阅读说明：本技术 一种伺服装置 (Servo device ) 是由 丁弘毅 焦玮玮 王效亮 刘山 周巍峰 陶文凯 高志城 于 2019-09-06 设计创作，主要内容包括：本申请实施例中提供了一种伺服装置,包括：伺服电机；作动杆；旋转变直线运动机构,所述旋转变直线运动机构分别与所述伺服电机和所述作动杆连接,以将所述伺服电机的旋转运动转化为所述作动杆沿所述作动杆的长度方向的直线运动；磁编码器,安装在所述伺服电机的尾部,所述磁编码器用于对所述伺服电机的位移量信息进行测量,以实现对所述伺服电机的闭环控制。本申请实施例解决了传统的伺服系统集成化程度低的技术问题。(The embodiment of the application provides a servo device, including: a servo motor; an actuating rod; the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod; and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor. The embodiment of the application solves the technical problem that the traditional servo system is low in integration degree.)

1. A servo apparatus, comprising:

a servo motor;

an actuating rod;

the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod;

and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor.

2. The servo apparatus of claim 1, further comprising a housing, components disposed within the housing comprising the servo motor, the actuator rod, the rotary-to-linear motion mechanism, and the magnetic encoder; the components disposed within the housing further include:

the control circuit board is used for forming a control signal according to the displacement information and the time information of the servo motor;

the driving module is used for outputting PWM three-phase voltage signals according to the control signals, wherein the PWM three-phase voltage signals are used for driving the servo motor;

and the driving circuit board is used for driving the driving module to work according to the control signal and protecting the driving module.

3. The servo device according to claim 2, wherein the magnetic encoder has a displacement amount information transmission line connected to the drive circuit board;

the drive circuit board is in communication connection with the control circuit board so that the displacement information is transmitted from the magnetic encoder to the control circuit board through the drive circuit board;

the motor is provided with a PWM three-phase voltage signal transmission line, and the PWM three-phase voltage signal transmission line is connected with the driving circuit board;

the driving module is electrically connected with the driving circuit board, so that the PWM three-phase voltage signal is transmitted to the motor from the driving module through the driving circuit board.

4. The servo device according to claim 3, wherein the displacement information transmission line and the PWM three-phase voltage signal transmission line are combined to form a two-in-one connector;

the drive circuit board is provided with a connecting interface, and the two-in-one connector is connected with the connecting interface.

5. The servo device of claim 4, further comprising a heat sink base plate fixed to the inner bottom of the housing, the heat sink base plate covering the inner bottom of the housing;

the driving module is fixed on the heat dissipation bottom plate, and the driving circuit boards are arranged on the driving module at intervals.

6. The servo device as claimed in claim 5, wherein the heat dissipation base is convexly provided with a heat dissipation base, the driving module is in direct contact with the heat dissipation base, and the heat dissipation base is used for increasing the heat dissipation area and the height of the driving module;

the heat dissipation bottom plate and the heat dissipation base are of an integrated structure as a whole.

7. The servo device as claimed in claim 6, wherein the upper surface of the heat dissipation base contacting the driving module is a plane;

and heat radiating fins are formed between the upper surface of the heat radiating base and the heat radiating bottom plate.

8. The servo apparatus according to claim 7, further comprising:

and the heat dissipation bottom plate is fixed with the shell through the vibration damper.

9. The servo device as claimed in claim 1, wherein the servo motors are two, symmetrically arranged on both sides of the actuating rod;

the rotary-to-linear motion mechanism is respectively connected with the two servo motors so as to convert the rotary motion of the two servo motors into the linear motion of the actuating rod along the length direction of the actuating rod.

10. The servo device of claim 9 wherein the rotary-to-linear motion mechanism comprises an N-gear reduction gearbox, a planetary ball screw, a screw nut, and an actuator cylinder; wherein N is an odd number of 3 or more;

the N gear reduction boxes are arranged side by side for transmitting rotary motion, and the two servo motors are respectively installed with the gear reduction boxes at two ends through screws; the connection between the planetary ball screw and the intermediate gear reduction box is in key connection; the planetary ball screw is sleeved with the screw nut, the actuating rod is fixed outside the screw nut, and the actuating cylinder is sleeved outside the actuating rod;

the servo motor rotates, the planetary ball screw is driven to rotate along with the rotation of the planetary ball screw through the gear reduction box, the planetary ball screw is matched with the screw nut to convert the rotation of the planetary ball screw into the linear motion of the screw nut along the actuating cylinder, and therefore the actuating rod is driven to move linearly along the actuating cylinder in a telescopic mode.

Technical Field

The application relates to the technical field of automatic control, in particular to a servo device.

Background

A servo system (also called a servo system) is an automatic control system, which is a feedback control system used to accurately follow or reproduce a certain process. The servo system is an automatic control system which can make the output controlled quantity of the position, the direction, the state and the like of an object follow the arbitrary change of an input target (or a given value).

When the servo system is applied to the field of aircraft guidance and control, the servo system comprises a servo actuator and a control driver. The servo actuator and the control driver are respectively independent and distributed in a split mode and are connected through a cable. The servo actuator is an actuating mechanism, realizes the attitude control of the aircraft by driving a control surface or a spray pipe, and can be mainly divided into three types of pneumatic, hydraulic and electric servo mechanisms. The control driver is a control device of the servo actuator, and in the electric servo mechanism, the received control instruction is converted into a PWM three-phase voltage signal to be transmitted to a motor of the servo actuator, so that the motor is controlled to rotate, and the telescopic control of the servo actuator is realized.

Therefore, the conventional servo system has low integration degree, which is a technical problem that needs to be solved urgently by those skilled in the art.

The above information disclosed in the background section is only for enhancement of understanding of the background of the present application and therefore it may contain information that does not form the prior art that is known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the application provides a servo device to solve the technical problem that a traditional servo system is low in integration degree.

The embodiment of the application provides a servo device, including:

a servo motor;

an actuating rod;

the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod;

and the magnetic encoder is arranged at the tail part of the servo motor and is used for measuring the displacement information of the servo motor so as to realize the closed-loop control of the servo motor.

Due to the adoption of the technical scheme, the embodiment of the application has the following technical effects:

the rotary-to-linear motion mechanism is respectively connected with the servo motor and the actuating rod so as to convert the rotary motion of the servo motor into the linear motion of the actuating rod along the length direction of the actuating rod, namely the actuating rod can do linear motion; because the magnetic encoder is arranged at the tail part of the servo motor, when the servo motor rotates, the magnetic encoder measures the displacement information of the servo motor; the displacement information of the servo motor is controlled output and returns to the input end as control, so that closed-loop control of the servo motor is realized, namely, automatic control of linear motion of the actuating rod is realized. Compared with the prior art in which the closed-loop control is realized by the motor rotary transformer and the sliding type linear displacement sensor, the servo device of the embodiment of the application adopts the magnetic encoder to measure the displacement of the servo motor, and then realizes the closed-loop control mode through the displacement information of the servo motor, so that the required devices are fewer, the installation space is smaller, the integration degree is higher, and the cost is also saved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of a servo apparatus according to an embodiment of the present application;

fig. 2 is a sectional view a-a shown in fig. 1.

Description of reference numerals:

100 of the shell body, and a shell body,

210 servo motor, 220 actuating rod, 230 gear reducer, 240 planetary ball screw,

a screw nut of 250, an actuator cylinder of 260,

310 magnetic encoder, 320 control circuit board, 330 driving module, 340 driving circuit board,

350 of the connection of the interface, are connected,

410 heat dissipation bottom plate, 411 heat dissipation base, 420 shock absorber.

Detailed Description

In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.