阅读说明：本技术 一种回转执行器 (Rotary actuator ) 是由 靳义坤 于 2021-09-29 设计创作，主要内容包括：本发明公开了一种回转执行器,属于执行器技术领域。主要包括箱体、伺服电机、行星机构以及齿轮组,行星机构包括转动连接于箱体上的行星架,行星架上设有用于与负载配合相连的输出端,齿轮组用于通过齿轮传动将伺服电机与行星机构连接,以驱动输出端转动。本发明的回转执行器,能够满足高输出转速的要求。(The invention discloses a rotary actuator, and belongs to the technical field of actuators. The planetary mechanism comprises a planetary carrier which is rotatably connected onto the box body, an output end which is used for being connected with a load in a matched mode is arranged on the planetary carrier, and the gear set is used for connecting the servo motor with the planetary mechanism through gear transmission to drive the output end to rotate. The rotary actuator can meet the requirement of high output rotating speed.)

1. A rotary actuator, characterized by: including box, servo motor, planetary mechanism and gear train, planetary mechanism including rotate connect in planet carrier on the box, be equipped with on the planet carrier and be used for the output that links to each other with the load fit, planetary mechanism still including connect in sun gear, a plurality of planet wheel and worm wheel on the box, a plurality of planet wheel are followed the circumference distribution of planet carrier set up in on the planet carrier, and a plurality of planet wheel with sun gear meshing cooperation, the worm wheel is the circle column structure, a plurality of planet wheel with the inside wall meshing cooperation of worm wheel, rotary actuator still including rotate connect in on the box and with the worm that the worm wheel cooperation is connected, the gear train is used for through gear transmission will servo motor with planetary mechanism connects, with the drive the output rotates.

2. A rotary actuator according to claim 1, wherein: and meshing teeth corresponding to the planet wheels are arranged on the inner side wall of the worm wheel, and the planet wheels are meshed with the meshing teeth on the worm wheel.

3. A rotary actuator according to claim 1, wherein: the gear set comprises a driving wheel, a driven wheel and an inertia wheel, the driving wheel is installed on an output shaft of the servo motor, the driven wheel is arranged on the center wheel, the inertia wheel is connected to the box body in a rotating mode, and the inertia wheel is meshed with the driving wheel and the driven wheel.

4. A rotary actuator according to claim 3, wherein: the rotary actuator further comprises a controller, an electromagnetic band-type brake, a first encoder and a second encoder.

5. A rotary actuator according to claim 4, wherein: the controller is electrically connected with the servo motor.

6. A rotary actuator according to claim 4, wherein: the electromagnetic band-type brake is used for controlling the gear set to start and stop.

7. A rotary actuator according to claim 6, wherein: the electromagnetic band-type brake is installed on the box body and is correspondingly matched with the inert wheel.

8. A rotary actuator according to claim 4, wherein: the first encoder is electrically connected with the controller and used for monitoring the rotation angle and the rotation speed of the servo motor and feeding back the rotation angle and the rotation speed to the controller, and the second encoder is electrically connected with the controller and used for monitoring the rotation angle and the rotation speed of the planet carrier and feeding back the rotation angle and the rotation speed to the controller.

Technical Field

The invention relates to the technical field of actuators, in particular to a rotary actuator.

Background

A rotary actuator is a drive device for providing a rotary motion. The existing rotary actuator generally utilizes worm gear transmission to decelerate a motor or a cylinder and other driving sources, and simultaneously amplifies the output torque of the driving sources, but because the worm gear transmission efficiency is low, the abrasion is serious, and the heat productivity is large, the existing rotary actuator can not meet the requirement of high output rotating speed.

It is therefore necessary to provide a new rotary actuator.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: provided is a rotary actuator which can meet the requirement of high output speed.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a rotary actuator, includes box, servo motor, planetary mechanism and gear train, planetary mechanism including rotate connect in planet carrier on the box, be equipped with on the planet carrier and be used for the output that links to each other with the load fit, the gear train is used for through gear drive with servo motor with planetary mechanism connects, in order to drive the output rotates.

Further, the planetary mechanism further comprises a central wheel, a plurality of planet wheels and a worm wheel which are connected to the box body.

Furthermore, a plurality of planet wheels along the circumference distribution of planet carrier set up in on the planet carrier to a plurality of planet wheels with the centre wheel meshing cooperation, the worm wheel is the circle column structure, a plurality of planet wheels with the inside wall meshing cooperation of worm wheel, rotary actuator still including rotate connect in on the box and with the worm wheel cooperation is connected worm.

Furthermore, the inner side wall of the worm wheel is provided with meshing teeth corresponding to the planet wheels, and the planet wheels are meshed with the meshing teeth on the worm wheel.

Further, the gear set comprises a driving wheel, a driven wheel and an idle wheel, the driving wheel is mounted on an output shaft of the servo motor, the driven wheel is arranged on the central wheel, the idle wheel is connected to the box body in a rotating mode, and the idle wheel is meshed with the driving wheel and the driven wheel.

Furthermore, the rotary actuator further comprises a controller, an electromagnetic band-type brake, a first encoder and a second encoder.

Further, the controller is electrically connected with the servo motor.

Further, the electromagnetic band-type brake is used for controlling the gear set to start and stop.

Further, the electromagnetic band-type brake is installed on the box body and is correspondingly matched with the inert wheel.

Furthermore, the first encoder is electrically connected with the controller and used for monitoring the rotation angle and the rotation speed of the servo motor and feeding back the rotation angle and the rotation speed to the controller, and the second encoder is electrically connected with the controller and used for monitoring the rotation angle and the rotation speed of the planet carrier and feeding back the rotation angle and the rotation speed to the controller.

The invention has the beneficial effects that: the rotary actuator comprises a box body, a servo motor, a planetary mechanism and a gear set, wherein the planetary mechanism comprises a planetary carrier which is rotationally connected to the box body, an output end which is connected with a load in a matched mode is arranged on the planetary carrier, and the gear set is used for connecting the servo motor with the planetary mechanism through gear transmission so as to drive the output end to rotate.

Drawings

The invention is further illustrated by the following figures and examples.

In the figure: fig. 1 is a perspective view of a rotary actuator of the present invention.

Fig. 2 is a cross-sectional view of the rotary actuator of the present invention shown in fig. 1.

Fig. 3 is a schematic diagram of the positional relationship between the planetary mechanism, the gear set and the worm in the rotary actuator of the present invention.

Fig. 4 is an exploded view of the planetary mechanism in the rotary actuator of the present invention.

Wherein, in the figures, the respective reference numerals:

100. a box body; 200. a servo motor.

300. A planetary mechanism; 310. a center wheel; 320. a planet carrier; 321. an output end; 322. a mandrel; 330. a planet wheel; 340. a worm gear; 341. the teeth are engaged.

400. A gear set; 410. a drive wheel; 420. a driven wheel; 430. an idler wheel.

500. A controller; 600. an electromagnetic band-type brake; 700. a first encoder; 800. a second encoder; 900. a worm; 910. a handwheel.

Detailed Description

The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.

As shown in fig. 1 and 2, the present invention provides a rotary actuator, which includes a box 100, a servo motor 200, and a planetary mechanism 300, wherein the servo motor 200 drives the planetary mechanism 300 in the box 100 to act, so as to drive a load to make a rotary motion.

Referring to fig. 2, the rotary actuator further includes a gear set 400, a controller 500, an electromagnetic band-type brake 600, a first encoder 700, a second encoder 800, and a worm 900, which are disposed in the housing 100.

Referring to fig. 2, the servo motor 200 is installed in the casing 100, and in the present embodiment, the servo motor 200 is an ac servo motor.

Referring to fig. 3 and 4, the planetary mechanism 300 includes a center wheel 310, a planet carrier 320, a planet wheel 330, and a worm wheel 340; the center wheel 310 is rotatably connected to the casing 100, and more precisely, in the present embodiment, the center wheel 310 is parallel to the output shaft of the servo motor 200; the planet carrier 320 is rotatably connected to the box body 100 and is arranged opposite to the central wheel 310, an output end 321 is integrally arranged at one end of the planet carrier 320 extending out of the box body 100, the output end 321 is used for being connected with a load in a matching manner so as to drive the load to operate, and in addition, a mandrel 322 is integrally arranged at one end of the planet carrier 320 far away from the output end 321; the planetary gear 330 has a plurality of planetary gears 330, the plurality of planetary gears 330 are distributed along the circumference of the planet carrier 320 and disposed at one end of the planet carrier 320 close to the central gear 310, the plurality of planetary gears 330 are respectively rotatably connected to the planet carrier 320, and the plurality of planetary gears 330 surround the outer side of the central gear 310 and are engaged with the central gear 310.

Referring to fig. 4, the worm wheel 340 is in a ring-shaped structure, engaging teeth 341 corresponding to the planet wheels 330 are arranged on an inner side wall of the worm wheel 340 along a circumferential direction of the worm wheel 340, the worm wheel 340 is in rotating fit with the box body 100, the worm wheel 340 is sleeved outside the plurality of planet wheels 330, the plurality of planet wheels 330 are in engaging fit with the engaging teeth 341 on an inner side of the worm wheel 340, and in this embodiment, the engaging teeth 341 on the worm wheel 340 are straight teeth that are matched with the planet wheels 330, but not limited thereto.

Referring to fig. 2 and 3, the worm 900 is rotatably connected to the case 100 and is cooperatively connected with the worm wheel 340, so that when the servo motor 200 drives the center wheel 310 to rotate, since the worm wheel-worm structure formed by the worm 900 and the worm wheel 340 has a reverse locking characteristic, the worm wheel 340 is in a fixed state, and at this time, the center wheel 310 rotates to drive the planet wheel 330 to rotate in the circumferential direction of the worm wheel 340 through meshing, so as to drive the planet carrier 320 to rotate synchronously, and the planet carrier 320 decelerates and increases torque to output.

In one embodiment, the worm 900 is provided with a handwheel 910 extending to a position outside the casing 100, so that an operator can control the rotation of the worm 900 in the manual mode.

The gear set 400 is used for driving and connecting the servo motor 200 with the planetary mechanism 300, and as shown in fig. 3, the gear set 400 includes a driving wheel 410, a driven wheel 420 and an idler wheel 430; the driving wheel 410 is fixedly installed on the output shaft of the servo motor 200, the driven wheel 420 is coaxially disposed on the center wheel 310 of the planetary mechanism 300, the idle wheel 430 is rotatably connected to the casing 100, and the idle wheel 430 is located between the driving wheel 410 and the driven wheel 420, and the idle wheel 430 is engaged with the driving wheel 410 and the driven wheel 420, more precisely, the outer diameter of the driven wheel 420 is greater than that of the driving wheel 410, so that the rotation speed of the servo motor 200 is reduced after being output through the driven wheel 420, and the torque is increased.

Through the scheme, the rotary motion of the servo motor 200 is transmitted to the planetary mechanism 300 through the gear set 400 and is output through the output end 321 of the planetary mechanism 300, and compared with the traditional worm gear transmission, the transmission efficiency is high, the heat generated by operation is small, and high-speed operation can be performed, so that the requirement of high output rotating speed is met.

The electromagnetic band-type brake 600 is used for controlling the start and stop of the gear set 400, and in a specific embodiment, the electromagnetic band-type brake 600 is installed on the box 100 and correspondingly matched with the idler wheel 430, and more specifically, the electromagnetic band-type brake 600 is locked when power is off and released when power is on. Therefore, when the valve actuator is powered on to operate, the electromagnetic band-type brake 600 is powered on to release the inertia wheel 430 in the automatic release gear set 400, and the servo motor 200 in the valve actuator can normally output torque to the planetary mechanism 300; when the valve actuator is powered off, the electromagnetic band-type brake 600 locks the inertia wheel 430 in the gear set 400, so that the center wheel 310 in the planetary mechanism 300 is fixed, and the worm 900 is rotated to drive the worm wheel 340 to rotate, so that the planet carrier 320 can be driven to rotate, the manual control output end 321 can be rotated, and compared with the traditional manual driving mechanism, the manual control mechanism is simple in structure, can prevent false start, and protects personal safety.

As shown in fig. 2, the controller 500 is installed in the casing 100 and electrically connected to the servo motor 200, so as to control the servo motor 200 by three methods, i.e., position, speed and torque.

Referring to fig. 2, a first encoder 700 is mounted on the box 100 corresponding to the servo motor 200, the first encoder 700 is electrically connected to the controller 500 for monitoring the rotation angle and the rotation speed of the servo motor 200 and feeding back the rotation angle and the rotation speed to the controller 500, and specifically, the spindle 322 on the planet carrier 320 passes through the center wheel 310 and is connected to the second encoder 800, so that the rotation angle and the rotation speed signals of the planet carrier 320 are transmitted to the second encoder 800 through the spindle 322.

Referring to fig. 2, the second encoder 800 is mounted on the casing 100 corresponding to the planet carrier 320 in the planetary mechanism 300, the second encoder 800 is electrically connected to the controller 500 for monitoring the rotation angle and the rotation speed of the planet carrier 320 and feeding back to the controller 500, specifically, the spindle 322 on the planet carrier 320 passes through the central wheel 310 and is connected to the second encoder 800, so that the rotation angle and the rotation speed signals of the planet carrier 320 are transmitted to the second encoder 800 through the spindle 322.

Due to the abrasion of parts and the existence of gaps between teeth, when the servo motor 200 drives the planetary mechanism 300 to rotate through the transmission of the gear set 400, a certain error exists, and by adopting the scheme, in the rotary actuator of the invention, the controller 500 can compare the received monitoring results of the first encoder 700 and the second encoder 800 to obtain the transmission error so as to eliminate the gaps, thereby ensuring the operation precision of the rotary actuator while meeting the requirement of high rotating speed.

In addition, the controller 500 controls the servo motor 200 in three modes of position, speed and moment, so that the rotary actuator can be subjected to stroke control and moment control or simultaneously, and the control accuracy of the rotary actuator is improved; for example, the servo motor 200 may be controlled by the controller 500 to operate to a set number of turns or positions first, and then to be controlled by torque, and the servo motor 200 is continuously operated until the load value reaches the set requirement, so as to determine that the servo motor has been operated in place.

Moreover, since the controller 500 can monitor the load state of the servo motor 200, when the rotary actuator needs to be suddenly stopped when operating at a high speed or the load is reversely rotated, the controller 500 can monitor the load value of the servo motor 200 and correspondingly output a certain amount of current to the electromagnetic band-type brake 600, so that the electromagnetic band-type brake 600 can prevent the gear set 400 from rotating with a proper amount of resistance.

The rotary actuator of the invention therefore has at least the following advantageous effects:

the rotary actuator comprises a box body 100, a servo motor 200, a planetary mechanism 300 and a gear set 400, wherein the planetary mechanism 300 comprises a planetary carrier 320 which is rotationally connected to the box body 100, an output end 321 which is matched and connected with a load is arranged on the planetary carrier 320, and the gear set 400 is used for connecting the servo motor 200 and the planetary mechanism 300 through gear transmission so as to drive the output end 321 to rotate.

In light of the foregoing description of preferred embodiments in accordance with the invention, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.