CN101123377A - A direct drive turning device - Google Patents
A direct drive turning device Download PDFInfo
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- CN101123377A CN101123377A CNA2007101203323A CN200710120332A CN101123377A CN 101123377 A CN101123377 A CN 101123377A CN A2007101203323 A CNA2007101203323 A CN A2007101203323A CN 200710120332 A CN200710120332 A CN 200710120332A CN 101123377 A CN101123377 A CN 101123377A
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- direct drive
- turning device
- drive turning
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Abstract
The invention provides a direct drive slewer, which comprises an enclosure, a direct-drive motor, a bearing and a nontouch precise circular grating. The direct-drive motor comprises a direct-drive motor rotor and a direct-drive motor stator connected with the enclosure. The direct-drive motor rotor is connected with external output parts and is used to provide drive output. The bearing comprises a bearing inner ring and a bearing outer ring, and is arranged on the direct-drive motor and the enclosure. The nontouch precise circular grating comprises a photoreader and a precise circular grating. The photoreader is arranged on the enclosure. The precise circular grating is arranged on the direct-drive motor rotor or the bearing connected with the direct-drive motor rotor, and is used to survey and control speed and position of the direct-drive slewer.
Description
Technical field
The present invention relates to the technical field of electromechanical integration standard set-up, particularly relevant for a kind of direct drive turning device of electromechanical integration.
Background technology
Traditional Driving Scheme is quite miscellaneous, must consider to adopt what motor, driving member, bearing, measurement mechanism etc., and these parts all have specification standards separately, therefore will reach mutual optimum organization is the miscellaneous work of part, even does not reach satisfied result owing to structure and size do not match mutually.
Direct driving motor is a kind of novel servomotor, it can be according to kinematic parameter (positional precision, rigidity, rotary speed, acceleration, the moment of torsion etc.) outputting power of equipment requirements under servo system control, therefore behind this motor of equipment configuration, just saved from motor all drive disk assemblies of output shaft to the end, thereby simplified structure at utmost, improve performance.It is the direction of the contemporary Driving technique development of representative.
Succeeding in developing to direct driving motor of high accuracy, high rigidity, major diameter three row's cylinder combination dials bearings can lay the foundation as the final actuating station of plant equipment.Existing how tame manufacturer can provide this series products both at home and abroad at present.
The measuring technique of rotating accuracy has round grating, rotary encoder etc.Wherein accurate circle grating is joined corresponding contactless read head, and resolution can reach 0.01 rad, and accuracy of reading reaches ± and 0.5 rad, can satisfy the measurement control of all kinds of slewing equipments.
Summary of the invention
For addressing the above problem, the purpose of this invention is to provide a kind of direct drive turning device, to optimize drive system, make it simple in structure, superior performance.
For achieving the above object, the present invention proposes a kind of direct drive turning device, wherein, comprising:
One casing;
Drive motor always, comprise direct drive motor rotor and the direct driving motor stator that is connected with described casing, described direct drive motor rotor is connected with the output block of outside, is used to provide drive and exports;
One bearing comprises bearing inner race and bearing outer ring, is installed on respectively on described direct drive motor rotor and the casing;
One contactless grating, comprise photoreading head and grating, described photoreading head is installed on the described casing, described grating be installed on the described direct drive motor rotor or with bearing that described direct drive motor rotor is connected on, be used to finish to the speed of described direct drive turning device and the measurement control of position.
Above-mentioned direct drive turning device, wherein, described bearing is three row's cylinder combination bearings.
Above-mentioned direct drive turning device, wherein, described contactless grating is a kind of contactless accurate circle grating.
Above-mentioned direct drive turning device, wherein, described accurate circle grating is the accurate circle of low inertia grating, the thickness of the accurate circle of described low inertia grating is 0.5 millimeter.
Above-mentioned general accurate direct drive turning device, wherein, described photoreading head is contactless read head, and resolution is 0.01 rad, and accuracy of reading is ± 0.5 rad.
Above-mentioned direct drive turning device, wherein, described direct driving motor structure is inner rotor core or outer-rotor structure.
Above-mentioned direct drive turning device, wherein, when described direct driving motor is inner rotor core, described bearing inner race is fixedly connected on the described direct drive motor rotor, described bearing outer ring is connected with described casing, described direct driving motor stator is arranged in the described casing, and described accurate circle grating is installed on the described bearing inner race, and described photoreading head is installed on the described casing.
Above-mentioned direct drive turning device, wherein, when described direct driving motor is outer-rotor structure, described bearing outer ring is fixedlyed connected with described direct drive motor rotor, described bearing inner race is fixedly connected on the described casing, described direct driving motor stator is pressed together on outside the described casing, and described accurate circle grating is installed in described direct drive motor rotor in the external cylindrical surface bottom, and described photoreading head is installed in the base edge of casing.
Above-mentioned direct drive turning device, wherein, described direct drive turning device further comprises:
Three clamping cylinder pistons are arranged on the circumference of described casing, are used under outer-rotor structure, utilize the hydraulic oil effect to expand outwardly the clamping of realization to external rotor; Perhaps under inner rotor core, utilize the hydraulic oil effect inwardly to expand the clamping of realization to internal rotor.
Above-mentioned direct drive turning device, wherein, described casing cylindrical and two ends be respectively arranged with the installation seam, direct drive turning device employing level, vertical or embedded mode are installed on the corresponding external equipment.
Above-mentioned direct drive turning device, wherein, described direct drive turning device further comprises:
One refrigeration machine is connected with an interface of installing on the seam, is used for the cooling fluid from described direct drive turning device is cooled off; With
One fuel tank is connected with described refrigeration machine with another interface of installing on the seam respectively, is used to store the cooling fluid through described refrigeration machine cooling.
Direct drive turning device provided by the invention is based on the direct drive turning device of direct driving motor, turntable bearing, high precision non-contact measurement technology.Its physical dimension, parameter and performance closely are integrated into an incorporate device after optimizing.The user needs only correct selection performance and interface parameters, and needn't consider the device internal structure.Select for use this device will reduce device design manufacturing cycle and production cost significantly.Will in various automation equipments such as Digit Control Machine Tool, robot, radar, armament systems, electronics, printing, weaving, be used widely.
The comprehensive multinomial advanced technology Combinatorial Optimization design of direct drive turning device of the present invention has simple in structurely, and superior performance has the different size model for selecting for use as standardization seriation device, can satisfy various driving requirement.Adopt this device can reduce device design manufacturing cycle and production cost significantly, in various automation equipments such as Digit Control Machine Tool, robot, radar, armament systems, electronics, printing, weaving, can be used widely.
Description of drawings
Fig. 1 is the structural representation of direct drive turning device of the present invention;
Fig. 2 is the structural representation of the direct drive turning device of inner rotor core;
Fig. 3 is the structural representation of the direct drive turning device of outer-rotor structure;
Fig. 4 is the cutaway view of direct drive turning device hydraulic clamp.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the invention is described.
As shown in Figure 1, the structural representation of direct drive turning device of the present invention.A kind of direct drive turning device provided by the invention comprises: casing, direct driving motor, bearing and contactless grating.
Wherein direct driving motor (direct drive motor rotor 110 and direct driving motor stator 150) is connected with casing 140 and can makes direct drive turning device, obtains the optimal drive performance with the structure of simplifying most; Bearing adopts three row's cylinder combination bearings (comprising: bearing inner race 120 and bearing outer ring 130) of high accuracy, high rigidity, is connected with direct driving motor with casing 140, has guaranteed precision, rigidity and the sensitivity of direct drive turning device output; Contactless grating adopts contactless accurate circle grating (comprising: contactless optical read head 160 and accurate circle grating 170), is used to realize to the speed of direct drive turning device and the accurate measurement and the control of position.
Direct drive motor rotor 110 is to be fixed together with a circle stay bolt and bearing inner race 120 among Fig. 1; Bearing outer ring 130 usefulness one circle lag bolt is fixed on the casing 140; Direct driving motor stator 150 is pressed together in the casing 140; Accurate circle grating 170 adopts method lock rings such as bonding or gland on the cylindrical of bearing inner race 120 according to its different model; Contactless optical read head 160 is screwed on the end face of casing 140, and it keeps the 0.5mm gap with accurate circle grating 170 surfaces.At the two ends of casing 140 installation seam 180 and seam end face 181 are set all, direct drive turning device employing level, vertical or embedded mode are installed on the corresponding external equipment.The circumference of casing 140 is provided with clamping cylinder piston 190, realizes clamping to direct drive motor rotor 110 to intramedullary expansion under the hydraulic oil effect.
Driving in the direct drive turning device is to adopt the direct driving motor technology, direct drive motor rotor 110 is directly to be installed on the bearing inner race 120, because the high accuracy and the single bearing characteristics of high rigidity major diameter of this bearing, make rotor adopt single bearings to become possibility, thereby reduce its axial dimension significantly.
Direct driving motor stator 150 and bearing outer ring 130 are coaxially installed on the casing 140, and the coaxial processing of two installed surfaces has guaranteed the axiality and the gap uniformity of stator and rotor.
Accurate circle grating 170 adopts low inertia grating, and its thickness only is 0.5mm, can directly be installed on the cylindrical of bearing inner race 120, has not only reduced the inertia of actuator itself and has reduced the space of occupying of measure portion, makes overall structure compacter.
Contactless optical read head 160 is installed in casing 140 upper surfaces, keeps the 0.5mm gap with precision circle grating 170 surfaces.
The external component of driving output is turntable for example, available screw, and directly the connection bearing inner ring is realized the output of required gyration.
The structure of this direct drive turning device rotor can be designed to internal rotor or two kinds of versions of external rotor.According to different specifications and demand, can be by the interface and water-cooled, air-cooled refrigerating plant on the seam 180 be installed, and the clamping device connection, carry out the circulation of cooling fluid.
As shown in Figure 2, be the structural representation of the direct drive turning device of inner rotor core.This device is connected with fuel tank 220 with refrigeration machine 210 respectively by the interface on the installation seam 180 that is positioned at housing 140, is connected between fuel tank 220 and the refrigeration machine 210.Other structures and shown in Figure 1, and indistinction repeat no more.
Fig. 3 is the structural representation of the direct drive turning device of outer-rotor structure.As shown in the figure, direct drive motor rotor 110 is to be fixed together with a circle lag bolt and bearing outer ring 130; Bearing inner race 120 usefulness one circle stay bolt is fixed on the casing 140; Direct driving motor stator 150 is pressed together on outside the casing 140; Accurate circle grating 170 is installed in direct drive motor rotor 110 in the external cylindrical surface bottom; Contactless optical read head 160 is installed in the base edge of casing 140; Housing 140 is provided with installs seam 180 and seam end face 181, direct drive turning device employing level, vertical or embedded mode are installed on the corresponding external equipment, by the interface on the seam 180 being installed and can being linked to each other with the optional equipment (comprising: water-cooled, air-cooled refrigerating plant) of direct drive turning device.For example: in the figure, optional equipment comprises: refrigeration machine 210 and fuel tank 220, wherein, refrigeration machine 210 is connected with an interface of installing on the seam 180, be used for the cooling fluid from direct drive turning device is cooled off, export fuel tank 220 then to and preserve, fuel tank is connected with the interface that another is installed on the seam 180 again, to form the circulation of cooling fluid.
Fig. 4 is the accurate direct drive turning device hydraulic clamp cutaway view of outer-rotor structure.Be A-A section shown in Figure 3, the circumference of casing 140 is provided with three clamping cylinder pistons 190, expands outwardly the clamping of realization to direct drive motor rotor 110 under the hydraulic oil effect.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; being familiar with those of ordinary skill in the art ought can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection range of the appended claim of the present invention.
Claims (11)
1. a direct drive turning device is characterized in that, comprising:
One casing;
Drive motor always, comprise direct drive motor rotor and the direct driving motor stator that is connected with described casing, described direct drive motor rotor links to each other with outside output block, is used to provide drive export;
One bearing comprises bearing inner race and bearing outer ring, is installed on described direct drive motor rotor and the casing;
One contactless grating, comprise photoreading head and grating, described photoreading head is installed on the described casing, described grating be installed on the described direct drive motor rotor or with bearing that described direct drive motor rotor is connected on, be used to finish to the speed of described direct drive turning device and the measurement control of position.
2. direct drive turning device according to claim 1 is characterized in that, described bearing is three row's cylinder combination bearings.
3. direct drive turning device according to claim 1 is characterized in that, described contactless grating is a kind of contactless accurate circle grating.
4. direct drive turning device according to claim 3 is characterized in that, described accurate circle grating is the accurate circle of low inertia grating, and the thickness of the accurate circle of described low inertia grating is 0.5 millimeter.
5. general accurate direct drive turning device according to claim 1 is characterized in that described photoreading head is contactless read head, and resolution is 0.01 rad, and accuracy of reading is ± 0.5 rad.
6. according to claim 1,3,4 or 5 described direct drive turning devices, it is characterized in that described direct driving motor structure is inner rotor core or outer-rotor structure.
7. direct drive turning device according to claim 6, it is characterized in that, when described direct driving motor is inner rotor core, described bearing inner race is fixedly connected on the described direct drive motor rotor, described bearing outer ring is connected with described casing, described direct driving motor stator is arranged in the described casing, and described accurate circle grating is installed on the described bearing inner race, and described photoreading head is installed on the described casing.
8. direct drive turning device according to claim 6, it is characterized in that, when described direct driving motor is outer-rotor structure, described bearing outer ring is fixedlyed connected with described direct drive motor rotor, described bearing inner race is fixedly connected on the described casing, described direct driving motor stator is pressed together on outside the described casing, and described accurate circle grating is installed in described direct drive motor rotor in the external cylindrical surface bottom, and described photoreading head is installed in the base edge of casing.
9. according to claim 7 or 8 described direct drive turning devices, it is characterized in that described direct drive turning device further comprises:
Three clamping cylinder pistons are arranged on the circumference of described casing, are used under outer-rotor structure, utilize the hydraulic oil effect to expand outwardly the clamping of realization to external rotor; Perhaps under inner rotor core, utilize the hydraulic oil effect inwardly to expand the clamping of realization to internal rotor.
10. according to claim 7 or 8 described direct drive turning devices, it is characterized in that the cylindrical of described casing and two ends are respectively arranged with the installation seam, be used to make described direct drive turning device employing level, vertical or embedded mode to be installed in corresponding external equipment.
11. direct drive turning device according to claim 10 is characterized in that, described direct drive turning device further comprises:
One refrigeration machine is connected with an interface of installing on the seam, is used for the cooling fluid from described direct drive turning device is cooled off; With
One fuel tank is connected with described refrigeration machine with another interface of installing on the seam respectively, is used to store the cooling fluid through described refrigeration machine cooling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101203323A CN100555809C (en) | 2007-08-15 | 2007-08-15 | A kind of direct drive turning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101203323A CN100555809C (en) | 2007-08-15 | 2007-08-15 | A kind of direct drive turning device |
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| CN101123377A true CN101123377A (en) | 2008-02-13 |
| CN100555809C CN100555809C (en) | 2009-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007101203323A Active CN100555809C (en) | 2007-08-15 | 2007-08-15 | A kind of direct drive turning device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799042A (en) * | 2010-03-12 | 2010-08-11 | 洛阳世必爱特种轴承有限公司 | Bearing unit for testing and controlling angular displacement of revolving platform |
| CN101554710B (en) * | 2009-05-11 | 2011-01-26 | 清华大学 | Integrated outer rotor type direct drive polishing machine turntable |
| CN102290951A (en) * | 2011-08-29 | 2011-12-21 | 常熟艾科瑞思封装自动化设备有限公司 | Direct drive rotating device |
| CN102673281A (en) * | 2012-04-19 | 2012-09-19 | 邵文远 | Direct drive numerical control rotary table for engraving machine |
| CN102794755A (en) * | 2012-09-09 | 2012-11-28 | 青岛同日电机有限公司 | Large-moment direct-drive plane rotary platform device |
| CN102896502A (en) * | 2012-10-08 | 2013-01-30 | 武汉贝格泰克数控直驱机械有限公司 | Bearingless direct-driven rotating platform |
| CN103212799A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Two-dimensional-motion platform device applicable to laser micromachining of thin-walled tubes |
| CN103465257A (en) * | 2013-09-10 | 2013-12-25 | 苏州凯欧机械科技有限公司 | Full-stroke effective positioning rotary mechanical hand with sensors |
| CN103846712A (en) * | 2014-02-12 | 2014-06-11 | 山东宏泰机械科技股份有限公司 | Combined type rotation driving unit |
| CN106826800A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| WO2018086598A1 (en) * | 2016-11-11 | 2018-05-17 | 南方电机科技有限公司 | A motor |
| CN109149111A (en) * | 2018-07-11 | 2019-01-04 | 南京智真电子科技股份有限公司 | It is straight to drive Radar IF simulation |
| CN110286364A (en) * | 2019-07-04 | 2019-09-27 | 金华市蓝海光电技术有限公司 | A kind of axial locking bearing arrangement of rotary laser radar |
| CN111628606A (en) * | 2020-04-28 | 2020-09-04 | 苏州陈那自动化技术有限公司 | Direct-drive motor |
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2007
- 2007-08-15 CN CNB2007101203323A patent/CN100555809C/en active Active
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554710B (en) * | 2009-05-11 | 2011-01-26 | 清华大学 | Integrated outer rotor type direct drive polishing machine turntable |
| CN101799042A (en) * | 2010-03-12 | 2010-08-11 | 洛阳世必爱特种轴承有限公司 | Bearing unit for testing and controlling angular displacement of revolving platform |
| CN102290951A (en) * | 2011-08-29 | 2011-12-21 | 常熟艾科瑞思封装自动化设备有限公司 | Direct drive rotating device |
| CN102290951B (en) * | 2011-08-29 | 2012-11-21 | 常熟艾科瑞思封装自动化设备有限公司 | Direct drive rotating device |
| CN103212799B (en) * | 2012-01-19 | 2016-04-27 | 昆山思拓机器有限公司 | A kind of two-dimension moving platform device being applicable to thin-wall pipes Laser Micro-Machining |
| CN103212799A (en) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | Two-dimensional-motion platform device applicable to laser micromachining of thin-walled tubes |
| CN102673281A (en) * | 2012-04-19 | 2012-09-19 | 邵文远 | Direct drive numerical control rotary table for engraving machine |
| CN102794755B (en) * | 2012-09-09 | 2015-04-08 | 青岛同日电机有限公司 | Large-moment direct-drive plane rotary platform device |
| CN102794755A (en) * | 2012-09-09 | 2012-11-28 | 青岛同日电机有限公司 | Large-moment direct-drive plane rotary platform device |
| CN102896502B (en) * | 2012-10-08 | 2016-02-10 | 武汉贝格泰克数控直驱机械有限公司 | A kind of bearing-free directly turns platform |
| CN102896502A (en) * | 2012-10-08 | 2013-01-30 | 武汉贝格泰克数控直驱机械有限公司 | Bearingless direct-driven rotating platform |
| CN103465257B (en) * | 2013-09-10 | 2016-01-20 | 苏州凯欧机械科技有限公司 | A kind of rotating machine arm of belt sensor total travel effective location |
| CN103465257A (en) * | 2013-09-10 | 2013-12-25 | 苏州凯欧机械科技有限公司 | Full-stroke effective positioning rotary mechanical hand with sensors |
| CN103846712A (en) * | 2014-02-12 | 2014-06-11 | 山东宏泰机械科技股份有限公司 | Combined type rotation driving unit |
| CN106826800A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| WO2018086598A1 (en) * | 2016-11-11 | 2018-05-17 | 南方电机科技有限公司 | A motor |
| CN109149111A (en) * | 2018-07-11 | 2019-01-04 | 南京智真电子科技股份有限公司 | It is straight to drive Radar IF simulation |
| CN110286364A (en) * | 2019-07-04 | 2019-09-27 | 金华市蓝海光电技术有限公司 | A kind of axial locking bearing arrangement of rotary laser radar |
| CN111628606A (en) * | 2020-04-28 | 2020-09-04 | 苏州陈那自动化技术有限公司 | Direct-drive motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100555809C (en) | 2009-10-28 |
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