CN107554821B - Space modularization high accuracy servo drive subassembly assembly - Google Patents
Space modularization high accuracy servo drive subassembly assembly Download PDFInfo
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- CN107554821B CN107554821B CN201710642562.XA CN201710642562A CN107554821B CN 107554821 B CN107554821 B CN 107554821B CN 201710642562 A CN201710642562 A CN 201710642562A CN 107554821 B CN107554821 B CN 107554821B
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Abstract
The invention provides a space modular high-precision servo driving component assembly, which comprises a rotary supporting module, a driving module, an angle measuring module, a braking module and a safety bearing, wherein the rotary supporting module is used for being installed on a fixed support to provide rotary support; the driving module is connected with the rotary supporting module and is used for outputting torque and angular displacement; the angle measuring module is connected with the rotary supporting module and is used for identifying the motion angular displacement of the driving component assembly; the braking module is connected with the angle measuring module and used for adjusting the torque and angular displacement output of the driving module according to the movement angular displacement so as to limit the torque and angular displacement output of the driving component assembly; the safety bearing is arranged between the rotary supporting module and the angle measuring module and used for improving the vibration mechanical tolerance of the driving component assembly. The invention adopts a brand new modular layout mode and a fixed rotary support shafting design, realizes the universality and interchangeability of products, reduces the development risk, shortens the development period and improves the vibration load tolerance of the products.
Description
Technical Field
The invention relates to the technical field of space servo driving components, in particular to a space modular high-precision servo driving component assembly.
Background
The space servo driving assembly is a core component of the space pointing mechanism and is a basis for completing motion output, moment output, angle feedback and state maintenance of the space pointing mechanism.
With the research and exploration of space in China and the development of military (civil) satellite career, the demand of the pointing mechanism is developed towards diversification, wherein the demand of high precision is most outstanding, and correspondingly, a driving component serving as a core component of the pointing mechanism is also developed towards high precision.
Space research and application plan a large number of space tasks, different tasks have different requirements on precision, torque and the like of the driving assembly, so that the driving assembly is only suitable for a matched pointing mechanism, and various driving assemblies with various types, universality and interchangeability are poor are formed; meanwhile, because the high precision and the temperature environment adaptability are contradictory, the high-precision rotary shaft system with good temperature adaptability is determined by a large amount of design calculation and test verification, and a large amount of manpower, material resources and financial resources are consumed in the process; the shaft system is continuously changed by the aid of the driving assembly matched with the pointing mechanism, so that the development cost and the development period of a product are increased, the maturity of the product is reduced, and the technical risk of product development is increased.
Therefore, it is necessary to design a driving assembly, which has a high-precision basic shaft system, and realizes wide adaptability of the driving assembly to different precisions and moments through module exchange without changing the shaft system.
Disclosure of Invention
The invention aims to provide a space modular high-precision servo driving component assembly to solve the problems of high research and development cost, high technical risk, poor universality and inconvenience in interchange in the prior art.
In order to achieve the above object, the present invention provides a spatial modular high-precision servo driving assembly, which comprises a rotation supporting module, a driving module, an angle measuring module, a braking module and a safety bearing, wherein the rotation supporting module is used for being mounted on a fixed support to provide a rotation support; the driving module is connected with the rotary supporting module and is used for outputting torque and angular displacement; the angle measuring module is connected with the rotary supporting module and is used for identifying the motion angular displacement of the driving component assembly; the braking module is connected with the angle measuring module and used for adjusting the torque and angular displacement output of the driving module according to the motion angular displacement so as to limit the torque and angular displacement output of the driving component assembly.
Preferably, the swing support module includes: the assembly comprises an assembly shell, an outer bushing, a stator compression cover, a driving half shaft, an output half shaft, an inner bushing, a pre-tightening bearing pair and a disc seat; wherein the rotary support module is mounted on a fixed support through the assembly housing; the outer bushing is arranged in the assembly shell and used for connecting the pre-tightening bearing pair to the assembly shell and fixing the pre-tightening bearing pair axially through the stator compression cover; the driving half shaft and the output half shaft are connected into a whole by the inner side of the pre-tightening bearing pair through an inner bushing, and axial fastening connection is realized; the disc seat is fixed on the driving half shaft to provide an interface with the angle measuring module.
Preferably, the driving module includes: the motor comprises a motor stator, a motor rotor, a connecting key, a gap adjusting ring and a locking nut; the motor stator is connected to the inner side of the component shell, the motor rotor is arranged on the inner side of the motor stator and is connected with the driving half shaft through the connecting key so as to drive the driving half shaft, the locking nut is used for locking the motor rotor with the driving half shaft, and the gap adjusting ring is arranged between the motor stator and the motor rotor and used for adjusting the distance between the motor stator and the motor rotor.
Preferably, the angle measurement module includes: the device comprises a movable grating pressure plate, a rubber pad, a movable grating plate, a static grating sheet, an infrared lamp holder, a reading head, a modulation decoding circuit, a circuit bracket and an outer housing; wherein the angle measurement module is connected with the assembly housing through the circuit bracket; the movable grating pressure plate is connected with the disc seat; the infrared lamp cap and the static grating sheet are sequentially stacked on the circuit bracket from bottom to top; the movable grating disc is pressed on the disc seat by the movable grating pressing disc through the rubber pad; the reading head is connected with the modulation decoding circuit and is installed on the circuit bracket, and the outer cover shell is connected with the circuit bracket.
Preferably, the brake module includes: a magnetic yoke, a coil, an armature plate and a friction plate; the magnetic yoke is connected with the outer cover shell, the armature plate is connected with the movable grating pressure plate, the friction plate is installed on the armature plate, and the coil is fixedly arranged on the magnetic yoke.
Preferably, the angle measuring module further comprises a movable grating disc, wherein the movable grating disc is arranged on the angle measuring module and is provided with a rubber pad.
Preferably, the pre-tightening bearing pair is fixed on a driving half shaft and an assembly shell through an output half shaft and a stator compression cover after being transited by the inner bushing and the outer bushing; two-point supporting controllable interference fit is formed between the outer bushing and the assembly shell; and the pre-tightening force of the pre-tightening bearing pair is loaded through the output half shaft.
The invention has the following beneficial effects:
1. the invention adopts a brand new modular layout mode and a fixed rotary support shafting design, a driving module, an angle measuring module and a braking module, and can select products with different driving capacities, angle measuring accuracies and braking capacities according to requirements for mechanical assembly, thereby realizing the universality and interchangeability of the products, reducing the development risk and shortening the development period;
2. the safe bearing can effectively resist shafting flutter caused by vibration, and improves the vibration load tolerance of the product;
3. the hollow shaft is used as a cable channel or an optical path channel, so that the use reliability of the cable or the optical path can be ensured;
4. the invention adopts the design of the inner shaft sleeve and the outer shaft sleeve, overcomes the thermal mismatching between different materials, ensures the high and low temperature tolerance of the product and reduces the weight of the product.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a servo drive assembly according to the present invention;
FIG. 2 is a front cross-sectional view of a servo drive assembly provided by the present invention;
FIG. 3 is a front cross-sectional view of a pivoting support module provided by the present invention;
FIG. 4 is a front cross-sectional view of a drive module provided by the present invention;
FIG. 5 is a front cross-sectional view of an angle measuring module provided by the present invention;
FIG. 6 is a front cross-sectional view of a brake module provided by the present invention;
description of reference numerals: 1-rotation support module, 11-assembly shell, 12-outer bushing, 13-stator pressing cover, 14-driving half shaft, 15 output half shaft, 16-inner bushing, 17-pre-tightening bearing pair, 18-disc seat, 2-driving module, 21-motor stator, 22-motor rotor, 23-connecting key, 24-clearance adjusting ring, 25-locking nut, 31-movable grating pressure plate, 32-rubber pad, 33-movable grating disc, 34-static grating sheet, 35-infrared lamp holder, 36-reading head, 37-modulation decoding circuit, 38-circuit bracket, 39-outer housing, 41-magnetic yoke, 42-coil, 43-armature sheet and 44-friction sheet.
Detailed Description
While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking specific embodiments as examples with reference to the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
As shown in fig. 1 and 2, the present embodiment provides a spatial modular high-precision servo drive assembly, which includes a rotation support module 1, a drive module 2, an angle measurement module, a brake module and a safety bearing, wherein the rotation support module 1 is configured to be mounted on a fixed support to provide a rotation support; the driving module is connected with the rotary supporting module 1 and is used for outputting torque and angular displacement; the angle measuring module is connected with the rotary supporting module 1 and is used for identifying the motion angular displacement of the driving component assembly; the braking module is connected with the angle measuring module and is used for adjusting the torque and angular displacement output of the driving module according to the motion angular displacement so as to limit the torque and angular displacement output of the driving component assembly; the safety bearing is arranged between the rotary support module 1 and the angle measurement module and used for improving the vibration mechanical tolerance of the driving component assembly.
As shown in fig. 2, the pivoting support module 1 of the assembly includes: the assembly comprises a component shell 11, an outer bushing 12, a stator pressing cover 13, a driving half shaft 14, an output half shaft 15, an inner bushing 16, a pre-tightening bearing pair (including a space ring) 17 and a disc seat 18; the driving module includes: the motor comprises a motor stator 21, a motor rotor 22, a connecting key 23, a gap adjusting ring 24 and a locking nut 25; the angle measurement module includes: the device comprises a movable grating pressure plate 31, a rubber pad 32, a movable grating plate 33, a static grating sheet 34, an infrared lamp holder 35, a reading head 36, a modulation decoding circuit 37, a circuit bracket 38 and an outer cover shell 39; the brake module includes: yoke 41, coil 42, armature plate 43, friction plate 44.
As shown in fig. 3, the rotary support module 1 is sleeved with an output half shaft 15, an outer bushing 12, a module housing 11, a pair of pre-tightening bearings (including a spacer) 17, an inner bushing 16, a driving half shaft 14, a stator compression cover 13 and a disk seat 18 from left to right; wherein, the rotary support module 1 is arranged on the fixed bracket through the component shell 11; a pre-tightening bearing pair (including a spacer ring) 17 is integrally connected with the output half shaft 15 and the driving half shaft 14 through an inner bushing 16, axial fastening is realized through screws, and interference pins (not shown in the figure) are matched on the output half shaft 15 and the driving half shaft 14 to prevent the two half shafts from rotating relatively; the pre-tightening force of the pre-tightening bearing pair (including a space ring) 17 is controllable by controlling the length and the wall thickness of the inner bushing 16; the outer bushing 12 is arranged in the assembly shell 11, the pre-tightening bearing pair (including a spacer) 17 is connected with the assembly shell 11 through transition of the outer bushing 12, and axial fixation is realized through the stator pressing cover 13; the contradiction between the support rigidity, the rotation precision and the thermal adaptability is solved by controlling the positions, the matching lengths and the matching tolerances of the matching surfaces of the outer bushing 12) and the assembly shell 11, the inner bushing 16 and the two half shafts 14 and 15; the disk seat 18 is mounted on the drive half shaft 14 by screws, and is used for providing an interface with an angle measuring module and assisting an interference pin (not shown in the figure) to realize rotation direction anti-dislocation.
As shown in fig. 4, the driving module 2 in this embodiment can be regarded as a split motor in this embodiment. The motor stator 21 of the driving module 2 is connected to the inner side of the component shell 11 through lower end threads, the motor rotor 22 is arranged on the inner side of the motor stator 21 and is connected with the driving half shaft 14 through a connecting key 23 to drive the driving half shaft 14, so that the driving module 2 is connected with the rotary supporting module 1, and the gap adjusting ring 24 is arranged between the motor stator 21 and the motor rotor 22 and used for adjusting the axial distance between the motor stator 21 and the motor rotor 22. The lock nut 25 is used to lock the motor rotor 22 to the drive axle shaft 14. In addition, the connection key 23 in this embodiment is in interference fit with the corresponding key groove to ensure the transmission of high-precision motion.
As shown in fig. 5, the angle measuring module in the present embodiment can be regarded as a split type photoelectric encoder, which is connected to the assembly housing 11 through the circuit bracket 38. In the embodiment, the movable grating pressure plate 31 is connected with the disk seat 18, so that the connection between the angle measuring module and the rotary support module 1 is realized; the infrared lamp head 35 and the static grating sheet 34 are stacked on the circuit bracket 38 from bottom to top in sequence through screws; the movable grating disk 33 is pressed on the disk seat 18 by the passive grating pressure disk 31 through the rubber pad 32; the reading head 36 is arranged behind the modulation decoding circuit 37, and the combination of the two is arranged on the circuit bracket 38 through a screw; the outer cover 39 is connected to the circuit bracket 38 by screws; in the embodiment, the installation pressing force of the movable grating pressure plate 31 is controlled by the difference between the height of the pressing spigot of the movable grating pressure plate 31 and the thickness of the rubber pad 32.
As shown in fig. 6, the brake module in this embodiment may be regarded as a split type electromagnetic friction brake, which is connected to the outer housing 39 through the yoke 41, and the armature plate 43 is connected to the grating pressure plate 31, thereby achieving inter-module connection. And the friction plate 44 is mounted on the armature plate 43 by rivets; the coil 42 is fixed to the yoke 41 by an adhesive.
In the preferred embodiment, the installation pressing force of the movable grating disc 33 in the angle measuring module is controlled by the movable grating pressure disc 31 and the rubber pad 32.
In another preferred embodiment, the pre-tightening bearing pair 17 is transited by the inner bushing 16 and the outer bushing 12 and then fixed on the driving half shaft 14 and the assembly housing 11 through the output half shaft 15 and the stator pressing cover 13; the outer bushing 12 and the assembly shell 11 are in two-point supporting controllable interference fit; the preload of the preload bearing pair 17 is loaded via the output half shaft 15.
The working principle of the invention is as follows: when the driving module provides torque and angular displacement, the rotary support module 1 provides rotary support, the fixed part and the rotary part of the driving component assembly are separated, the angle measuring module identifies the movement angular displacement, the brake module can brake according to requirements to limit the torque and the angular displacement output of the driving component assembly, and each module is independent in labor division and has an independent interface; if the characteristic requirements (such as precision and moment) of the assembly are changed, the driving assembly facing new requirements can be developed quickly, with low cost, low risk, high universality and high interchangeability by replacing the driving module 2, the angle measuring module or the braking module under the condition of ensuring that a basic shaft system is not changed corresponding to the rotary supporting module 1 in the example.
The invention realizes the wide adaptability of the driving component to different precisions and torques by interchanging and updating modules without changing a basic shaft system, and can effectively solve the defects of various types, poor universality, low interchangeability, long development period, high development risk and the like of the existing space driving component.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to make modifications or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A space modularization high-precision servo driving assembly is characterized by comprising a rotary supporting module (1), a driving module (2), an angle measuring module, a braking module and a safety bearing, wherein the rotary supporting module (1) is used for being installed on a fixed support to provide rotary support; the driving module is connected with the rotary supporting module (1) and is used for outputting torque and angular displacement; the angle measuring module is connected with the rotary supporting module (1) and is used for identifying the motion angular displacement of the driving component assembly; the braking module is connected with the angle measuring module and is used for adjusting the torque and angular displacement output of the driving module according to the motion angular displacement so as to limit the torque and angular displacement output of the driving component assembly; the safety bearing is arranged between the rotary support module (1) and the angle measuring module and used for improving the vibration mechanical tolerance of the driving component assembly;
the slewing support module (1) comprises: the device comprises a component shell (11), an outer bushing (12), a stator compression cover (13), a driving half shaft (14), an output half shaft (15), an inner bushing (16), a pre-tightening bearing pair (17) and a disk seat (18); wherein the rotary support module (1) is mounted on a fixed support by means of the assembly housing (11); the outer bushing (12) is arranged in the assembly housing (11) for connecting the preload bearing pair (17) to the assembly housing (11) while axially fixing the preload bearing pair (17) by means of the stator hold-down cap (13); the inner side of the pre-tightening bearing pair (17) connects the driving half shaft (14) and the output half shaft (15) into a whole through an inner bushing (16) and realizes axial fastening connection; the disc seat (18) is fixed to the drive half shaft (14) to provide an interface with the goniometric module.
2. The assembly according to claim 1, wherein the drive module (2) comprises: the motor comprises a motor stator (21), a motor rotor (22), a connecting key (23), a gap adjusting ring (24) and a locking nut (25); the motor stator (21) is connected to the inner side of the component shell (11), the motor rotor (22) is arranged on the inner side of the motor stator (21), the motor rotor (22) is connected with the driving half shaft (14) through the connecting key (23) to drive the driving half shaft (14), the locking nut (25) is used for locking the motor rotor (22) with the driving half shaft (14), and the gap adjusting ring (24) is arranged between the motor stator (21) and the motor rotor (22) and used for adjusting the distance between the motor stator and the motor rotor.
3. The assembly of claim 1, wherein the angle measurement module comprises: the device comprises a movable grating pressure plate (31), a rubber pad (32), a movable grating plate (33), a static grating sheet (34), an infrared lamp head (35), a reading head (36), a modulation decoding circuit (37), a circuit bracket (38) and an outer housing (39); wherein the goniometric module is connected with the assembly housing through the circuit carrier (38); the movable grating pressure plate (31) is connected with the plate seat (18); the infrared lamp holder (35) and the static grating sheet (34) are sequentially stacked on the circuit bracket (38) from bottom to top; the movable grating disc (33) is pressed on the disc seat (18) by the movable grating pressure disc (31) through the rubber pad (32); the reading head (36) is connected with a modulation decoding circuit (37) and is arranged on the circuit bracket (38), and the outer cover shell (39) is connected with the circuit bracket (38).
4. The spatially modular high precision servo drive component assembly of claim 3, wherein the brake module comprises: a yoke (41), a coil (42), an armature plate (43), and a friction plate (44); the magnetic yoke (41) is connected with the outer cover shell (39), the armature plate (43) is connected with the movable grating pressure plate (31), the friction plate (44) is installed on the armature plate (43), and the coil (42) is fixedly arranged on the magnetic yoke (41).
5. The assembly of claim 3, further comprising the movable grating platen (31) and the rubber pad (32) in the angle measuring module for controlling the installation pressing force of the movable grating platen (33).
6. The assembly of spatial modular high precision servo drive components according to claim 1, further comprising the pre-tightened bearing pair (17) being secured to the drive half shaft (14) and the component housing (11) by the output half shaft (15) and the stator hold down cover (13) after being transitioned through the inner bushing (16) and the outer bushing (12); the outer bushing (12) and the assembly shell (11) are in two-point supporting controllable interference fit; the preload of the preload bearing pair (17) is loaded by the output half shaft (15).
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| CN201710642562.XA CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
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| CN201710642562.XA CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
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| CN107554821A CN107554821A (en) | 2018-01-09 |
| CN107554821B true CN107554821B (en) | 2020-04-28 |
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| CN201710642562.XA Active CN107554821B (en) | 2017-07-31 | 2017-07-31 | Space modularization high accuracy servo drive subassembly assembly |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109597438B (en) * | 2018-11-30 | 2021-09-24 | 上海航天控制技术研究所 | Control moment gyro |
| CN109586538A (en) * | 2018-12-06 | 2019-04-05 | 上海航天控制技术研究所 | A kind of autonomous controllable high-precision height response electromechanical servo component |
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| DE19543239A1 (en) * | 1995-11-20 | 1997-05-22 | Wolf Woco & Co Franz J | camp |
| US6037737A (en) * | 1998-04-30 | 2000-03-14 | Trw Inc. | Simple friction-compensating control algorithm for high precision mechanisms |
| CN201202754Y (en) * | 2008-06-05 | 2009-03-04 | 中国长江航运集团电机厂 | Dry type multiple-sheet triboelectric magnetic disk type betatopic brake |
| CN109743895B (en) * | 2010-12-15 | 2015-01-14 | 上海宇航***工程研究所 | Three Degree Of Freedom high-precision driving device |
| CN202260829U (en) * | 2011-09-30 | 2012-05-30 | 宁波中大力德传动设备有限公司 | Electromagnetic clutch brake motor |
| CN110140444B (en) * | 2011-12-14 | 2014-06-25 | 上海宇航***工程研究所 | A kind of passive developing antenna mechanism |
| CN103825398B (en) * | 2013-11-21 | 2016-03-30 | 上海宇航***工程研究所 | The split type motor of a kind of mechanical arm |
| CN204029989U (en) * | 2013-11-27 | 2014-12-17 | 上海宇航***工程研究所 | A kind of integrated general satellite antenna directing mechanism driven unit |
| CN204027519U (en) * | 2014-03-14 | 2014-12-17 | 上海宇航***工程研究所 | Photoelectric encoder position measurement instrument |
| CN203948443U (en) * | 2014-07-26 | 2014-11-19 | 慈溪市特种轴承有限公司 | Damping bearing |
| CN204239450U (en) * | 2014-11-21 | 2015-04-01 | 江苏迪邦三星轴承有限公司 | A kind of damping bearing |
| CN106184829B (en) * | 2015-06-01 | 2019-07-05 | 北京空间飞行器总体设计部 | Multiple degrees of freedom adjusts directing mechanism and method |
| CN104942820B (en) * | 2015-06-05 | 2017-07-14 | 上海宇航***工程研究所 | A kind of space anthropomorphic robot arm joint |
| CN105415371A (en) * | 2015-12-01 | 2016-03-23 | 中国科学院上海技术物理研究所 | Two-dimensional pointing mechanism for space optical remote sensing instrument |
| CN205811762U (en) * | 2016-06-22 | 2016-12-14 | 中国长江航运集团电机厂 | A kind of disc type electric machine brake |
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