CN110034650A - A kind of servo motor that high-precision is controllable - Google Patents
A kind of servo motor that high-precision is controllable Download PDFInfo
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- CN110034650A CN110034650A CN201910429507.1A CN201910429507A CN110034650A CN 110034650 A CN110034650 A CN 110034650A CN 201910429507 A CN201910429507 A CN 201910429507A CN 110034650 A CN110034650 A CN 110034650A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
It is the hollow barrel structure of a multi-stag the invention discloses a kind of servo motor that high-precision is controllable, including casing, and casing front end axis center is extended one first hollow stator axis into cavity；Rear end cap, axis center are extended one second hollow stator axis into casing；Rotor, it includes the armature spindle being rotatably arranged in casing and the first magnet steel and the second magnet steel that armature spindle periphery is arranged in, first magnet steel and the second magnet steel and armature spindle rotate synchronously, and the axial first end of armature spindle is drawn outward from the front opening of casing, which connects a harmonic speed reducer；First stator is mounted on the first hollow stator axis periphery；And second stator, it is mounted on the second hollow stator axis periphery.The present invention uses outer-rotor structure on the basis of rimless motor, and outer rotor is direct-connected with retarder, while adjusting the frequency of motor with the mode of two stators excitation con-trol respectively, has many advantages, such as that flat structure, structural compatibility are high.
Description
Technical field
The present invention relates to servo motor fields, and in particular to a kind of servo motor that high-precision is controllable.
Background technique
Servo motor is a kind of engine that mechanical organ operating is controlled in servo-system, its control speed, position
Precision is very accurate, can convert voltage signal to torque and revolving speed with drive control object, service class robot field,
Servo motor is for driving the driving element at joint of robot to do high-precision link motion, but due to generic servo motor
Constant torque characteristic be extremely difficult to so that its speed adjustable range is relatively narrow to high-precision controllability needed for robot.
In recent years, double-stator permanent magnet motor has obtained a large amount of research due to it easily starts up, adjusts the speed convenient and fast characteristic, mesh
The structure of preceding double-stator permanent magnet motor existing on the market includes: casing, double-stator structure and dual-rotor structure, with input
The independent control that signal carries out two rotors, motor fast reaction and output kinetic energy, this structure make the occupancy of motor empty
Between it is larger, and can not accomplish high-precision power output, control mode is also complex, therefore is only used for industrial robot
Deng the field insensitive to motor length and control precision.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of servo motors that high-precision is controllable, have structure simple, and design is closed
The advantages that reason, is easily installed, and stability is good.
In order to achieve the object of the present invention and further advantage, a kind of servo motor that high-precision is controllable is provided, comprising:
Casing is the hollow barrel structure of a multi-stag, and casing front end axis center is extended one the into cavity
One hollow stator axis；
Rear end cap, periphery sealing are fixed in the tail portion opening of the casing, and the rear end cap axis center is into the casing
It is extended one second hollow stator axis, the first hollow stator axis and the second hollow stator axis coaxial spaced are arranged；
Rotor comprising the armature spindle that is rotatably arranged in the casing and the first magnet steel that the armature spindle periphery is set and
Second magnet steel, first magnet steel and second magnet steel and the armature spindle rotate synchronously, and axial the of the armature spindle
One end is drawn outward from the front opening of the casing, which connects a harmonic speed reducer, and axial the of the armature spindle
Two ends are rotatably arranged in the second hollow stator axis；
First stator, is mounted on the first hollow stator axis periphery, and first magnet steel is distributed in outside first stator
Week；And
Second stator, is mounted on the second hollow stator axis periphery, and second magnet steel is distributed in outside second stator
Week.
Preferably, interconnected the first circular cylindrical cavity and the second circular cylindrical cavity are disposed in the casing,
And internal diameter is sequentially increased, the armature spindle first end is rotatably arranged in first circular cylindrical cavity, and the armature spindle with
One first bearing of sandwiched between first circular cylindrical cavity；The first hollow stator axis is before second circular cylindrical cavity
It holds and extends into the second cylindrical cavity body, and the first hollow stator axis is coaxially set with second circular cylindrical cavity
It sets, the internal diameter of the first hollow stator axis is less than the internal diameter of first circular cylindrical cavity.
Preferably, the first hollow stator axis is consistent with the internal-and external diameter of the second hollow stator axis, and described first
Hollow stator axis is axially and symmetrically arranged with the second hollow stator axis, and the armature spindle is hollow fixed described first through being arranged
In sub- axis and the second hollow stator axis.
Preferably, it is disposed with first step and second step on the axle body of the armature spindle, and outer diameter is sequentially reduced,
The first step is located in second circular cylindrical cavity, and the second step is located at the end of the armature spindle second end,
One second bearing of sandwiched between the first step and the first hollow stator axis, the first step and described second hollow
The axial position of one 3rd bearing of sandwiched between stator axis, the second bearing and the 3rd bearing is defined the First
On rank.
Preferably, radially a rotating circular disc, the rotating circular disc periphery are extended in outside on the first step axle body
Gap and radially outside extension between the first hollow stator axis and the second hollow stator axis, the rotation
Disk rotational is arranged in the gap of the first hollow stator axis and the second hollow stator axis, and before the rotating circular disc
Outer circumferential second circular cylindrical cavity front end in end is extended one first rotation ring body, and first magnet steel is uniformly fitted in institute
On the internal perisporium for stating the first rotation ring body, the circumferential second circular cylindrical cavity tail end is extended outside the rotating circular disc tail end
One second rotation ring body, second magnet steel are uniformly fitted on the internal perisporium of the second rotation ring body；
Wherein, first magnet steel and second magnet steel are symmetricly set on the axial ends of the rotating circular disc.
Preferably, the first stator axis center, which runs through, opens up a first through hole, the tail end of the first hollow stator axis
One first erecting bed is opened up on periphery wall, the first stator fitting is fixed on the first hollow stator axis periphery, and described
For first rotation ring body interval envelope in first stator periphery, each first magnet steel is distributed in first stator
Peripheral space；
The second stator axis center opens up on the front end periphery wall of the second hollow stator axis through one second through-hole is opened up
One second erecting bed, the second stator fitting are fixed on the second hollow stator axis periphery, and the second rotation ring body
Envelope is spaced in second stator periphery, each second magnet steel is distributed in the second stator peripheral space；
Wherein, first stator and second stator are symmetricly set on the axial ends of the rotating circular disc.
Preferably, the armature spindle second end is drawn from the tail end outward opening of the second hollow stator axis, and described the
Two step shaft ends are equipped with an encoder code disc, one coding of installation on the rear end cap outer end face of the encoder code disc periphery
Device, the encoder and the encoder code disc spaced-apart alignment, the encoder outer sheath are equipped with an encoder cover, the coding
Device cover is fixed on rear end cap outer end face periphery.
Preferably, the harmonic speed reducer is mounted on the first shaft end of the casing, and the harmonic speed reducer includes: wave
Device, flexbile gear, firm gear and crossed roller bearing are sent out, the wave hair device is fixed in the armature spindle axial direction first end, the flexbile gear
It is fixed on the casing front bulkhead, and the flexbile gear is set in wave hair device periphery, the firm gear is set in the flexbile gear
Periphery, the crossed roller bearing are axially located between the firm gear and the casing.
Preferably, casing front bulkhead periphery opens up a concave station, and the flexbile gear periphery is fixed on the concave station, described
Flexbile gear inner circumferential, which extends forwardly into, to be folded between the wave hair device and the firm gear；The outer ring of the crossed roller bearing is fixed
On the concave station, the inner ring front bulkhead of the crossed roller bearing is fixed with the firm gear tail end wall, and the crossed roller
The inner ring of bearing is located at the flexbile gear periphery.
Preferably, first circular cylindrical cavity extends to the flexbile gear inner space, first circle towards axial forward end
The front opening inner circumferential protrusion of cylindrical chamber is provided with the first retaining ring, first retaining ring and the device interval setting of wave hair, institute
It states and forms a limiting groove between the first hollow stator axis front end side wall and first retaining ring, the first bearing is limited peace
In the limiting groove, the wave hair device tail end is contradicted on the front end internal perisporium of the first bearing.
Beneficial effects of the present invention are as follows:
1, the configuration of the present invention is simple is compact, and rationally, by the casing, rear end cap and outer rotor customized, two stators, two circles are forever for design
Magnet, the composition such as coding velometer, has the power output more being driven, is able to achieve high-precision control, motor front end portion is embedding
It is located in retarder, shortens axial dimension, so that complete machine structure is flat, installation is simple, and output is stablized, and structural compatibility height etc. is excellent
Point.
2, structure of the invention uses outer-rotor structure on the basis of rimless motor, while externally being turned using two stators
Son carries out independent excitation control, so that the diameter for expanding rotor improves the magnetic flux of motor, so that in Same Efficieney density
In the case of by the thinner of design of electrical motor, and realize the output of more transfer motion powers.
3, the present invention connects a harmonic speed reducer in the front end of motor, and outer rotor is direct-connected with harmonic speed reducer, saves
Intermediate transition structure, keeps the structure more compact.
4, motion process of the invention completes full closed loop control by encoder, due to the extremely low gear back gaps of harmonic speed reducer and
High repetitive positioning accuracy, to ensure that the high-precision external output of servo motor.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is side sectional view of the invention；
Fig. 2 is the first side view of casing of the present invention；
Fig. 3 is second of side view of casing of the present invention；
Fig. 4 is the first side view of rotor of the present invention；
Fig. 5 is second of side view of rotor of the present invention；
Fig. 6 is the side view of rear end cap of the present invention.
In figure: 1, harmonic speed reducer；2, casing；3, rotor；4, the first magnet steel；5, the first stator；6, the second magnet steel；7,
Two stators；8, rear end cap；9, encoder；10, encoder code disc；11, encoder cover；12, first bearing；13, second bearing；
14,3rd bearing；15, limited block；16, circlip；21, the first circular cylindrical cavity；22, the second circular cylindrical cavity；23, first
Hollow stator axis；24, concave station；31, armature spindle；32, first step；33, second step；34, rotating circular disc；35, the first rotation
Ring body；36, the second rotation ring body；37, the first screw hole；81, the second hollow stator axis；101, wave sends out device；102, flexbile gear；103, steel
Wheel；104, crossed roller bearing；211, the first retaining ring；231, the first erecting bed；232, the second retaining ring；241, the second screw hole；
321, the first limiting stand；322, the second limiting stand；351, first annular concave station；361, the second annular concave platform；811, the second installation
Platform；812, third retaining ring.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of servo motor that high-precision is controllable, including harmonic wave subtract
Fast device 1, rear end cap 8, encodes test the speed unit, rotor 3, the first stator 5 and second stator 7 etc. at casing 2, in which:
Casing 2 is the hollow barrel structure of multi-stag, is disposed with interconnected 21 He of the first circular cylindrical cavity in casing 2
Second circular cylindrical cavity 22, and internal diameter is sequentially increased, 2 front end axis center of casing is extended into cavity the first hollow stator
Axis 23.Specifically, the first hollow stator axis 23 extends from the front end of the second circular cylindrical cavity 22 into the second circular cylindrical cavity 22,
And first hollow stator axis 23 and the second circular cylindrical cavity 22 be coaxially disposed, the internal diameter of the first hollow stator axis 23 is less than the first circle
The internal diameter of cylindrical chamber 21.
The tail end of casing 2 opens wide, and the sealing of 8 periphery of rear end cap is fixed in the tail portion opening of casing 2, in the axis of rear end cap 8
The heart is extended into casing 2 the second hollow stator axis 81.In the present embodiment, the first hollow stator axis 23 and second hollow fixed
The internal-and external diameter of sub- axis 81 is consistent, and the first hollow stator axis 23 and 81 coaxial spaced of the second hollow stator axis are arranged, further,
First hollow stator axis 23 and the second axially and symmetrically setting of hollow stator axis 81.
In the present embodiment, the first stator 5 is mounted on 23 periphery of the first hollow stator axis, and the second stator 7 is mounted in second
Empty 81 periphery of stator axis.Specifically, 5 axis center of the first stator, which runs through, offers first through hole, the tail of the first hollow stator axis 23
The first erecting bed 231 is offered on the periphery wall of end, the fitting of the first stator 5 is fixed on 231 periphery of the first erecting bed；Second stator 7
Axis center offers the second erecting bed 811 through the second through-hole is offered on the front end periphery wall of the second hollow stator axis 81, the
The fitting of two stators 7 is fixed on 811 periphery of the second erecting bed.
Rotor 3 includes the armature spindle 31 being rotatably arranged in casing 2 and 4 He of the first magnet steel that 31 periphery of armature spindle is arranged in
Second magnet steel 6,31 first end of armature spindle are rotatably arranged in the first circular cylindrical cavity 21, and armature spindle 31 and the first cylindrical cavity
First bearing 12 is folded between body 21, the axle body of armature spindle 31 sequentially passes through the first hollow stator axis 23 and the second hollow stator
Axis 81.Specifically, the axial first end of armature spindle 31 is drawn outward from the front opening of casing 2, and the exit be connected with it is humorous
The axial second end of wave retarder 1, armature spindle 31 is drawn from the tail end outward opening of the second hollow stator axis 81.
First step 32 and second step 33 are disposed on the axle body of armature spindle 31, and outer diameter is sequentially reduced, first
Step 32 is located in the second circular cylindrical cavity 22, and second step 33 is located at the end of 31 second end of armature spindle, in the present embodiment,
Be folded with second bearing 13 between one step 32 and the first hollow stator axis 23, first step 32 and the second hollow stator axis 81 it
Between be folded with 3rd bearing 14, and the axial position of second bearing 13 and 3rd bearing 14 is defined on first step 32.
Specifically, the tail end opening inner circumferential protrusion of the first hollow stator axis 23 is provided with the second retaining ring 232, the second retaining ring
232 and 23 arranged coaxial of the first hollow stator axis, so that internal diameter of the opening inside diameter less than the first hollow stator axis 23, second
Retaining ring 232 contradicts the tail end in 13 outer ring of second bearing；The first limiting stand 321 is offered on 32 front end axle body of first step, the
Two bearings 13 are set in the tail portion periphery of the first limiting stand 321, and the tail end of 13 inner ring of second bearing is contradicted in the first limiting stand
On 321 rear wall；Limited block is folded in gap between the front side wall of first limiting stand 321 and the front end of second bearing 13
15, and limited block 15 is coaxially folded in the internal perisporium of the first hollow stator axis 23 and the front end periphery wall of the first limiting stand 321
Between, the front end of 13 outer ring of second bearing contradicts on the aft bulkhead of limited block 15, and then makes the axial position of second bearing 13
It is defined.
The front opening inner circumferential protrusion of second hollow stator axis 81 is provided with third retaining ring 812, third retaining ring 812 and second
81 arranged coaxial of hollow stator axis, so that internal diameter of the opening inside diameter less than the second hollow stator axis 81, third retaining ring 812 support
Touching is in the front end of 14 outer ring of 3rd bearing；Offer the second limiting stand 322 on 32 tail end axle body of first step, 14 sets of 3rd bearing
It is located at the front periphery of the second limiting stand 322, and the front end of 14 inner ring of 3rd bearing contradicts the front side wall in the second limiting stand 322
On；It being bonded outside the tail end of 3rd bearing 14 and is provided with elastic scheibe 16, the outside of elastic scheibe 16 is contradicted with spring, thus
The axial position of 3rd bearing 14 is limited, wherein this localization method of elastic scheibe 16 is used, shared axial position is small,
And then keep the structure of motor more compact, and easy for assemble or unload, it is simple to manufacture.
Radially rotating circular disc 34 is extended in outside on the axle body of first step 32, and 34 periphery of rotating circular disc is in first
Gap between empty stator axis 23 and the second hollow stator axis 81 and radially outside extends, rotating circular disc 34 are rotatably arranged on the
In the gap of one hollow stator axis 23 and the second hollow stator axis 81, and circumferential second circular cylindrical cavity outside 34 front end of rotating circular disc
22 front ends, which are extended, the first rotation ring body 35, and circumferential second circular cylindrical cavity, 22 tail end extension is set outside 34 tail end of rotating circular disc
It is equipped with the second rotation ring body 36.
First annular concave station 351 is offered on the front opening internal perisporium of first rotation ring body 35, the first magnet steel 4 uniformly pastes
It closes on the internal perisporium of first annular concave station 351；The second annular is offered on the tail end opening internal perisporium of second rotation ring body 36
Concave station 361, the second magnet steel 6 are uniformly fitted on the internal perisporium of the second annular concave platform 361, i.e. the first magnet steel 4 and the second magnet steel 6 are right
Claim the axial ends that rotating circular disc 34 is set, and the first magnet steel 4 and the second magnet steel 6 are rotated synchronously with armature spindle 31.
Specifically, the first stator 5 and the second stator 7 are symmetricly set on the axial ends of rotating circular disc 34, the first swivel becket
Body 35 is spaced envelope in 5 periphery of the first stator, and each first magnet steel 4 is distributed in the peripheral space of the first stator 5；Second turn
Rotating ring body 36 is spaced envelope in 7 periphery of the second stator, and each second magnet steel 6 is distributed in the peripheral space of the second stator 7.
Keep magnetic density higher from the foregoing, it will be observed that forming bimorph transducer outer-rotor structure, torque is bigger, with fixed to first respectively
Son 5 or 7 excitation signal of the second stator, can be driven the first magnet steel 4 or the second magnet steel 6 and rotating circular disc 34 rotates, to drive
Armature spindle 31 rotates synchronously.That is, structure of the invention uses outer-rotor structure, excitation control on the basis of rimless motor
System is to expand the magnetic flux that the diameter of rotor improves motor, in the case where Same Efficieney density more by design of electrical motor
It is thin, while independent excitation control is carried out to outer rotor using two stators, required according to drag torque, can single excitation driving,
Can also double excitations drivings, realize the output of more transfer motion powers.
In the present embodiment, the second end of armature spindle 31 is drawn from the tail end outward opening of the second hollow stator axis 81, and second
33 shaft end of step is equipped with encoder code disc 10, and encoder code disc 10 is rotated synchronously with armature spindle 31,10 periphery of encoder code disc
8 outer end face of rear end cap on encoder 9 is installed, encoder 9 and 10 spaced-apart alignment of encoder code disc, against encoder code disc 10
Rotation, encoder 9 acquires the turn signal on encoder code disc 10, obtains the tach signal of armature spindle 31,9 outside of encoder
It is arranged with encoder cover 11, encoder cover 11 is fixed on 8 outer end face periphery of rear end cap.
Motion process of the invention completes full closed loop control by encoder 9, due to the extremely low gear back gaps of harmonic speed reducer and
High repetitive positioning accuracy, to ensure that the high-precision external output of servo motor.
Harmonic speed reducer 1 is mounted on the first shaft end of casing 2, harmonic speed reducer 1 include: wave hair device 101, flexbile gear 102,
Firm gear 103 and crossed roller bearing 104, wherein wave hair device 101 is fixed in the axial first end of armature spindle 31, and flexbile gear 102 is fixed
On 2 front bulkhead of casing, and flexbile gear 102 is set in wave hair 101 periphery of device, and firm gear 103 is set in 102 periphery of flexbile gear；Intersect rolling
Sub- bearing 104 is axial between firm gear 103 and casing 2.
Specifically, the axial first end wall periphery of armature spindle 31 is spaced apart and is equipped with several first screw holes 37, wave sends out 101 He of device
The axial first end of armature spindle 31 is fixed by passing through the bolt of the first screw hole 37, by armature spindle 31 and harmonic speed reducer 1
It is direct-connected, intermediate transition structure is eliminated, keeps structure more compact.
2 front bulkhead periphery of casing offers concave station 24, and 102 periphery of flexbile gear is fixed on concave station 24, before 102 inner circumferential of flexbile gear
It extends to and is folded between wave hair device 101 and firm gear 103；The outer ring of crossed roller bearing 104 is fixed on concave station 24, is intersected
The inner ring front bulkhead of roller bearing 104 is fixed with 103 tail end wall of firm gear, and the inner ring of crossed roller bearing 104 is located at flexbile gear 102
Periphery.Wherein, the sidewall periphery of concave station 24, which is spaced apart, is equipped with several second screw holes 241, by bolt from crossed roller bearing 104
Outer ring front end inwardly run through crossed roller bearing 104 after be mounted in the second screw hole 241 so that crossed roller bearing 104
Outer ring and flexbile gear 102 are fixedly attached on casing 2.
First circular cylindrical cavity 21 extends to 102 inner space of flexbile gear towards axial forward end, before the first circular cylindrical cavity 21
End opening inner circumferential protrusion is provided with the first retaining ring 211, and the first retaining ring 211 is arranged with wave hair device 101 interval, the first hollow stator axis
Limiting groove is formed between 23 front end side walls and the first retaining ring 211, first bearing 12 is installed in limiting groove, wave hair
The tail end of device 101 is contradicted in the front end of 12 inner ring of first bearing.
Harmonic speed reducer 1 is combined by special designing and electric machine structure, and whole volume is smaller, motor it is defeated
Torque is bigger out, while sending out device 101 with wave by armature spindle 31 and being directly connected to, and eliminates intermediate connection structure, such as existing skill
Common shaft coupling in art, so that transmission accuracy of the invention is higher, that is, revolving speed output is more accurate, and transmission performance is more
It is good.
In conclusion servo motor of the invention is bimorph transducer outer-rotor structure, with respectively to the first stator 5 or the second
7 excitation signal of stator, can be driven the first magnet steel 4 or the second magnet steel 6 and rotating circular disc 34 rotates, to drive armature spindle 31 same
Step rotation, and then robot is driven to carry out link motion, can also double excitations drivings, realize the output of more transfer motion powers.This hair
Bright structure uses outer-rotor structure on the basis of rimless motor, while carrying out independent excitation to outer rotor using two stators
Control, so that the diameter for expanding rotor improves the magnetic flux of motor, so that setting motor in the case where Same Efficieney density
That counts is thinner, and realizes the output of more transfer motion powers；The present invention connects a harmonic speed reducer 1 in the front end of motor, and will
Outer rotor and harmonic speed reducer 1 are direct-connected, eliminate intermediate transition structure, keep structure more compact；Motion process of the invention
Full closed loop control is completed by encoder 9, due to the extremely low gear back gaps of harmonic speed reducer 1 and high repetitive positioning accuracy, thus
It ensure that the high-precision external output of servo motor.In short, this high-precision it is controllable servo motor it is simple and compact for structure, design close
Reason has the power output more being driven, is able to achieve high-precision control, and there are also flat structures, and installation is simple, and output is stablized, knot
The advantages that structure compatibility is high, it is very stringent suitable for some pairs of length requirements and need the service class robot row of high-precision control
Industry.
Although being disclosed for illustrative purpose the preferred embodiment of the present invention, those skilled in the art
Member will recognize that: without departing from the scope and spirit of the present invention as disclosed in appended claims, be able to carry out
Various modifications, addition and replacement.
Claims (10)
1. a kind of servo motor that high-precision is controllable characterized by comprising
Casing (2) is the hollow barrel structure of a multi-stag, and the casing (2) front end axis center extends into cavity and sets
Set one first hollow stator axis (23)；
Rear end cap (8), periphery sealing are fixed in the tail portion opening of the casing (2), and rear end cap (8) axis center is to institute
It states and is extended one second hollow stator axis (81) in casing (2), the first hollow stator axis (23) and described second hollow
The setting of stator axis (81) coaxial spaced；
Rotor (3) comprising the armature spindle (31) that is rotatably arranged in the casing (2) and setting the armature spindle (31) outside
First magnet steel (4) and the second magnet steel (6) in week, first magnet steel (4) and second magnet steel (6) and the armature spindle (31)
It rotates synchronously, and the axial first end of the armature spindle (31) is drawn outward from the front opening of the casing (2), the exit
It connects a harmonic speed reducer (1), the axial second end of the armature spindle (31) is rotatably arranged on the second hollow stator axis
(81) in；
First stator (5), is mounted on the first hollow stator axis (23) periphery, and first magnet steel (4) is distributed in described
First stator (5) periphery；And
Second stator (7), is mounted on the second hollow stator axis (81) periphery, and second magnet steel (6) is distributed in described
Second stator (7) periphery.
2. the controllable servo motor of high-precision as described in claim 1, which is characterized in that set gradually in the casing (2)
There are interconnected the first circular cylindrical cavity (21) and the second circular cylindrical cavity (22), and internal diameter is sequentially increased, the armature spindle
(31) first end is rotatably arranged in first circular cylindrical cavity (21), and the armature spindle (31) and first cylinder
One first bearing of sandwiched (12) between cavity (21)；The first hollow stator axis (23) is from second circular cylindrical cavity (22)
Front end extends into second circular cylindrical cavity (22), and the first hollow stator axis (23) and second cylindrical cavity
Body (22) coaxial arrangement, the internal diameter of the first hollow stator axis (23) are less than the internal diameter of first circular cylindrical cavity (21).
3. the controllable servo motor of high-precision as claimed in claim 2, which is characterized in that the first hollow stator axis (23)
It is consistent with the internal-and external diameter of the second hollow stator axis (81), and the first hollow stator axis (23) and described second hollow fixed
Sub- axis (81) is axially and symmetrically arranged, and the armature spindle (31) is through setting in the first hollow stator axis (23) and described second
In hollow stator axis (81).
4. the controllable servo motor of high-precision as claimed in claim 3, which is characterized in that on the axle body of the armature spindle (31)
It is disposed with first step (32) and second step (33), and outer diameter is sequentially reduced, the first step (32) is located at described
In second circular cylindrical cavity (22), the second step (33) is located at the end of the armature spindle (31) second end, and described first
One second bearing of sandwiched (13) between step (32) and the first hollow stator axis (23), the first step (32) with it is described
One 3rd bearing of sandwiched (14) between second hollow stator axis (81), the second bearing (13) and the 3rd bearing (14)
Axial position is defined on the first step (32).
5. the controllable servo motor of high-precision as claimed in claim 4, which is characterized in that on first step (32) axle body
Radially outside is extended a rotating circular disc (34), and the first hollow stator axis (23) is run through in rotating circular disc (34) periphery
Gap between the second hollow stator axis (81) and radially outside extends, the rotating circular disc (34) is rotatably arranged on
In the gap of the first hollow stator axis (23) and the second hollow stator axis (81), and the rotating circular disc (34) front end
Outer circumferential direction the second circular cylindrical cavity (22) front end is extended one first rotation ring body (35), and first magnet steel (4) is equal
On the even internal perisporium for being fitted in first rotation ring body (35), circumferential second cylinder outside rotating circular disc (34) tail end
Shape cavity (22) tail end is extended one second rotation ring body (36), and second magnet steel (6) is uniformly fitted in described second turn
On the internal perisporium of rotating ring body (36)；
Wherein, first magnet steel (4) and second magnet steel (6) are symmetricly set on axial the two of the rotating circular disc (34)
End.
6. the controllable servo motor of high-precision as claimed in claim 5, which is characterized in that the first stator (5) axis center
Through a first through hole is opened up, one first erecting bed (231) is opened up on the tail end periphery wall of the first hollow stator axis (23),
First stator (5) fitting is fixed on the first hollow stator axis (23) periphery, and between first rotation ring body (35)
Every envelope in the first stator (5) periphery, each first magnet steel (4) is distributed in the first stator (5) periphery
Space；
Second stator (7) axis center, which runs through, opens up one second through-hole, the front end periphery of the second hollow stator axis (81)
One second erecting bed (811) is opened up on wall, the second stator (7) fitting is fixed on the second hollow stator axis (81) outside
Week, and second rotation ring body (36) interval envelope is between the second stator (7) periphery, each second magnet steel (6)
Every being distributed in the second stator (7) peripheral space；
Wherein, first stator (5) and second stator (7) are symmetricly set on axial the two of the rotating circular disc (34)
End.
7. the controllable servo motor of high-precision as claimed in claim 4, which is characterized in that armature spindle (31) second end from
The tail end outward opening of the second hollow stator axis (81) is drawn, and second step (33) shaft end is equipped with an encoder code
Disk (10) installs an encoder (9), the coding on the rear end cap (8) outer end face of encoder code disc (10) periphery
Device (9) and the encoder code disc (10) spaced-apart alignment, encoder (9) outer sheath is equipped with an encoder cover (11), described
Encoder cover (11) is fixed on the rear end cap (8) outer end face periphery.
8. the controllable servo motor of high-precision as claimed in claim 6, which is characterized in that harmonic speed reducer (1) installation
On the first shaft end of the casing (2), the harmonic speed reducer (1) includes: wave hair device (101), flexbile gear (102), firm gear
(103) and crossed roller bearing (104), wave hair device (101) is fixed in the axial first end of the armature spindle (31), described
Flexbile gear (102) is fixed on the casing (2) front bulkhead, and the flexbile gear (102) is set in wave hair device (101) periphery,
The firm gear (103) is set in the flexbile gear (102) periphery, and the crossed roller bearing (104) is axially located at the firm gear
(103) between the casing (2).
9. the controllable servo motor of high-precision as claimed in claim 8, which is characterized in that casing (2) the front bulkhead periphery
It opens up a concave station (24), flexbile gear (102) periphery is fixed on the concave station (24), is prolonged before flexbile gear (102) inner circumferential
It extends to and is folded between wave hair device (101) and the firm gear (103)；The outer ring of the crossed roller bearing (104) is solid
It is scheduled on the concave station (24), the inner ring front bulkhead and the firm gear (103) tail end wall of the crossed roller bearing (104) are solid
It is fixed, and the inner ring of the crossed roller bearing (104) is located at the flexbile gear (102) periphery.
10. the controllable servo motor of high-precision as claimed in claim 9, which is characterized in that first circular cylindrical cavity
(21) flexbile gear (102) inner space is extended to towards axial forward end, in the front opening of first circular cylindrical cavity (21)
Week, protrusion was provided with the first retaining ring (211), and first retaining ring (211) and wave hair device (101) interval are arranged, and described first
A limiting groove, the first bearing (12) are formed between hollow stator axis (23) front end side wall and first retaining ring (211)
It is installed in the limiting groove, wave hair device (101) tail end contradicts in the front end of the first bearing (12)
On peripheral wall.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910429507.1A CN110034650A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that high-precision is controllable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910429507.1A CN110034650A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that high-precision is controllable |
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| CN110034650A true CN110034650A (en) | 2019-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910429507.1A Pending CN110034650A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that high-precision is controllable |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110388440A (en) * | 2019-08-03 | 2019-10-29 | 朱幕松 | Electromechanical harmonic speed reducer |
| CN113472167A (en) * | 2020-03-31 | 2021-10-01 | 宁波方太厨具有限公司 | One-way double-power output motor |
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