阅读说明：本技术 一种直线输出式电动伺服系统 (Linear output type electric servo system ) 是由 张康军 陈永红 李中金 任宏喜 薛州伟 王竞 于 2020-11-25 设计创作，主要内容包括：本发明公开的直线输出式电机伺服系统,涉及伺服控制技术领域,以解决现有电动伺服系统不符合高精度、大行程、小体积要求的问题。其中：包括电机、壳体、电位计、丝杠、螺母以及端盖；螺母安装在丝杠上,丝杠的驱动端与电机的输出端传动连接,其另一端安装在端盖上,并穿出端盖,电位计安装在壳体上,壳体安装在端盖和电机之间,将丝杠和螺母罩设在内,壳体内设置有避免螺母转动的限位槽,螺母卡装在限位槽内,钢丝绳的一端穿过端盖,安装在螺母上。上述电机伺服系统行程更大,体积更小,质量更轻,整个机构组成更加的简单,具有极强的机械加工性、装配性,维护性强,降低了整个系统的制造使用成本,具有很高的实用性。(The invention discloses a linear output type motor servo system, relates to the technical field of servo control, and aims to solve the problem that the conventional electric servo system does not meet the requirements of high precision, large stroke and small volume. Wherein: the device comprises a motor, a shell, a potentiometer, a lead screw, a nut and an end cover; the nut is installed on the lead screw, and the drive end of lead screw is connected with the output transmission of motor, and its other end is installed on the end cover to wear out the end cover, the potentiometer is installed on the casing, and the casing is installed between end cover and motor, including lead screw and nut cover establish, be provided with in the casing and avoid nut pivoted spacing groove, the nut clamps at the spacing inslot, and the end cover is passed to wire rope's one end, installs on the nut. The motor servo system has the advantages of larger stroke, smaller volume, lighter weight, simpler whole mechanism composition, extremely strong machinability and assembly property, strong maintainability, reduction of the manufacturing and using cost of the whole system and very high practicability.)

1. A linear output type motor servo system comprises a motor, and is characterized by further comprising a shell, a potentiometer, a lead screw, a nut and an end cover;

the nut is installed on the lead screw, the drive end of lead screw with the output transmission of motor is connected, and its other end is installed on the end cover, and wear out the end cover, the potentiometer is installed on the casing, the casing install the end cover with between the motor, will the lead screw with the nut cover is established including, be provided with in the casing and avoid nut pivoted spacing groove, the nut clamps the spacing inslot, wire rope's one end is passed the end cover is installed on the nut.

2. The linear output motor servo of claim 1, wherein the motor further comprises a drive gear and a driven gear;

the driving gear is fixedly connected with the output end of the motor, the driven gear is fixedly connected with the driving end of the lead screw, and the driving gear is meshed with the driven gear.

3. The linear output motor servo system of claim 1, wherein the nut further comprises a connecting shaft and a limiting shaft;

the connecting shaft and the limiting shaft are both fixed on the nut, the connecting shaft is fixedly connected with one end of the steel wire rope, and the limiting shaft is clamped in the limiting groove.

4. The linear output motor servo system of claim 3, wherein the stopper groove is provided along a central axis direction of the housing.

5. The linear output motor servo system of claim 4, wherein the limit shaft further comprises a bushing;

the shaft sleeve is sleeved on the limiting shaft, and the shaft sleeve is in contact with the inner wall of the limiting groove.

6. The linear output motor servo system of claim 5, wherein the number of the limiting shafts is two, the two limiting shafts are symmetrically fixed on two sides of the nut, and the connecting shaft is located between the two limiting shafts.

7. The linear output motor servo system of claim 2, wherein the lead screw further comprises a first drive bearing;

the first driving bearing is arranged on the lead screw and close to the driven gear, and the first driving bearing is in contact with the inner side wall of the shell.

8. The linear output motor servo system of claim 7 wherein the lead screw further comprises a second drive bearing;

the second driving bearing is arranged on the lead screw and close to the end cover, and the second driving bearing is in contact with the inner side wall of the shell.

9. A linear output motor servo system according to any one of claims 1 to 8, wherein the motor servo system further comprises a mounting lug;

the mounting lugs are mounted on the housing.

10. The linear output motor servo system of claim 9, wherein an end of the mounting lug remote from the housing is provided with a mounting hole.

Technical Field

The invention relates to the technical field of servo control, in particular to a linear output type electric servo system.

Background

The electric servo belongs to a typical servo control system. The method is mainly applied to the fields of guidance control, robots, ships and the like. In the field of robotics, the rotation of joints is controlled by means of an electric servo system. With the continuous innovation of design technology, the robot gradually replaces manpower to perform autonomous or auxiliary work, so the requirement on a control system is higher and higher. This puts higher demands on the important indexes of the servo mechanism such as precision, stroke, mass and volume. An electric servo control mechanism with large stroke, small volume and reasonable utilization of the limited space of the robot is urgently needed to be developed so as to solve the defects and shortcomings of the prior art.

Disclosure of Invention

The invention aims to provide a linear output type electric servo system, which is used for solving the problem that the existing electric servo system does not meet the requirements of high precision, large stroke and small volume.

In order to achieve the above purpose, the invention provides the following technical scheme:

the linear output type motor servo system comprises a motor, a shell, a potentiometer, a lead screw, a nut and an end cover;

the nut is installed on the lead screw, the drive end of lead screw with the output transmission of motor is connected, and its other end is installed on the end cover, and wear out the end cover, the potentiometer is installed on the casing, the casing install the end cover with between the motor, will the lead screw with the nut cover is established including, be provided with in the casing and avoid nut pivoted spacing groove, the nut clamps the spacing inslot, wire rope's one end is passed the end cover is installed on the nut.

According to the linear output type motor servo system provided by the invention, the potentiometer is coaxially and fixedly connected with the lead screw, the rotation angle of the lead screw can be directly tested, the detection precision is high, the nut is arranged on the lead screw, the steel wire rope is arranged on the nut, and the stroke of the nut moving along the lead screw is the stroke of the steel wire rope, compared with the movement stroke of the existing electric servo system, the movement stroke of the linear output type motor servo system is larger, the shell, the motor, the lead screw, the nut and the like are assembled in a combined installation mode, the size is smaller, the weight is lighter, the linear output type motor servo system meets the development requirements of the field of robots, in addition, the whole mechanism is simpler in composition by adopting the transmission matching mode of the lead screw and the motor, the mechanical processing performance and the assembly performance are extremely strong, the maintenance performance.

Preferably, in the above technical solution, the motor further includes a driving gear and a driven gear;

the driving gear is fixedly connected with the output end of the motor, the driven gear is fixedly connected with the driving end of the lead screw, and the driving gear is meshed with the driven gear.

Preferably, in the above technical solution, the nut preferably includes a connecting shaft and a limiting shaft;

the connecting shaft and the limiting shaft are both fixed on the nut, the connecting shaft is fixedly connected with one end of the steel wire rope, and the limiting shaft is clamped in the limiting groove.

Preferably, in the above technical solution, the limiting groove is disposed along a central axis of the housing.

Preferably, in the above technical solution, the limit shaft further comprises a shaft sleeve;

the shaft sleeve is sleeved on the limiting shaft, and the shaft sleeve is in contact with the inner wall of the limiting groove.

Preferably, in the above technical solution, the number of the limiting shafts is two, the two limiting shafts are symmetrically fixed on two sides of the nut, and the connecting shaft is located between the two limiting shafts.

Preferably, in the above technical solution, the lead screw further includes a first driving bearing;

the first driving bearing is arranged on the lead screw and close to the driven gear, and the first driving bearing is in contact with the inner side wall of the shell.

Preferably, in the above technical solution, the lead screw further includes a second drive bearing;

the second driving bearing is arranged on the lead screw and close to the end cover, and the second driving bearing is in contact with the inner side wall of the shell.

Preferably, in the above technical solution, the motor servo system further includes an installation lug;

the mounting lugs are mounted on the housing.

Preferably, in the above technical solution, one end of the mounting lug, which is far away from the housing, is provided with a mounting hole.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a linear output type motor servo system provided by the present invention;

FIG. 2 is a schematic view of the combination of the lead screw, nut, motor, etc. of FIG. 1;

fig. 3 is a schematic view of the housing of fig. 1.

Reference numerals:

the device comprises a shell 1, a motor 2, a driving gear 3, a driven gear 4, a driving bearing 5, a lead screw 6, a nut 7, a steel wire rope 8, an end cover 9, a potentiometer 10 and a support lug 11.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 3, the linear output type motor 2 servo system provided by the present invention includes a motor 2, a housing 1, a potentiometer 10, a lead screw 6, a nut 7 and an end cap 9;

the nut 7 is arranged on the screw rod 6, the driving end of the screw rod 6 is in transmission connection with the output end of the motor 2, the other end of the screw rod 6 is arranged on the end cover 9 and penetrates out of the end cover 9, the potentiometer 10 is arranged on the shell 1, the shell 1 is arranged between the end cover 9 and the motor 2, the screw rod 6 and the nut 7 are covered in the shell, a limiting groove for preventing the nut 7 from rotating is arranged in the shell 1, the nut 7 is clamped in the limiting groove, and one end of the steel wire rope 8 penetrates through the end cover 9 and is arranged on the.

In the specific implementation:

motor 2 links firmly with the driving gear 3 is coaxial, through the meshing of driving gear 3 and driven gear 4, inputs motor 2's power to lead screw 6, and then transmits nut 7. Because threaded connection is between nut 7 and lead screw 6, be provided with in the casing 1 and avoid 7 pivoted spacing grooves of screw for nut 7 can not take place to rotate along with lead screw 6, only can follow lead screw 6 motion, and nut 7 can drive wire rope 8 and remove when following lead screw 6 motion. The potentiometer 10 is attached to the housing 1, and can effectively detect the rotation angle of the lead screw 6.

According to the linear output type motor servo system provided by the invention, the potentiometer is coaxially and fixedly connected with the lead screw, the rotation angle of the lead screw can be directly tested, the detection precision is high, the nut is arranged on the lead screw, the steel wire rope is arranged on the nut, and the stroke of the nut moving along the lead screw is the stroke of the steel wire rope, compared with the movement stroke of the existing electric servo system, the movement stroke of the linear output type motor servo system is larger, the shell, the motor, the lead screw, the nut and the like are assembled in a combined installation mode, the size is smaller, the weight is lighter, the linear output type motor servo system meets the development requirements of the field of robots, in addition, the whole mechanism is simpler in composition by adopting the transmission matching mode of the lead screw and the motor, the mechanical processing performance and the assembly performance are extremely strong, the maintenance performance.

As an embodiment, the motor 2 further includes a driving gear 3 and a driven gear 4; the driving gear 3 is fixedly connected with the output end of the motor 2, the driven gear 4 is fixedly connected with the driving end of the screw rod 6, and the driving gear 3 is meshed with the driven gear 4.

Through the driving gear 3 and the driven gear 4 that set up, the power of 2 outputs of motor can be through driving gear 3 and driven gear 4 transmission to lead screw 6 on, and then drive lead screw 6 and rotate. And the power output is more stable by adopting a gear transmission mode.

As an embodiment, the nut 7 preferably includes a connecting shaft and a limiting shaft; the connecting shaft and the limiting shaft are both fixed on the nut 7, the connecting shaft is fixedly connected with one end of the steel wire rope 8, and the limiting shaft is clamped in the limiting groove.

The limiting shaft is clamped in the limiting groove and moves along the extending direction of the limiting groove. Because threaded connection is between nut 7 and lead screw 6, spacing axle is installed on nut 7 to clamp in the spacing inslot, when making lead screw 6 rotate, nut 7 can not take place to rotate, only can move along spacing axle extending direction. The screw rod 6 rotates forwards or reversely to drive the nut 7 to be far away from or close to the motor 2, and further drive the steel wire rope 8 to be far away from or close to the motor 2.

As an implementation manner, the limiting groove is arranged along the central axis direction of the housing 1.

When the nut 7 drives the steel wire rope 8 to move, the nut can only move along the central axis direction of the shell 1, any deviation cannot occur, and the traction effect of the servo system of the motor 2 is ensured.

As an embodiment, the limiting shaft further comprises a shaft sleeve (not shown); the shaft sleeve is sleeved on the limiting shaft and contacts with the inner wall of the limiting groove.

The arrangement of the shaft sleeve enables rolling friction to be formed between the shaft sleeve and the inner wall of the limiting groove, friction force is smaller, and the traction accuracy of the motor 2 servo system is effectively improved.

As an implementation mode, there are two limiting shafts, the two limiting shafts are symmetrically fixed on two sides of the nut 7, and the connecting shaft is located between the two limiting shafts.

Spacing axle and connecting axle interval set up, can be better distinguish, two spacing axles adopt the form that the symmetry set up for two spacing axle atress are more even stable.

As an embodiment, the screw 6 further comprises a first drive bearing 5; a first drive bearing 5 is mounted on the lead screw 6 near the driven gear 4, the first drive bearing 5 being in contact with the inner side wall of the housing 1. Further, the screw 6 further comprises a second driving bearing (not shown); a second drive bearing is mounted on the lead screw 6 near the end cap 9 and contacts the inner side wall of the housing 1.

First drive bearing 5 and second drive bearing's setting for motor 2 when drive lead screw 6 rotates, 6 more stable of rotation of lead screw, can not take place unexpected rocking, has ensured 2 servo of motor's steady operation.

As an implementation mode, the servo system of the motor 2 further comprises a mounting lug 11; the mounting lugs 11 are mounted on the housing 1. Further, one end of the mounting lug 11, which is far away from the housing 1, is provided with a mounting hole.

The installation of installation journal stirrup 11 has made things convenient for the installation of motor 2 and casing 1 etc. fixed to, what adopt between end cover 9, casing 1, motor 2 and installation journal stirrup 11 is the form of detachable installation such as bolt, when aggregate erection, dismantlement and maintenance, more convenience. The installation of installation journal stirrup 11 on the mounting hole has made things convenient for the installation of installation journal stirrup 11 fixed, installation convenient and fast more.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

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 easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.