CN106678283A - Small linear driver with position feedback function - Google Patents
Small linear driver with position feedback function Download PDFInfo
- Publication number
- CN106678283A CN106678283A CN201710035658.XA CN201710035658A CN106678283A CN 106678283 A CN106678283 A CN 106678283A CN 201710035658 A CN201710035658 A CN 201710035658A CN 106678283 A CN106678283 A CN 106678283A
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- China
- Prior art keywords
- push rod
- shell
- motor
- planetary gear
- grade
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a small linear driver with a position feedback function. The small linear driver comprises a housing, a motor, a speed reducer, a screw rod and a push rod. The motor, the speed reducer and the push rod are arranged in the housing in sequence from back to front. The speed reducer is a miniature planetary speed reducer and is used for slowing down movement of an output shaft of the motor and outputting the movement to the screw rod which is in bearing connection with the housing; the push rod is connected to the screw rod in a threaded sleeving mode, and the circumferential rotation of the push rod is limited by the housing; and therefore, rotation of the motor is converted to linear movement of extending and retracting of the push rod. An electric brush is mounted on the outer side wall of the rear end of the push rod, meanwhile, a strip-shaped slip sheet resistor is mounted on the inner wall of the housing, and the electric brush makes contact with the slip sheet resistor; and when the push rod moves, the electric brush axially slides on the surface of the slip sheet resistor along the housing, and the extending length of the push rod is monitored by reading the change of resistance value of the electric brush. The small linear driver with the position feedback function has the advantages that rotation of the motor can be converted to linear movement of extending and retracting, the driver can be used for driving joints, and the extending and retracting distance of output of the driver can be monitored.
Description
Technical field
The present invention relates to a kind of linear drive apparatus, specifically, be it is a kind of can be by the rotation of micro-machine output shaft
Conversion of motion be linear motion and can feedback position electromechanical device.
Background technology
Current revolute robot quickly grows, apery type domestic robot as home entertaining, spending on education product, in a large number
Flood the market.The joint of these human emulated robots is directly driven using steering wheel mostly, although high performance steering wheel also can make
There is good performance in robot, but its drawback is also clearly.The size and profile of steering wheel is imitative with robot joints
True degree has contradiction, and the anthropomorphic degree for making robot is difficult to further raising, hampers the breakthrough of robot image.Due to people
The rotary joint of body be by muscle linear telescopic traction drive, but linear type driver but often have complex structure,
The shortcomings of expensive or little driving force, be not suitable for using in family entertainment robot field.
The content of the invention
For the deficiencies in the prior art, the present invention proposes a kind of miniature linear actuator with position feedback, with carrying
Power is big, simple structure, low cost and the advantages of be easy to position control, can replace steering wheel, for fields such as Mini humanoid robots.
Miniature linear actuator of the present invention with position feedback, including shell, motor, decelerator, screw rod and push rod.
The inside the shell sets gradually motor, decelerator and push rod by rear to front；Wherein, decelerator is subtracted using miniature planet
Fast device is used to that the screw rod being connected to the bearing between shell will to be exported after the deceleration of motion of motor output shaft；Push rod screw thread is socketed on spiral shell
On bar, and circumferentially rotated by shell restriction push rod；Thus it is the linear motion that push rod stretches by motor translating rotation.
Brush is installed on above-mentioned putting back-end lateral wall, while being provided with bar shaped slide plate resistance on outer casing inner wall, is made
Brush and slide plate Ohmic contact；In push rod moving process, brush slides axially on the surface of slide plate resistance along housing, by reading
The resistance change of power taking brush is monitoring the extension elongation of push rod.
The present invention has advantages below：
1st, miniature linear actuator of the present invention with position feedback, can be flexible straight line fortune by motor translating rotation
It is dynamic, can be used to drive joint.
2nd, miniature linear actuator of the present invention with position feedback, employs micro-planetary gear reduction box so that overall
Size is less, and power output is larger.
3rd, miniature linear actuator of the present invention with position feedback, inside has slide plate resistance, by the number for reading resistance
Value, you can the distance of stretch out and draw back of monitoring driving device output.
4th, a kind of miniature linear actuator with position feedback disclosed by the invention, has used common direct current generator, into
This is relatively low.
Description of the drawings
Fig. 1 is mechanism's overall structure diagram of miniature linear actuator of the present invention with position feedback；
Fig. 2 is the contraction state generalized section of miniature linear actuator of the present invention with position feedback；
Fig. 3 is the reducer structure schematic diagram of miniature linear actuator of the present invention with position feedback；
Fig. 4 is the decelerator exploded perspective view of miniature linear actuator of the present invention with position feedback；
Fig. 5 is that miniature linear actuator of the present invention with position feedback stretches out state generalized section；
In figure：
1- shell 2- motor 3- decelerators
4- screw rod 5- push rod 6- bearings
7- nut 8- brush 9- slide plate resistance
101- rear end cap 102- motor housing 103- shell of reduction boxes
104- push rod shell 105- drive end bearing bracket 301- sun gears
302- planetary gear 303- planet carriers
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in detail.
Miniature linear actuator of the present invention with position feedback, including shell 1, motor 2, decelerator 3, screw rod 4 and push rod
5, as shown in Figure 1 and Figure 2.
The shell 1 is by rear end cap 101, motor housing 102, shell of reduction box 103 and push rod shell 104, drive end bearing bracket 105
Constitute.Rear end cap 101, motor housing 102, shell of reduction box 103 and push rod shell 104 and drive end bearing bracket 105 by it is rear to front successively
By the coaxially connected formation tubular structure of male screw thread, the rear end of motor housing 102 is threadedly coupled with rear end cap 101, by rear end cap 101
Sealing, forms the structure of monolithic case 1, can be accommodated in the cubic space of 51mm x 15mm x 10mm.Above-mentioned motor
Motor 2, decelerator 3 and push rod 5 are separately installed with shell 102, shell of reduction box 103 and push rod shell 104；And outside reduction box
The left end of shell 103 is designed with locating shoulder for positioning motor 2, and the front end of push rod shell 104 is threadedly coupled with drive end bearing bracket 105, and front
Through hole is provided with the end face of end cap 105, is push rod telescopic hole, and be that the stretching motion of push rod 5 is oriented to for circumferentially positioned push rod 5.
The rear end of the motor 2 is fitted with rear end cap 101, realizes the axially position of motor 2；The output shaft connection of motor 2 subtracts
Fast device 3.Decelerator 3 adopts Micro-planetary Reducer, is made up of the planetary gear train being installed in shell of reduction box 103, such as
Shown in Fig. 3, Fig. 4, the output shaft motion reduction of speed of motor 2 is realized.
Decelerator of the present invention may be designed as with one or more levels structure identical planetary gear teeth train (in the present embodiment
Decelerator has two-stage planet train), the increase of planetary gear train quantity is adopted with decelerator, motor 2 can be made defeated
Shaft movement velocity fall increases, and then increases final push rod power output.Above-mentioned planetary gear train includes one too
Sun 301, three planetary gears 302 of wheel and a planet carrier 303；It is designed with the internal circumferential for designing shell of reduction box 103 simultaneously
Internal tooth arrangement 304, as the internal gear of decelerator 3.Above-mentioned each gear (planetary gear, sun gear, internal gear) is 0.2 mould,
Designed using micro-planetary gear method for designing.
When Design of Speed Reducer has primary planet pinion train, concrete mounting means is：Three planetary gears 302 are circumferential
Cloth, is installed on the trailing flank of planet carrier 303 by rotating shaft；Planet carrier leading flank is co-axially mounted screw rod 4.Sun gear 301 fixes peace
On output shaft loaded on motor 2；And sun gear 301 is engaged with three planetary gears 302, at the same three planetary gears 302 with deceleration
The internal circumferential internal tooth arrangement 304 of case shell 103 is engaged.Thus, the output shaft motion of motor 2 can drive sun gear 301 to rotate, by
Sun gear 301 drives three planetary gears 302 to rotate, and then drives planet carrier 303 to rotate with screw rod 4；Finally make the output shaft of motor 2
Move across planetary gear train slow down after be transferred to screw rod 4.
When Design of Speed Reducer has planetary gear train more than one-level, concrete mounting means is：Planetary gears at different levels
Train is by rear to front setting.For purposes of illustration only, order be respectively 1 by rear to front planetary gear trains at different levels, 2,3 ...,
I ..., n level planetary gear trains；Wherein sun gear be respectively 1,2,3 ..., i ..., n level sun gears；Planetary gear is distinguished
For 1,2,3 ..., i ..., n planetary gears；Planet carrier is respectively 1,2,3 ..., i ..., n level planet carriers.Then 1 grade of planet
In gear wheel-train, three 1 grade of planetary gears 302 are circumferential uniform, are installed on 1 grade of trailing flank of planet carrier 303 by rotating shaft；1 grade of row
The leading flank of carrier 303 is co-axially mounted 2 grades of sun gears 301.1 grade of sun gear 301 is fixedly installed on the output shaft of motor 2；And 1 grade
Sun gear 301 is engaged with three 1 grade of planetary gears 302.During n level planetary gears wheel is inhaled, three n levels planetary gears 302 are circumferential uniform, lead to
Cross rotating shaft to be installed on the trailing flank of n levels planet carrier 303；The leading flank of n levels planet carrier 303 is co-axially mounted screw rod 4.And for adjacent two
Level planetary gear train between connected mode be：In i+1 level planetary gear trains, i+1 levels sun gear 301 coaxially sets with housing 1
Put, be fixedly installed on the front end face of i levels planet carrier 303, and engage with three i level planetary gears.In above-mentioned gear wheel-train at different levels
Three planetary gears 302 are engaged with the internal circumferential internal tooth arrangement 304 of shell of reduction box 103.Thus, the output shaft motion of motor 2
1 grade of sun gear 301 can be driven to rotate, drive three 1 grade of planetary gears 302 to rotate by 1 grade of sun gear 301, and then drive 1 grade of planet
Frame 303 and 2 grades of sun gears 301 are rotated, and drive three 2 grades of planetary gears 302 to rotate by 2 grades of sun gears 301, finally drive 2 grades of rows
Star wheel frame 303 is rotated, the same kind of drive between 1 grade and 2 grades of the kind of drive of 3~n level planetary reducers, therefore eventually
N levels planet carrier 303 is driven to rotate with screw rod 4；Finally make moving across after the deceleration of n level planetary gears train for the output shaft of motor 2
It is transferred to screw rod 4.
The rear end of the screw rod 4 is connected for 104 weeks with push rod shell upwardly through bearing 6, the left and right positioning difference of the outer ring of bearing 6
Realized by the shoulder designed on the front end of shell of reduction box 103 and the rear end inwall circumference of push rod shell 104；The inner ring of bearing 6
Left and right positioning is realized respectively by the location nut 7 being socketed on secondary planet frame 302a leading flanks and screw rod 4.Screw rod 6 it is defeated
It is external thread section to go out end, and screw thread socket, makes to form spiral between screw rod 4 and push rod 5 between insulant push rod 5 and the outfan of screw rod 4
Transmission.The back end design of push rod 5 is square-section, while will be designed as and end section identical square after push rod 5 in push rod shell 104
Shape passage, coordinates from there through between the rear end of push rod 5 and the internal face of push rod shell 104, limits push rod 5 in push rod shell 104
Rotational motion, the thus rotation of screw rod 4 can only drive push rod 5 along housing axial linear movement, make push rod 5 by drive end bearing bracket 105
On push rod telescopic hole at stretch；And when push rod 5 is in contraction state, the front end face of the front end surface of push rod 5 and drive end bearing bracket 105
Flush as shown in Figure 2；Push rod 6 is in when stretching out state as schemed shown in individual 5.
Above-mentioned push rod 5 is provided with brush 8 on the lateral wall of rear end, while being provided with bar shaped cunning on the inwall of push rod shell 104
Sheet resistance 9, it is axially arranged along push rod shell 104；And brush 8 is contacted with slide plate resistance 9.Thus, in push rod moving process,
Brush 8 can slide axially on the surface of slide plate resistance 9 along housing 1, and the pin resistance of brush 8 can change, such that it is able to
Reflect the position of push rod 5, the extension elongation of push rod 5 is monitored eventually through the resistance change for reading brush 8.
Claims (8)
1. it is a kind of with position feedback miniature linear actuator, it is characterised in that：Including shell, motor, decelerator, screw rod and push away
Bar；
The inside the shell sets gradually motor, decelerator and push rod by rear to front；Wherein, decelerator is used for motor output shaft
The screw rod being connected to the bearing between shell is exported after deceleration of motion；Push rod screw thread is socketed on screw rod, and limits push rod circumference turn
It is dynamic.
2. as claimed in claim 1 a kind of miniature linear actuator with position feedback, it is characterised in that：Decelerator is using miniature
Planetary reduction gear, with least 1 grade of planetary gear teeth train.
3. as claimed in claim 2 a kind of miniature linear actuator with position feedback, it is characterised in that：Planetary gear train bag
Include a sun gear, three planetary gears and a planet carrier；Internal tooth is designed with the internal circumferential for designing shell of reduction box simultaneously
Structure.
4. as claimed in claim 3 a kind of miniature linear actuator with position feedback, it is characterised in that：Planetary gear, sun gear,
Internal tooth arrangement is 0.2 mould.
5. as described in Claims 2 or 3 it is a kind of with position feedback miniature linear actuator, it is characterised in that：When decelerator sets
When meter has 1 grade of planetary gear train, concrete mounting means is：Three planetary gears are circumferential uniform, and by rotating shaft planet is installed on
On frame trailing flank；Planet carrier leading flank is co-axially mounted screw rod；Sun gear is fixedly installed on the output shaft of motor；And sun gear with
Three planetary gear engagements, while three planetary gears are engaged with shell of reduction box internal circumferential internal tooth arrangement.
6. as described in Claims 2 or 3 it is a kind of with position feedback miniature linear actuator, it is characterised in that：When decelerator sets
When meter has more than 1 grade of planetary gear train, concrete mounting means is：Planetary gear trains at different levels are by rear to front setting；Order
Be respectively 1 by rear to front planetary gear trains at different levels, 2,3 ..., i ..., n level planetary gear trains；Then 1 grade of planetary gear
In train, three 1 grade of planetary gears are circumferential uniform, are installed on 1 grade of planet carrier trailing flank by rotating shaft；1 grade of planet carrier leading flank
It is co-axially mounted 2 grades of sun gears；1 grade of sun gear is fixedly installed on the output shaft of motor；And 1 grade of sun gear and three 1 grade of planets
Wheel engagement；In n level planetary gear trains, three n levels planetary gears are circumferential uniform, and by rotating shaft n level planet carrier trailing flanks are installed on
On；N level planet carrier leading flanks are co-axially mounted screw rod.And for the connected mode between adjacent two-stage planet train is：I+1 levels
In planetary gear train, i+1 levels sun gear is coaxially disposed with housing 1, is fixedly installed on i level planet carrier front end faces, and with three
Individual i levels planetary gear engagement.Three planetary gears in above-mentioned gear wheel-train at different levels with shell of reduction box internal circumferential internal tooth arrangement
Engagement.
7. as claimed in claim 1 a kind of miniature linear actuator with position feedback, it is characterised in that：Putting back-end is designed as
Square-section, while push rod inside the shell is designed as and putting back-end section identical rectangular channel, from there through putting back-end
Coordinate between push rod inside the shell wall, limit rotational motion of the push rod in push rod inside the shell.
8. as claimed in claim 1 a kind of miniature linear actuator with position feedback, it is characterised in that：Putting back-end lateral wall
On brush is installed, while be provided with bar shaped slide plate resistance on push rod outer casing inner wall, make brush and slide plate Ohmic contact；Pushing away
In bar moving process, brush slides axially on the surface of slide plate resistance along housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035658.XA CN106678283A (en) | 2017-01-17 | 2017-01-17 | Small linear driver with position feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710035658.XA CN106678283A (en) | 2017-01-17 | 2017-01-17 | Small linear driver with position feedback function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106678283A true CN106678283A (en) | 2017-05-17 |
Family
ID=58859423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710035658.XA Pending CN106678283A (en) | 2017-01-17 | 2017-01-17 | Small linear driver with position feedback function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106678283A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127749A (en) * | 2017-07-13 | 2017-09-05 | 北京因时机器人科技有限公司 | Revolute robot and its linear actuator |
| CN108757865A (en) * | 2018-08-20 | 2018-11-06 | 北京因时机器人科技有限公司 | Transmission mechanism and transmission device |
| CN108799461A (en) * | 2018-08-08 | 2018-11-13 | 北京因时机器人科技有限公司 | A kind of linear actuator |
| CN111520306A (en) * | 2020-04-14 | 2020-08-11 | 西北工业大学 | Novel power reciprocating mud pump |
| CN111934488A (en) * | 2020-08-07 | 2020-11-13 | 江苏川钿明椿电气机械有限公司 | A gear motor aluminum wire motor for stereo garage |
| CN112728031A (en) * | 2020-12-21 | 2021-04-30 | 兰州空间技术物理研究所 | Linear-rotary motion mechanism capable of realizing position feedback |
| CN113700813A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Linear motion device with self-locking function and linear motion driving method |
| CN114499034A (en) * | 2022-03-14 | 2022-05-13 | 东南大学 | Bidirectional linear actuator |
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| CN202934431U (en) * | 2012-07-11 | 2013-05-15 | 银川市恒益达机械有限公司 | Oilstone servo swell-shrinking feeding device |
| KR101308738B1 (en) * | 2011-10-26 | 2013-09-16 | (주)로보티즈 | Apparatus for position feedback of cycloid reducer |
| CN103441607A (en) * | 2013-08-06 | 2013-12-11 | 中国航天科技集团公司第九研究院第七七一研究所 | Inner anti-rotating mechanism of electric cylinder with rectangular cylinder body |
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| CN103840601A (en) * | 2014-03-06 | 2014-06-04 | 北京精密机电控制设备研究所 | Electric-mechanical actuator |
| CN204179823U (en) * | 2014-11-19 | 2015-02-25 | 力姆泰克（北京）传动设备有限公司 | Electric pushrod |
| CN204992904U (en) * | 2015-10-12 | 2016-01-20 | 中国科学院沈阳自动化研究所 | Take position feedback's electronic sharp jar mechanism under water |
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| US20050218727A1 (en) * | 2002-03-05 | 2005-10-06 | Moving Magnet Technologies M.M.T. | Linear actuator comprising a brushless polyphase electric motor |
| KR101308738B1 (en) * | 2011-10-26 | 2013-09-16 | (주)로보티즈 | Apparatus for position feedback of cycloid reducer |
| CN202934431U (en) * | 2012-07-11 | 2013-05-15 | 银川市恒益达机械有限公司 | Oilstone servo swell-shrinking feeding device |
| CN103441607A (en) * | 2013-08-06 | 2013-12-11 | 中国航天科技集团公司第九研究院第七七一研究所 | Inner anti-rotating mechanism of electric cylinder with rectangular cylinder body |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127749A (en) * | 2017-07-13 | 2017-09-05 | 北京因时机器人科技有限公司 | Revolute robot and its linear actuator |
| WO2019011128A1 (en) * | 2017-07-13 | 2019-01-17 | 北京因时机器人科技有限公司 | Articulated robot and linear actuator thereof |
| CN108799461A (en) * | 2018-08-08 | 2018-11-13 | 北京因时机器人科技有限公司 | A kind of linear actuator |
| CN108757865A (en) * | 2018-08-20 | 2018-11-06 | 北京因时机器人科技有限公司 | Transmission mechanism and transmission device |
| CN108757865B (en) * | 2018-08-20 | 2024-03-19 | 北京因时机器人科技有限公司 | Transmission mechanism and transmission device |
| CN111520306A (en) * | 2020-04-14 | 2020-08-11 | 西北工业大学 | Novel power reciprocating mud pump |
| CN111520306B (en) * | 2020-04-14 | 2022-04-12 | 西北工业大学 | Novel power reciprocating mud pump |
| CN113700813A (en) * | 2020-05-21 | 2021-11-26 | 北京机械设备研究所 | Linear motion device with self-locking function and linear motion driving method |
| CN111934488A (en) * | 2020-08-07 | 2020-11-13 | 江苏川钿明椿电气机械有限公司 | A gear motor aluminum wire motor for stereo garage |
| CN112728031A (en) * | 2020-12-21 | 2021-04-30 | 兰州空间技术物理研究所 | Linear-rotary motion mechanism capable of realizing position feedback |
| CN114499034A (en) * | 2022-03-14 | 2022-05-13 | 东南大学 | Bidirectional linear actuator |
| CN114499034B (en) * | 2022-03-14 | 2024-03-26 | 东南大学 | Bidirectional linear actuator |
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Application publication date: 20170517 |
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