CN217769742U

CN217769742U - Linear transmission device of electromechanical combined planetary roller screw pair

Info

Publication number: CN217769742U
Application number: CN202220415677.1U
Authority: CN
Inventors: 钟坤; 周志勇
Original assignee: Hubei Kefeng Intelligent Transmission Co Ltd
Current assignee: Hubei Kefeng Intelligent Transmission Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-11-08
Anticipated expiration: 2032-02-28

Abstract

The utility model provides an electromechanical linear transmission device of a planet roller screw pair, wherein a planet screw is positioned in a planet nut, and a planet roller is arranged between the planet screw and the planet nut and is meshed with the planet screw and the planet nut; one end of the planetary screw protrudes out of the planetary nut to form a rotor, the rotor is axially and rotatably installed in the stator, a permanent magnet is arranged in the rotor, a stator winding which is opposite to the permanent magnet and used for forming a rotating magnetic field is arranged in the stator, and the stator winding is used for being electrically connected with an external power supply. The utility model provides a technical scheme's beneficial effect is: the screw of the planetary roller screw pair is combined with the rotor of the permanent magnet synchronous servo motor, so that the rotation synchronism of the planetary screw and the rotor is ensured, the linear actuator is directly driven by the permanent magnet synchronous servo system, the close integration of a mechanical transmission device and an electric drive system is realized, and higher repeated positioning precision, transmission efficiency and response speed are obtained.

Description

Linear transmission device of electromechanical combined planetary roller screw pair

Technical Field

The utility model relates to a linear transmission technical field especially relates to an electromechanical planet roller screw pair linear transmission that combines.

Background

The electric energy of a motor is used as a power source, and the amplified torque is transmitted to a linear execution component through a speed reducer and other speed reducing devices for increasing the torque, so that the conversion from rotary motion to linear motion is realized, and the method is the most common electromechanical linear transmission mode at present. In a linear transmission device in the prior art, a common servo or stepping motor, a speed reducer and a ball screw assembly are generally connected through mechanical parts, the torque of the motor is output to a ball screw shaft, a nut is driven by the rotation of the ball screw to perform reciprocating linear motion, and the torque of the motor is finally converted into linear thrust to be output. Such electromechanically bonded linear actuators generally suffer from the following disadvantages: 1. the mechanical connection frequency from the motor shaft to the lead screw shaft is more, and the transmission precision is lost; 2. reduction gears such as gears and the like have high precision, and the high-precision positioning requirement can be ensured only by configuring a servo closed-loop positioning control system; 3. because of the influence of gaps existing in the speed reduction transmission systems such as gears, certain delay exists in linear transmission response; 4. compared with a planetary ball screw pair, the ball screw pair has the advantages of higher transmission precision, bearing capacity, response speed and the like.

SUMMERY OF THE UTILITY MODEL

In view of this, in order to solve the above problem, an embodiment of the present invention provides an electromechanical linear transmission device combining a planetary roller screw pair.

An embodiment of the utility model provides an electromechanical planet roller screw pair linear transmission that combines, include:

the planetary roller screw pair comprises a planetary screw, a planetary roller and a planetary nut, wherein the planetary screw is positioned in the planetary nut, and the planetary roller is arranged between the planetary screw and the planetary nut and is meshed with the planetary screw and the planetary nut;

permanent magnet servo motor, including rotor, stator, planet lead screw one end protrusion the planet nut forms the rotor, rotor axial rotation install in the stator, be equipped with the permanent magnet in the rotor, be equipped with in the stator with the permanent magnet is relative and be used for forming rotating magnetic field's stator winding, stator winding is used for being connected with external power source electricity.

Furthermore, a Hall sensing magnet sensing the position of the permanent magnet is installed at one end, far away from the planetary screw, of the rotor, and a Hall sensor opposite to the Hall sensing magnet is fixed on the stator.

Furthermore, the rotor is provided with a plurality of open grooves with notches facing away from the planetary screw, the extending directions of the open grooves are the same as that of the rotor, the cross section of each open groove is in a V shape, and a pair of permanent magnets are installed in the open grooves.

Further, the number of the open grooves is even.

Further, a plurality of the open grooves are arranged at intervals in the circumferential direction at the center of the rotor shaft.

Further, a plurality of the open grooves are uniformly arranged at intervals.

Further, the permanent magnet is provided with a gap between two ends of the permanent magnet in cross section and the side wall of the open slot to form an air slot, and the air slot is used for containing air.

Further, the outer peripheries of the two ends of the rotor and the inner peripheries of the two ends of the stator are both arranged in a step shape to form mounting grooves, the rotor is connected with the stator through a bearing, and the bearing is mounted in the mounting grooves.

Further, the bearings at two ends of the rotor are provided in plurality.

Furthermore, one end of the bearing is abutted against the bottom wall of the mounting groove, and the other end of the bearing is abutted against a locking nut fixed at the end part of the stator.

The embodiment of the utility model provides a beneficial effect that technical scheme brought is: the screw of the planetary roller screw pair is combined with the rotor of the permanent magnet synchronous servo motor, so that the rotation synchronism of the planetary screw and the rotor is ensured, the linear actuator is directly driven by the permanent magnet synchronous servo system, the close integration of a mechanical transmission device and an electric drive system is realized, and higher repeated positioning precision, transmission efficiency and response speed are obtained.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a linear transmission of an electromechanical combination planetary roller screw pair provided by the present invention;

FIG. 2 is an axial cross-sectional view of the electro-mechanical planetary roller screw pair linear transmission of FIG. 1;

FIG. 3 is a schematic radial cross-section of the planetary roller screw portion of FIG. 1;

fig. 4 is a schematic radial cross-sectional view of a portion of the permanent magnet synchronous servomotor of fig. 1.

In the figure: the device comprises a planetary screw 1, an open slot 1a, an air slot 1b, a planetary roller 2, a planetary nut 3, a rotor 4, a stator 5, a permanent magnet 6, a stator winding 7, a Hall sensor 8, a Hall induction magnet 9, a bearing 10 and a locking nut 11.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.

Referring to fig. 1 to 4, an embodiment of the present invention provides a linear transmission device combining an electromechanical system and a planetary roller screw pair, including a planetary roller screw pair and a permanent magnet servo motor.

The planetary roller screw pair comprises a planetary screw 1, a planetary roller 2 and a planetary nut 3, wherein the planetary screw 1 is positioned in the planetary nut 3, and the planetary roller 2 is arranged between the planetary screw 1 and the planetary nut 3 and is meshed with the planetary screw 1 and the planetary nut 3; permanent magnet servo motor includes rotor 4,

stator

5, 1 one end protrusion of planet lead screw 3 forms rotor 4, 4 axial rotation of rotor install in the stator 5, be equipped with permanent magnet 6 in the rotor 4, be equipped with in the stator 5 with 6 relative and the stator winding 7 that is used for forming rotating magnetic field of permanent magnet, stator winding 7 is used for being connected with external power source electricity, and stator winding 7 comprises a plurality of groups coil and by the outside power supply, specifically, the stator 5 inside wall is equipped with the holding tank, and stator winding 7 installs in the holding tank.

The planetary nut 3 is used for being connected with an external connecting piece, the external connecting piece limits the rotation of the planetary nut 3, the planetary nut 3 only has a linear moving stroke, and the external connecting piece can be a linear rail and the like. The stator winding 7 is electrified by utilizing an external power supply, the stator 5 provides a rotating magnetic field to be coupled with the magnetic field of the rotor 4 to generate torque output, the rotor 4 is driven to rotate, the planetary screw 1 rotates, and the planetary screw 1, the planetary roller 2 and the planetary nut 3 are meshed to drive the planetary nut 3 to move linearly, so that the rotary motion of the motor is converted into the reciprocating linear motion of the planetary nut 3.

The permanent magnet synchronous servo motor has the remarkable advantages of simple structure, reliable operation, light weight, less loss, high efficiency and flexible and diverse shapes and sizes of the motor. The planetary screw 1 of the planetary roller screw pair and the rotor 4 of the permanent magnet synchronous servo motor are combined into a whole, so that the rotation synchronism of the planetary screw 1 and the rotor 4 is ensured, the linear actuator is directly driven by a permanent magnet synchronous servo system, and the close integration of a mechanical transmission device and an electric drive system is realized, so that higher repeated positioning precision, transmission efficiency and response speed are obtained.

And one end of the rotor 4, which is far away from the planetary screw 1, is provided with a Hall sensing magnet 9 for sensing the position of the permanent magnet 6, and a Hall sensor 8 which is opposite to the Hall sensing magnet 9 is fixed on the stator 5. The rotor 4 is provided with a plurality of opening grooves 1a with notches facing away from the planetary screw 1, the extending direction of the opening grooves 1a is the same as that of the rotor 4, the cross section of each opening groove 1a is V-shaped, and a pair of permanent magnets 6 are installed in each opening groove 1 a. The number of the open slots 1a and the stator windings 7 is even. The plurality of open grooves 1a are circumferentially spaced at the center of the rotor 4 shaft. In this embodiment, the plurality of opening grooves 1a are uniformly spaced.

The even number of stator windings 7 are distributed around the rotor 4 to form the even number of magnetic poles, the stator windings 7 can be divided into two stator windings 7 of trapezoid and sine, and the fundamental difference is that the stator windings 7 have different counter electromotive forces generated by the stator windings 7 in different connection modes, and the stator windings respectively present trapezoid and sine waveforms. Unlike a brush DC drive system, a permanent magnet synchronous servo motor uses electronic commutation. The high-precision operation of the permanent magnet synchronous servo motor entails energizing the stator windings 7 in a certain sequence, and this process entails detecting the angle through which the rotor 4 is rotated in order to energize the respective stator windings 7 in coil sequence. The position of the rotor 4 is detected by a Hall sensor 8 arranged on the stator 5, when a Hall induction magnet 9 embedded on the rotor 4 sweeps the Hall sensor 8, the Hall sensor 8 can output corresponding high and low levels according to the polarity of the current magnetic pole of the rotor 4, so that the current position of the rotor 4 can be judged according to the level time sequence generated by the Hall sensor 8, and the stator winding 7 is electrified correspondingly. A Hall sensing magnet 9 is arranged at one end of the rotor 4, a Hall sensor 8 is arranged on the stator 5, electronic commutation of the permanent magnet synchronous servo motor is achieved, and the complexity of an external driving system is reduced by the method.

Gaps are formed between two ends of the permanent magnet 6 on the cross section and the side walls of the open groove 1a to form an air groove 1b, the air groove 1b is used for containing air, and magnetic isolation air grooves 1b are arranged on two sides of the permanent magnet 6 to reduce magnetic leakage. Rotor 4 both ends outer peripheral edges with stator 5 both ends inner peripheral edges all are step-like setting in order to form the mounting groove, rotor 4 with connect through bearing 10 between the stator 5, bearing 10 install in the mounting groove, reinforcing rotor 4 is at 5 internal stability of stator to realize the stable output of rotary motion and thrust.

The bearings 10 at the two ends of the rotor 4 are provided with a plurality of bearings, so that the connection strength of the rotor 4 and the stator 5 is enhanced. One end of the bearing 10 is abutted against the bottom wall of the mounting groove, and the other end of the bearing is abutted against a locking nut 11 fixed at the end part of the stator 5. In this embodiment, two bearings 10 are disposed at two ends of the rotor 4, one of the bearings 10 abuts against the bottom wall of the mounting groove, and the other bearing 10 abuts against the lock nut 11, so that the positioning strength of the bearings 10 is enhanced, and the stable rotation between the rotors 4 is ensured.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The embodiments and features of the embodiments described herein above may be combined with each other without conflict.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. An electromechanical linear transmission device of a planetary roller screw pair, comprising:

the planetary roller screw pair comprises a planetary screw, a planetary roller and a planetary nut, the planetary screw is positioned in the planetary nut, and the planetary roller is arranged between the planetary screw and the planetary nut and is meshed with the planetary screw and the planetary nut;

permanent magnet servo motor, including rotor, stator, planet lead screw one end protrusion the planet nut forms the rotor, rotor axial rotation install in the stator, be equipped with the permanent magnet in the rotor, be equipped with in the stator with the permanent magnet is relative and be used for forming the stator winding in rotating magnetic field, stator winding is used for being connected with external power electricity.

2. The linear actuator of an electromechanical combination planetary roller screw pair as claimed in claim 1, wherein a hall sensor magnet for sensing the position of the permanent magnet is mounted to an end of the rotor remote from the planetary screw, and a hall sensor is fixed to the stator opposite to the hall sensor magnet.

3. The linear transmission of an electromechanical combination planetary roller screw pair according to claim 1, wherein the rotor is provided with a plurality of open slots with notches facing away from the planetary screw, the open slots extending in the same direction as the rotor and having a V-shaped cross-section, and a pair of permanent magnets are installed in the open slots.

4. The linear actuator of an electro-mechanical combination planetary roller screw pair of claim 3, wherein the number of open grooves is an even number.

5. The electro-mechanical compound planetary roller screw pair linear transmission of claim 4, wherein a plurality of the open grooves are circumferentially spaced at the rotor shaft center.

6. The linear actuator of an electro-mechanical combination planetary roller screw pair of claim 5, wherein a plurality of said open grooves are uniformly spaced.

7. The electro-mechanical combination planetary roller screw pair linear transmission device according to any one of claims 3 to 6, wherein the permanent magnet has a gap between both ends in cross section and the side wall of the open groove to form an air groove for accommodating air.

8. The electro-mechanical combination planetary roller screw pair linear transmission according to claim 1, wherein outer peripheries of both ends of the rotor and inner peripheries of both ends of the stator are stepped to form a mounting groove, the rotor and the stator are connected by a bearing, and the bearing is mounted in the mounting groove.

9. The linear actuator of an electro-mechanical combination planetary roller screw pair as set forth in claim 8, wherein a plurality of said bearings are provided at both ends of said rotor.

10. The linear actuator of an electro-mechanical combination planetary roller screw set according to claim 8, wherein one end of the bearing abuts against the bottom wall of the mounting groove and the other end abuts against a lock nut fixed to the end of the stator.