rotate through the spline. The threaded engagement between the lead screw 2 and the actuator 3 converts the rotational motion into the axial linear motion of the actuator 3. The actuator 3 drives the external load through the front support lug 5. At the same time, the lead screw 2 drives the gear 11 to rotate, which is transmitted to the gear 3 13 through the gear 2 12, preparing for subsequent locking. When the mechanism needs to stop or the power is cut off, the brake 8 is de-energized and locked. The braking torque is amplified by the brake 9 connected through the harmonic reducer, and then transmitted to the lead screw 2 through the gear 3 13, gear 2 12, and gear 11, realizing the double locking of the lead screw 2 and preventing the actuator 3 from moving due to load gravity or inertia. When the actuator 3 moves, it drives the slider of the linear potentiometer 16 to move synchronously. The potentiometer converts the position signal into an electrical signal and feeds it back to the control system. The control system adjusts the speed of the motor 1 according to the feedback signal to achieve precise positioning of the actuator 3. The guide device 17 ensures that there is no deviation during the movement of the actuator 3, further improving the positioning accuracy.

[0023] The following points should be noted in this article: 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in a general design.

[0024] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0025] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing specific embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel self-locking servo mechanism, comprising a motor (1), characterized in that: One end of the motor (1) is fixedly connected to a lead screw (2), and an actuating rod (3) is threaded onto the lead screw (2). A front support (5) is movably installed at one end of the actuating rod (3). A rear support (6) is fixedly installed at the rear end of the motor (1). A brake housing (7) is fixedly installed at the top of the motor (1). A brake (8) is fixedly installed inside the brake housing (7). A harmonic reducer connected to a brake (9) is fixedly installed on the right side of the brake housing (7). A gearbox (10) is fixedly installed on the right side of the motor (1). Gear 1 (11), gear 2 (12), and gear 3 (13) are installed inside the gearbox (10). An actuator housing (14) is movably installed outside the actuating rod (3). A bearing (15) is installed inside the actuator housing (14). A linear potentiometer (16) and a guide device (17) are fixedly installed inside the actuator housing (14).

2. The novel self-locking servo mechanism according to claim 1, characterized in that: A spline is fixedly installed on the output shaft of the motor (1), and the output shaft of the motor (1) is directly connected to the lead screw (2) through the spline.

3. The novel self-locking servo mechanism according to claim 1, characterized in that: The lead screw (2) is installed inside the actuator housing (14), and the actuator rod (3) is slidably connected to the actuator housing (14).

4. The novel self-locking servo mechanism according to claim 1, characterized in that: A locking nut (4) is installed on the actuating rod (3), and the actuating rod (3) is connected to the front support lug (5) through the locking nut (4).

5. A novel self-locking servo mechanism according to claim 1, characterized in that: The brake (8) is fixedly connected to the input end of the harmonic reducer connected brake (9), and the output end of the harmonic reducer connected brake (9) is fixedly connected to the gear three (13).

6. A novel self-locking servo mechanism according to claim 1, characterized in that: The first gear (11) is fixedly connected to the lead screw (2), the second gear (12) meshes with the first gear (11), and the third gear (13) meshes with the second gear (12).

7. A novel self-locking servo mechanism according to claim 1, characterized in that: The actuator housing (14) has grooves at both the upper and lower ends of its inner wall. The slider of the linear potentiometer (16) is embedded in the groove and moves back and forth as the actuator rod (3) moves.

8. A novel self-locking servo mechanism according to claim 7, characterized in that: The guide device (17) is fixedly installed on the bottom of the inner wall of the actuator housing (14). The slider of the guide device (17) is embedded in the groove. The slider of the guide device (17) moves back and forth following the movement of the actuator rod (3).

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