CN207304227U - A kind of modularization servomotor - Google Patents

SUMMERY OF THE UTILITY MODEL

The utility model provides a modularization servo motor places the inside at the casing through the driver with this body coupling of servo motor, can make modularization servo motor integration, and the user of being convenient for uses. Simultaneously, encapsulate the driver in the casing for modularization servo motor can use in liquid environment, and in addition, such mode of setting up still makes modularization servo motor's whole volume less, can use in narrow and small environment.

The utility model provides a modularization servo motor, include: the motor comprises a motor body, a shell and an end cover;

the shell is provided with an opening and is connected with the end cover spigot through the opening;

the motor body is accommodated in the shell;

the end cover is provided with a driver, and the driver is accommodated in the shell; the driver is electrically connected with the stator of the motor body. According to the modularized servo motor provided by the embodiment, the driver is arranged in the shell, so that the size of the whole modularized servo motor is smaller.

Optionally, the driver includes: the power circuit board is provided with a transistor, wherein the transistor is a silicon carbide transistor. Compared with the common transistor, the silicon carbide transistor has smaller volume, and the power circuit board formed by the silicon carbide transistor has smaller volume, so that the volume of the whole driver can be reduced, and the driver can be placed in the housing 1 of the modular servo motor.

Optionally, the driver further includes: the power supply circuit board, the control circuit board, mutual electric connection between the power circuit board.

Optionally, a silica gel heat-conducting plate is arranged between the end cover and the driver. Set up the silica gel heat-conducting plate, be favorable to the heat transfer to the end cover that produces the driver to accelerate the radiating rate of whole motor.

Optionally, the modular servo motor further comprises: a rotor shaft;

a first end of the rotor shaft is disposed inside the stator to rotate the rotor shaft with a rotating magnetic field generated by the stator;

a second end of the rotor shaft extends out of the housing.

Optionally, the modular servo motor further comprises: a Hall encoder;

the first end of the rotor shaft is provided with a polarized magnet;

the Hall encoder is arranged between the polarized magnet and the driver and used for calculating the rotating speed of the rotor shaft according to the detected polarity of the polarized magnet;

or, further comprising: an incremental encoder;

a grating wheel is arranged at the first end of the rotor shaft; .

The incremental encoder is arranged between the grating wheel and the driver and is used for detecting the rotating speed of the rotor shaft or the position of the rotor.

Optionally, the housing further comprises an electrostatic magnet, a moving iron and a meshing piece;

the electrostatic magnet, the moving iron and the meshing piece are sequentially sleeved on the rotor shaft;

the gear engaging piece is fixedly connected with the rotor shaft;

the electrostatic magnet is fixedly connected with the inner wall of the shell;

the movable iron is connected with the electrostatic magnet through an elastic element, so that the movable iron is in contact with the meshing piece when the elastic element is in a reset state, and the movable iron is separated from the meshing piece when the elastic element is in a deformation state. After the static magnet, the moving iron and the meshing piece are arranged, when the driver is powered off suddenly, the rotor shaft can stop rotating, so that the driver is prevented from being powered off accidentally, and the rotor shaft of the motor can rotate continuously due to inertia to cause danger.

Optionally, a clamping groove matched with the movable iron is arranged on the surface of one side of the movable iron, which is in contact with the meshing piece, so that the movable iron is meshed with the meshing piece when in contact. Therefore, a better clamping effect is achieved, and the purpose of rapidly stopping the rotation of the rotor shaft when the driver is suddenly powered off is achieved.

Optionally, the hall encoder is electrically connected to the driver. And transmitting the detected output parameter of the rotor shaft to the driver, so that the driver can adjust the output electric parameter of the stator according to the output parameter of the motor, and the output parameter of the motor is corrected.

Optionally, the sealing device further comprises a waterproof sealing ring, wherein the waterproof sealing ring is arranged at the opening of the shell, so that the end cover is hermetically connected with the opening of the shell. Make modularization servo motor have waterproof effect to can use in the liquid environment.

The utility model provides a modularization servo motor's technological effect is: through placing the driver in the shell in, and the stator electric connection of driver and motor body, make the user need not when using modularization servo motor, pass through the connection of electric lines with motor body and driver, make the user more convenient when using modularization servo motor. Simultaneously, owing to with the integrative setting of modularization servo motor's body and driver, can reduce modularization servo motor's volume, make the utility model provides a modularization servo motor can use in narrow and small environment. In addition, because driver and motor body all encapsulate inside the casing for modular servo motor can use under the liquid environment.

Detailed Description

Fig. 1 is a structural diagram of a modular servo motor according to an exemplary embodiment of the present invention.

As shown in fig. 1, the present embodiment provides a modular servo motor, including: motor body, casing 1, end cover 2.

An opening is arranged on the shell 1, and the shell 1 is connected with a spigot of the end cover 2 through the opening; .

Wherein the contour of the opening and the contour of the end cap 2 may be circular.

In particular, the method comprises the following steps of,

a groove can be formed in the opening, a boss matched with the groove is arranged on the end cover 2, and the end cover 2 can be clamped at the opening of the shell 1 in a groove and boss matching mode.

Alternatively, in order to seal the modular servo motor, a sealing process may be performed at the connection between the housing 1 and the end cap 2 when the modular servo motor is assembled. For example, a gasket for waterproofing is provided at a contact position of the housing 1 and the end cap 2, so that the servo motor can be applied in a liquid environment.

In actual use, the motor body is accommodated in the housing 1.

The motor body comprises a stator and a rotor, and the stator can generate a rotating magnetic field after being electrified. The rotor is arranged inside the stator and can rotate along with the rotating magnetic field.

Specifically, the end cap 2 is provided with a driver 3, and the driver 3 is accommodated in the housing 1.

When end cover 2 is connected with casing 1, driver 3 holding in the inside of casing 1 sets up modularization servo motor's body and driver 3 an organic whole, can reduce modularization servo motor's volume, makes modularization servo motor can use in narrow and small environment. Simultaneously, all encapsulate modularization servo motor's body and driver 3 in the casing for modularization servo motor has good waterproof nature. In addition, the driver 3 is arranged in the shell 1, so that the electromagnetic interference of the external electromagnetic environment to the driver 3 can be reduced, and the modularized servo motor can operate more stably.

Furthermore, a water-proof device may be provided at a position where the rotor shaft protrudes from the housing 1.

The driver 3 is electrically connected with the stator of the motor body. The driver 3 is used for supplying electric energy to the stator so as to enable the stator to generate a rotating magnetic field. The modularization servo motor that this embodiment provided need not rethread electric wire connection motor body and driver 3 when using modularization servo motor, and the user of being convenient for uses. The driving mode of the driver 3 may be set as vector driving, so that the modular servo motor provided by this embodiment can output a large torque.

The modularized servo motor provided by the embodiment comprises: motor body, casing, end cover. An opening is formed in the shell, and the shell is connected with the end cover seam allowance through the opening; . And the motor body is accommodated in the shell, the end cover is provided with the driver, the driver is accommodated in the shell, and meanwhile, the driver is electrically connected with the stator of the motor body. The modularization servo motor that this embodiment provided places the driver in the shell in, and the stator electric connection of driver and motor body need not when using modularization servo motor, still need pass through the connection of electric lines with motor body and driver, makes the user more convenient when using modularization servo motor. Simultaneously, owing to with integrative the setting of modularization servo motor's body and driver, can reduce modularization servo motor's volume for modularization servo motor can use in narrow and small environment. In addition, because driver and motor body all encapsulate inside the casing for modular servo motor can use under the liquid environment.

Fig. 2 is a block diagram of a modular servo motor according to another exemplary embodiment of the present invention.

As shown in fig. 2, on the basis of the above embodiment, the present embodiment provides a modular servo motor, in which the driver 3 includes: and a power circuit board 31 provided with transistors, wherein the transistors provided on the power circuit board 31 are all silicon carbide transistors.

The power circuit board 31 is used for adjusting the current, the voltage and the frequency of the three-phase power output by the driver 3, and the rotating magnetic field generated by the stator can be changed by changing the output result of the driver 3, so that the rotating parameter of the rotor rotating along with the rotating magnetic field can be adjusted.

Compared with the common transistor, the silicon carbide transistor has smaller volume, and the power circuit board 31 formed by the silicon carbide transistor has smaller volume, so that the volume of the whole driver 3 can be reduced, and the driver 3 can be placed in the housing 1 of the modular servo motor.

In addition, the heat loss of the silicon carbide transistor is very small, and the silicon carbide transistor does not generate much heat energy in normal operation. Therefore, when the heat dissipating means for dissipating heat is provided on the driver 3, only a simple heat dissipating means having a small size, such as a small fan, can be provided. The simple heat dissipation device can also reduce the size of the driver 3, and further reduce the size of the whole modularized servo motor.

Specifically, the driver 3 further includes: the power circuit board 32, the control circuit board 33, and the power circuit board 31 are electrically connected to each other. Namely, the power circuit board 32, the control circuit board 33 and the power circuit board 31 are electrically connected to each other. The control circuit board can be an ARM circuit board or a DSP circuit board.

Further, the power circuit board 32 is used for connecting an external power source, so that the driver 3 can obtain power while transmitting the power to the control circuit board 33 and the power circuit board 31. The control circuit board 33 is used for controlling the power circuit board 31 to adjust the output parameters.

Alternatively, parameters of the control circuit board 33 may be set so as to change the output parameters of the modular servo motor. For example, the setting parameters of the control circuit board 33 are changed to make the output speed of the modular servo motor 1000 r/min.

In practical application, the power circuit board 31, the power circuit board 32 and the control circuit board 33 can be stacked, and a space is reserved between the circuit boards, so that short circuit caused by direct contact between the circuit boards is avoided. For example, the power circuit board 32 is on the uppermost layer, the control circuit board 33 is on the middle layer, the power circuit board 31 is on the lowermost layer, and the relative positions of the circuit boards may be set according to requirements, which is not limited in this embodiment. And, the circuit boards are connected to each other by a connector, which is preferably an insulating connector, for supporting the circuit boards at the upper and middle portions. The three circuit boards are stacked, so that the structure of the driver 3 can be more compact, and the driver 3 can be conveniently placed in the shell 1.

Optionally, a silica gel heat conducting plate 4 is disposed between the end cover 2 and the driver 3. The end cover 2 is exposed to the external environment, the driver 3 is arranged inside the shell 1, heat generated by the driver 3 can be led out through the end cover 2, and the silica gel heat conduction plate 4 is arranged between the end cover 2 and the driver 3, so that heat generated by the driver 3 can be more favorably transferred to the end cover 2.

Furthermore, the outline of the silica gel heat-conducting plate 4 is the same as that of the rear end cover 2, and the silica gel heat-conducting plate 4 with a larger area is arranged, so that the heat generated by the driver 3 can be uniformly conducted to the whole plane of the end cover 2.

In practical applications, the modular servo motor provided in this embodiment further includes a rotor shaft 5, and the first end 51 of the rotor shaft 5 is disposed inside the stator, so that the rotor shaft 5 rotates along with the rotating magnetic field generated by the stator. The second end 52 of the rotor shaft 5 protrudes out of the housing 1.

After the motor stator is electrified, a magnetic field is generated around the motor stator, an induced electromotive force is generated in the magnetic field by the rotor, current passes through a closed-loop rotor circuit, and a magnetic field is also formed around the rotor; repulsion occurs when the two magnetic fields are homopolar; in the process of continuously changing the phase sequence of the stator power supply of the motor, the magnetic field of the stator is also continuously changed to drive the rotor shaft 5 to rotate continuously.

Specifically, the second end 52 of the rotor shaft 5 is used for connecting an external device, and the other device is driven to rotate by the rotation of the rotor shaft 5.

The housing 1 may be waterproofed at a position where the first end 51 protrudes without interfering with the rotation of the rotor shaft 5.

Optionally, the modular servo motor provided in this embodiment further includes a hall encoder 6. The first end 51 of the rotor shaft 5 is provided with a polarized magnet 7, and the hall encoder 6 is provided between the polarized magnet 7 and the actuator 3.

Wherein, rotor shaft 5 drives the polarized magnet 7 who sets up at first end 51 rotatory when rotatory, and hall encoder 6 can detect the polarity of polarized magnet 7 to obtain the number of revolutions of polarized magnet, also be exactly obtain the number of revolutions of rotor shaft 5, hall encoder 6 can calculate the rotational speed of rotor shaft 5 according to the number of revolutions of acquireing. Specifically, the hall encoder 6 has the characteristic of high accuracy in calculating the rotation speed of the rotor shaft 5, for example, the hall encoder 6 of 2^14 is adopted, so that the position points averagely divided into 16384 positions on the position of one rotation circle of the rotor shaft 5 can be detected, that is, the 16384 positions on the circumference of 360 degrees can be detected, and the rotation position of the motor can be monitored more accurately.

The volumes of the polarized magnet 7 and the Hall encoder 6 are smaller, and by adopting the arrangement mode, the internal space of the shell 1 can be saved, so that the volume of the whole modularized servo motor is further reduced. Simultaneously, be provided with hall encoder 6 in the inside motor for the modularization servo motor that this embodiment provided can 360 degrees rotations when using as servo steering wheel, and need not receive traditional encoder restriction, leads to modularization servo motor must be at certain rotation angle internal rotation. Moreover, the Hall encoder 6 does not need to be in contact with the rotor shaft 5 inside the motor, so that the service life of the Hall encoder 6 is longer.

Specifically, the hall encoder 6 is also electrically connected to the driver 3. For sending the calculated rotational speed of the rotor shaft 5, and the rotated position to the driver 3. Specifically, the control circuit board 33 in the driver 3 receives the rotation speed sent by the hall encoder 6, and the control circuit board 33 controls the power circuit board 31 to adjust the output parameter according to the parameter set by the user and the actual rotation speed and position of the rotor shaft 5, so as to adjust the rotation parameter output by the modular servo motor. The modular servo motor provided by the embodiment can perform closed-loop control according to the speed and the position output by the motor, and in addition, a sensor for detecting the output torque of the motor can be arranged and connected with the driver 3, so that the full closed-loop control of the torque, the speed and the position is achieved.

Alternatively, the method may further include: an incremental encoder; a grating wheel is arranged at the first end 51 of the rotor shaft 5.

An incremental encoder is arranged between the grating wheel and the drive 3 for detecting the rotational speed or position of the rotor shaft 5. The modularization servo motor that this embodiment provided sets up driver 3 in the inside of casing 1 for the modularization servo motor volume that this embodiment provided is littleer, and has waterproof effect, moreover, adopts hall encoder 6 to gather rotor shaft 5's rotation parameter, control modularization servo motor that can be more accurate. Therefore, the modular servo motor provided by the embodiment can be applied to a gate switch actuating mechanism of an AFC automatic fare collection system, a core component of a small robot, a chemical flow execution valve, a small manipulator or a mechanical arm, various types of gate switch actuating mechanisms, a multi-axis three-dimensional printer, an engraving machine, a laser cutting machine and the like, can also be applied to running equipment such as vehicle-mounted, airborne and naval precision motion servo actuating mechanisms, and can also form a remote follow-up actuating mechanism. It should be noted that, the above descriptions are only for illustrating that the structure of the modular servo motor provided in the present embodiment is more complete, and therefore the modular servo motor provided in the present embodiment can be applied to the above scenarios, but the modular servo motor provided in the present embodiment is not only suitable for being used in the above scenarios, but also can be set in other scenarios where the modular servo motor needs to be set.

In addition, a fixing device 61 can be arranged in the housing 1 for placing the hall encoder 6, and preferably, the hall encoder 6 is fixedly arranged on the fixing device 61, so that the hall encoder is prevented from being damaged due to vibration of the motor when the modular servo motor is used.

Further, the modularization servo motor that this embodiment provided still includes brake equipment, and this brake equipment sets up in the inside of casing 1, specifically includes: an electrostatic magnet 81, a moving iron 82, and a meshing piece 83.

The electrostatic magnet 81, the moving iron 82 and the meshing piece 83 are sequentially sleeved on the rotor shaft 5.

Wherein, the meshing piece 83 is fixedly connected with the rotor shaft 5, and the meshing piece 83 can rotate along with the rotor shaft 5.

The electrostatic magnet 81 is fixedly connected to the inner wall of the housing 1 so that the electrostatic magnet 81 is stationary with respect to the housing 1.

The moving iron 82 and the electrostatic magnet 81 are connected through an elastic element 84, so that the moving iron 82 is in contact with the meshing piece 83 when the elastic element 84 is in a reset state, and the moving iron 82 is separated from the meshing piece 83 when the elastic element 84 is in a deformation state.

The moving iron 82 can move in the extending direction of the rotor shaft 5, and further, a groove may be provided in the housing 1, and a boss that fits the groove may be provided in the electromagnet 82, so that the moving iron 82 can move only in the extending direction of the rotor shaft 5.

Specifically, when the moving iron 82 is not energized, there is no magnetic force between the moving iron 82 and the electrostatic magnet 81, that is, no force acts on the moving iron 82, the elastic element 84 maintains the reset state, and the moving iron 82 contacts with the engaging piece 83, so that the engaging piece 83 cannot rotate.

When the moving iron 82 is energized, the moving iron 82 is attracted to the electrostatic magnet 81, and the electrostatic magnet 81 is fixed to the inner wall of the housing 1 and cannot move, so that the moving iron 82 compresses the elastic element 84 to move in the direction of the electrostatic magnet 81 under the action of magnetic force and is separated from the meshing piece 83, and the moving iron 82 does not affect the meshing piece 83.

Furthermore, the moving iron 82 is electrically connected with the driver 3, when the driver 3 is powered off accidentally, the rotor shaft 5 of the motor continues to rotate due to inertia, so that a danger hidden danger exists, and the modularized servo motor provided with the brake device can stop the rotor shaft 5 from rotating when the driver 3 is powered off.

In addition, a plurality of elastic elements 84 can be arranged, so that the movable iron 82 can be rapidly contacted with the tooth coupling piece 83 when the elastic elements 84 are in a reset state, and the effect of rapid braking is achieved.

Preferably, the surface of the side where the moving iron 82 and the engaging piece 83 contact each other is provided with a matching notch to engage the moving iron 82 and the engaging piece 83 when they contact each other.

In practical application, a plurality of protrusions are arranged on the surface of the moving iron 82, which is in contact with the meshing piece 83, and a plurality of grooves are arranged on the surface of the meshing piece 83, which is in contact with the moving iron 82, so that the moving iron 82 can be engaged with the meshing piece 83 to limit the rotation of the meshing piece 83, and further limit the rotation of the rotor shaft 5 fixedly connected with the meshing piece 83, thereby achieving the purpose of braking.

Wherein, can set up a plurality of continuous archs in the one side that moves iron 82 and meshing piece 83 mutual contact, set up a plurality of continuous recesses in the one side that meshing piece 83 and move iron 82 mutual contact, reach better block effect to reach the purpose of quick brake.

Specifically, the modular servo motor provided by this embodiment further includes a waterproof pad 9. The waterproof pad 9 is disposed at the opening of the case 1 to hermetically connect the rear end cap 2 with the opening of the case 1. Therefore, the modularized servo motor can be waterproof, and the modularized servo motor can be conveniently used in a liquid environment.

In addition, can also set up dust keeper at the opening part of casing 1, avoid dust to get into modularization servo motor, lead to the inside driver 3 of modularization servo motor to damage. The modularization servo motor that this embodiment provided sets up driver 3 in the inside of casing 1, is provided with dust keeper moreover, has good waterproof, dustproof effect, simultaneously, can adopt hard metal material preparation casing 1 for modularization servo motor still has impact-resistant effect. The modularization servo motor that this embodiment provided, the driver can prevent in the inside of casing for the volume of whole motor is less, can use in the limited environment in space, and moreover, the driver includes mutual electric connection's power circuit board, control circuit board and power circuit board, and the transistor that sets up in the power circuit board is the carborundum transistor, makes the volume of driver very little, thereby reduces whole modularization servo motor's volume. In addition, the modular servo motor provided by this embodiment is further provided with a hall encoder and a polarized magnet, and is used for calculating the rotating speed of the rotor shaft and sending the rotating speed of the rotor shaft to the driver, so that the driver adjusts the output parameters of the driver according to the actual rotating speed of the motor, and further adjusts the output parameters of the motor. Simultaneously, the modularization servo motor that this embodiment provided still includes brake equipment for under the unexpected circumstances that has a power failure, the modularization servo motor that this embodiment provided can stop rotatory, avoids the rotor shaft to continue to rotate because of inertia and leads to danger. The opening of the shell is further provided with a waterproof pad, so that the rear end cover is hermetically connected with the opening of the shell, and the modularized servo motor can be applied to the liquid environment.

In the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the terms "upper", "lower", "top", "bottom", and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present invention, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation; unless expressly stated or limited otherwise, the terms "mounted," "connected," and the like are intended to be inclusive and mean that, for example, the term "connected" may be fixed or removable or integrally connected. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.