CN217842605U

CN217842605U - Precision rotary platform

Info

Publication number: CN217842605U
Application number: CN202222133526.XU
Authority: CN
Inventors: 王海清; 于铁胜; 刘月娥; 王暾
Original assignee: Hunan Yuanheming Technology Co ltd
Current assignee: Hunan Yuanheming Technology Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-18
Anticipated expiration: 2032-08-12

Abstract

The utility model discloses a precise rotary platform, which comprises a hollow shell, wherein a servo motor, a speed reducing mechanism and an output disc (13) are arranged in the shell; the speed reducing mechanism comprises an eccentric sleeve (14), a cycloid wheel (12) and an inner gear ring (11), wherein the eccentric sleeve (14) is mounted on an output shaft (5) of the servo motor, one end of the cycloid wheel (12) is supported and mounted on the eccentric sleeve through a second bearing (16), the other end of the cycloid wheel is connected with the shell, the cycloid wheel is internally meshed with the inner gear ring (11), the inner gear ring is supported and mounted in the shell through a first bearing (10), and the end part of the inner gear ring is fixedly connected with an output disc (13); the output disc is connected with an encoder, and an output signal of the encoder is connected into a control circuit of the servo motor. The utility model discloses zero back clearance, high accuracy, compact structure, cost of manufacture are low, stable performance.

Description

Precision rotary platform

Technical Field

The utility model relates to a rotary platform, especially a precision rotary platform.

Background

At present, a servo system (a servo motor and a speed reducer) is widely adopted in automation equipment to improve the working performance and precision of an equipment rotating platform, but the servo motor and the speed reducer have the problems of transmission backlash and insufficient rigidity, so that the equipment rotating platform in practical application is difficult to meet the requirements of high stability and high precision. In addition, the combination of the servo motor, the speed reducer and the rotating platform is generally formed by combining three independent parts, so that the whole volume is large, the occupied working space is large, and the use requirements can not be met in many occasions.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that to current rotary platform rigidity, precision, stability not enough to and the big problem of overall structure size, the utility model provides a zero back clearance, high accuracy, low wearing and tearing, compact structure, cost of manufacture are low, stable performance's accurate rotary platform.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides a precision rotary platform, includes hollow casing, its structural feature lies in:

a servo motor, a speed reducing mechanism and an output disc are arranged in the shell;

the speed reducing mechanism comprises an eccentric sleeve, a cycloid wheel and an inner gear ring which are arranged on an output shaft of the servo motor, one end of the cycloid wheel is supported and installed on the eccentric sleeve through a bearing, the other end of the cycloid wheel is connected with the shell, the cycloid wheel is internally meshed with the inner gear ring, the inner gear ring is supported and installed in the shell through a bearing, and the end part of the inner gear ring is fixedly connected with an output disc;

the output disc is connected with the encoder, and an output signal of the encoder is connected into a control circuit of the servo motor.

The utility model discloses a directly make servo motor's output shaft as follow-up reduction gears's input shaft the utility model discloses servo motor and reduction gears are integrated as an organic whole with zero clearance, and overall structure is compact, and the cost of manufacture is low, the stable performance. Additionally, the utility model discloses the encoder is connected to reduction gears's output dish, and the output signal of encoder inserts among servo motor's the control circuit to usable encoder feeds back the angle displacement signal of output dish to the servo motor's as input power control circuit with the equal multiple of reduction ratio, makes the utility model discloses accurate rotary work platform's input drive and output form an accurate closed-loop control system, and servo motor makes the output dish can improve the output precision of output dish with the accurate operation of the output parameter of requirement according to the accurate rotatory angular position of adjusting of feedback signal. Proved by experiments, the output precision of the output disc of the utility model can reach 0.1 arc minute.

For making the utility model discloses the structure is more compact, install in the casing the encoder, the signal detection axle of encoder with output disc fixed connection. For example, the encoder is installed in the servo motor, and a signal detection shaft of the encoder passes through an output shaft of the servo motor and is fixedly connected with the output disc.

For further improving the detection precision of encoder, improve the utility model discloses the output precision of output dish, the one end of output dish is stretched out outside the casing, just the end diameter that stretches out of output dish is greater than the external diameter of casing, the end bottom installation that stretches out of output dish the encoder.

Preferably, the housing comprises a base, a support and an upper cover which are sequentially connected into a whole, the middle of the upper cover is provided with an opening, and the output disc is arranged in the opening.

Preferably, the support is supported and installed on the output shaft of the servo motor through a bearing, and the cycloidal gear is connected with the support through a universal coupling.

Preferably, a part of the speed reducing mechanism is embedded in the servo motor, so that the structure of the utility model is more compact and small.

For making the utility model discloses the structure is more compact, and the output precision is higher, the inner circle of first bearing with ring gear structure as an organic whole, promptly process out on the inner wall of the inner circle of first bearing the internal tooth of ring gear.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a sectional structural view of a first embodiment of the precision rotary platform of the present invention.

Fig. 2 is a sectional structural view of a second embodiment of the precision rotary platform of the present invention.

Fig. 3 is a cross-sectional structural view of a third embodiment of the precision rotary platform of the present invention.

In the figure: 1. a base; 2. a motor housing; 3. a stator; 4. a rotor; 5. an output shaft; 6. a bottom cover; 7. a fourth bearing; 8. a universal coupling; 9. an encoder; 10. a first bearing; 11. an inner gear ring; 12. a cycloid gear; 13. an output tray; 14. an eccentric sleeve; 15. a third bearing; 16. a second bearing; 17. an upper cover; 18. a support;

81. a coupling post; 82. a slide hole; 83. a sliding sleeve; 811. a sphere; 831. a spherical cavity; 91. a signal detection axis.

Detailed Description

The invention is further described below with reference to specific preferred embodiments, without thereby limiting the scope of protection of the invention.

For convenience of description, the relative positional relationship of the components, such as: the descriptions of the upper, lower, left, right, etc. are described with reference to the layout directions of the drawings in the specification, and do not limit the structure of the present patent.

As shown in fig. 1, the first embodiment of the precision rotary platform of the present invention comprises a hollow housing, wherein a servo motor, a speed reducing mechanism and an output disc 13 are installed in the housing.

The shell comprises a base 1, a support 18 and an upper cover 17 which are sequentially connected into a whole, wherein the middle part of the upper cover 17 is provided with an opening.

A servo motor is arranged in the base 1. The servo motor comprises a motor shell 2, a stator 3, a rotor 4 and an output shaft 5, wherein the rotor 4 is installed in the stator 3, and the rotor 4 and the output shaft 5 are connected into a whole.

The speed reducing mechanism comprises an eccentric sleeve 14, a cycloidal gear 12 and an inner gear ring 11. The eccentric sleeve 14 is fixedly installed on the output shaft 5 of the servo motor, one end of the cycloidal gear 12 is supported and installed on the eccentric sleeve 14 through a second bearing 16, the other end of the cycloidal gear 12 is connected with the support 18 through a universal coupling 8, and meanwhile, the cycloidal gear 12 is internally meshed with the inner gear ring 11. The inner gear ring 11 is supported and mounted in the bracket 18 and the upper cover 17 through a first bearing 10, an output disc 13 is mounted in an opening of the upper cover 17 in a clearance manner, and the inner gear ring 11 is fixedly connected with the output disc 13.

For making the utility model discloses a structure is more compact, reduction gears's local embedding is installed in servo motor's output shaft 5.

For making the utility model discloses a precision is higher, the structure is compacter, the ring gear is processed through the inner circle that directly utilizes first bearing 10 and is obtained, directly processes out the internal tooth of ring gear promptly on the inner wall of first bearing 10 inner circle. Obviously, the present invention can also adopt a structure in which the ring gear 11 is separated from the first bearing 10.

The universal joint 8 includes a plurality of connection post 81 of fixed connection on the cycloidal gear 12 sliding hole 82 and sliding sleeve 83 of sliding fit setting in sliding hole 82 that correspond each connection post 81 and set up on support 18, the tip of each connection post 81 sets up spheroid 811 respectively, sets up spherical cavity 831 in each sliding sleeve 83 respectively, and the tip spheroid 811 of each connection post 81 is arranged in spherical cavity 831 of a sliding sleeve 83 respectively, just spheroid 811 with spherical cavity 831 forms spherical cooperation.

The axis of the inner gear ring 11 coincides with the axis of the output shaft 5 of the servo motor, the axis of the cycloid wheel 12 forms an included angle with the axis of the output shaft 5 of the servo motor, and the centers of the spheres 811 are located on the same plane.

First bevel teeth are uniformly distributed in an inner cavity of the inner gear ring 11, second bevel teeth are uniformly distributed on the periphery of the cycloid wheel 12, the first bevel teeth are meshed with the second bevel teeth, the number of the first bevel teeth is 1 larger than that of the second bevel teeth, and the first bevel teeth have one more tooth.

An encoder 9 is installed in a motor shell 2 of the servo motor, a signal detection shaft 91 of the encoder 9 penetrates through an output shaft of the servo motor to be fixedly connected with the output disc 13, and an output signal of the encoder 9 is connected into a control circuit of the servo motor.

The encoder 9 used in this embodiment is a commercially available product, and it is the prior art in this field that the output signal of the encoder 9 is connected to the control circuit of the servo motor to control the rotational displacement of the servo motor.

The utility model discloses during the use, output shaft 5 output power, eccentric cover 14 is along with output shaft 5 simultaneous rotation and transmission power to cycloid wheel 12, because universal joint 8 connection is passed through to the one end of cycloid wheel 12 and fixes on support 18, so cycloid wheel 12 can carry out the wobbling when relative output shaft 5 under eccentric sleeve 14's eccentric force effect, with the meshing of ring gear 11, again because a plurality of teeth of the relative second conical tooth of first conical tooth, therefore when the rotatory round of output shaft 5, ring gear 11 rotates a tooth through the effect of cycloid wheel 12, ring gear 11 has realized the speed reduction promptly, output disc 13 connects ring gear 11, so output disc 13 is along with ring gear 11 together a low-speed rotation displacement. In the process, the encoder 9 detects the angular displacement of the output disc 13 through the signal detection shaft 91, compares the angular displacement signal with a set angular displacement standard value of the output disc and feeds back the angular displacement signal to a control circuit of the servo motor, and the servo motor performs corresponding control adjustment to enable the angular displacement of the output disc 13 to be closer to the set angular displacement of the output disc.

As shown in fig. 2, the general structure of the second embodiment of the precision rotary platform of the present invention is the same as that of the first embodiment, except that in this embodiment, the coupling posts 81 of the universal coupling 8 are directly installed in the sliding holes 82, the sliding sleeves 83 are not provided, and the end of each coupling post 81 is provided with a spheroid 812, each sliding hole 82 is provided with a spheroid 821, each end spheroid 812 of each coupling post 81 is arranged in a spheroid cavity 821 of one sliding hole 82, and the spheroid 812 and the spheroid cavity 821 form a spherical fit.

As shown in fig. 3, the third embodiment of the present invention is substantially the same as the first embodiment, except that one end of the output disc 13 in this embodiment is extended out of the upper cover 17, the extended end diameter of the output disc 13 is larger than the outer diameter of the housing, and the extended end bottom of the output disc 13 is installed on the encoder 9, i.e. the encoder 9 is externally disposed outside the housing.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modify the technical solution of the present invention into equivalent embodiments with equivalent variations without departing from the technical solution scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical essence of the present invention should fall within the protection scope of the technical solution of the present invention.

Claims

1. A precise rotary platform comprises a hollow shell and is characterized in that,

a servo motor, a speed reducing mechanism and an output disc (13) are arranged in the shell;

the speed reducing mechanism comprises an eccentric sleeve (14), a cycloid wheel (12) and an inner gear ring (11), wherein the eccentric sleeve is arranged on an output shaft (5) of the servo motor, one end of the cycloid wheel (12) is supported and arranged on the eccentric sleeve through a second bearing (16), the other end of the cycloid wheel is connected with the shell, the cycloid wheel is meshed with the inner gear ring (11) at the same time, the inner gear ring is supported and arranged in the shell through a first bearing (10), and the end part of the inner gear ring is fixedly connected with an output disc (13);

the output disc is connected with an encoder, and an output signal of the encoder is connected into a control circuit of the servo motor.

2. The precision rotary platform of claim 1, wherein the encoder is mounted in the housing, and a signal detection shaft of the encoder is fixedly connected to the output disc.

3. The precision rotary platform of claim 2, wherein the encoder is mounted within the servo motor, and a signal sensing shaft of the encoder is fixedly connected to the output disc through an output shaft of the servo motor.

4. The precision rotary platform of claim 2, wherein one end of the output disc protrudes outside the housing, and the protruding end of the output disc has a diameter larger than the outer diameter of the housing, and the encoder is mounted at the bottom of the protruding end of the output disc.

5. Precision rotary platform according to claim 1, characterized in that the housing comprises a base (1), a support (18) and an upper cover (17) connected in sequence in one piece, the upper cover having a central opening in which the output disc is mounted.

6. Precision rotary platform according to claim 5, characterized in that the support is supported mounted on the output shaft of the servo motor via a fourth bearing (7), the cycloid wheel being connected to the support via a universal joint (8).

7. A precision rotary platform according to claim 5 wherein part of the speed reduction mechanism is embedded in the servo motor.

8. The precision rotary platform according to claim 1, wherein the inner ring of the first bearing and the inner gear ring are of an integral structure, that is, the inner teeth of the inner gear ring are machined on the inner wall of the inner ring of the first bearing.