CN112096794A - Compact rotary electric steering engine - Google Patents

Abstract

The invention is suitable for the technical field of electromechanical servo, in particular to a compact rotary electric steering engine, which comprises: the servo motor is driven and controlled to rotate by the servo control driver and is arranged in the motor shell, and the servo motor is integrally designed with a sun gear of the planetary reducer through the arranged motor output shaft, so that the connection link is reduced, and the dynamic characteristic is improved; the sun wheel is used for driving the planet wheel to do planet motion around the sun wheel; a cavity for installing a speed reducer output sensor and a motor sensor is arranged in the motor shell, the speed reducer output sensor acts on the planetary speed reducer and is installed on the side edge of the planetary speed reducer, and the planetary speed reducer is installed by a retainer, so that the structure is more compact; the output sensor of the speed reducer and the motor sensor are mounted in the same chamber, so that the axial length of the electric steering engine is reduced; thereby realizing the most compact structure and improving the system integration level.

Description

A compact rotary electric steering gear

technical field

The invention relates to the technical field of electromechanical servos, in particular to a compact rotary electric steering gear.

Background technique

The commonly used structures of electric steering gears are linear, rotary and parallel, most of which are in series structure, and few of them integrate the servo control driver into the steering gear to achieve an integrated design, which is in the motor and reducer. There are multiple connection links between them, the steering gear connection structure is complicated, and the axial size is large; the sensor arrangement scheme generally adopts the installation method on both sides, that is, the installation at the rear end cover of the motor and the installation at the output side of the reducer. Problems such as long axial dimension and insufficient compactness.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a compact rotary electric steering gear to solve the above-mentioned problems in the background art. To achieve the above object, the present invention provides the following technical solutions:

A compact rotary electric steering gear, comprising: a servo motor driven and controlled to rotate by a servo control driver, the servo motor is installed inside the motor housing, the servo motor is connected to the sun gear of the planetary reducer through the set motor output shaft The integrated design reduces the connection links and improves the dynamic characteristics; the sun gear is used to drive the planetary gear to make planetary motion around the sun gear; a sensor for installing the output of the reducer and the motor sensor is arranged inside the motor housing. The reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a cage, which makes the structure more compact; the reducer output sensor and motor sensor have dual sensors in the same room. Install, reduce the axial length of the electric steering gear.

And then realize the most compact structure, improve the system integration. It solves the problem that most of the series structures are used, and few servo control drivers are integrated into the steering gear to achieve an integrated design. There are multiple connection links between the motor and the reducer, and the steering gear connection structure is complex and the axis The size of the sensor is large; the sensor arrangement scheme generally adopts the installation method on both sides, that is, the installation at the rear end cover of the motor and the installation at the output side of the reducer. This structure has problems such as long axial size and insufficient compactness.

In the compact rotary electric steering gear of the present invention: the servo control driver is installed on the motor housing at one end away from the cage; the outer cover of the servo control driver is provided with a driver protection cover, and the driver protection cover is installed on the electric motor through screws. on the casing.

A further solution: the protective cover of the driver is provided with a waterproof plug.

In the compact rotary electric steering gear of the present invention: the output sensor of the reducer and/or the motor sensor is fixed on the motor housing through the sensor mounting bracket and the screw, and the static plate of the motor sensor is fastened with the sensor mounting bracket. fix, and fasten the moving piece of the motor sensor and the output shaft of the motor by screws;

Fasten the stationary piece of the output sensor of the reducer with the sensor mounting bracket, and fasten the moving piece of the output sensor of the reducer with the cage through screw connection; thus, double feedback control is realized.

In the compact rotary electric steering gear of the present invention: the planetary wheel is installed in the middle of the cage through the planetary wheel support pin and the needle bearing, and retaining rings are installed at the left and right ends of the planetary wheel support pin to prevent the planetary wheel support pin shaft to escape.

In the compact rotary electric steering gear of the present invention: the cage includes a right cage and a left cage, and the right cage and the left cage output rotational motion and power under the action of the inner ring gear; the right cage And the left cage is installed on the planetary reducer, and cooperates with the planetary reducer and the power transmission of the motor output shaft.

A further solution: the right cage and/or the left cage are fastened by connecting screws II, and fixed longitudinally by positioning pins.

Further scheme: the inner gear ring is fixed with an output end cover, and is installed by connecting screws I; static sealing is achieved by using an O-ring between the inner gear ring and the output end cover; the output end cover is A skeleton oil seal is used to achieve dynamic sealing between the right cage and the left cage; a skeleton oil seal is used to achieve dynamic sealing between the left cage, the motor output shaft and the inner gear ring, thereby ensuring the complete sealing of the planetary reducer and avoiding the impact of grease overflow on the reducer. Working characteristics and life, but also to avoid grease affecting the work of the dual feedback sensor.

In the compact rotary electric steering gear of the present invention: the planetary reducer is connected with a reducer support bearing; and the servo motor is connected with a motor support bearing.

The limit block is installed on the left cage through screw connection, and the mechanical limit of the output angle of the entire steering gear is realized by setting a limit device on the sensor mounting bracket.

Compared with the prior art, the compact rotary electric steering gear of the present invention includes: a servo motor driven and controlled to rotate by a servo control driver, the servo motor is installed inside the motor housing, and the servo motor passes through the set motor output shaft. The integrated design with the sun gear of the planetary reducer reduces the connection links and improves the dynamic characteristics; the sun gear is used to drive the planetary gear to make planetary motion around the sun gear; a The cavity of the reducer output sensor and the motor sensor, the reducer output sensor acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a cage, making the structure more compact; and the reducer output sensor The double sensor and the motor sensor must be installed in the same room to reduce the axial length of the electric steering gear, thereby realizing the most compact structure and improving the system integration.

Description of drawings

FIG. 1 is a schematic structural diagram of a compact rotary electric steering gear of the present invention.

FIG. 2 is a schematic structural diagram of the limiting device in the compact rotary electric steering gear of the present invention.

In the figure: 1- motor housing; 2- ring gear; 3- output end cover; 4- reducer support bearing; 5- right cage; 6- retaining ring; 7- planet gear support pin; 8- Needle roller bearing; 9-planet gear; 10-left cage; 11-sensor mounting bracket; 12-reducer output sensor; 13-motor sensor; 14-servo motor; 15-motor support bearing; 16-motor output shaft; 17-Servo control driver; 18-Driver protection cover; 19-Waterproof plug; 20-Connecting screw I; 21-Connecting screw II; 22-Locating pin; 111-Limiting block; 112-Limiting device.

Detailed ways

The technical solutions of the present invention will be described in further detail below in conjunction with specific embodiments.

For most of the series structures, few servo control drivers are integrated into the steering gear to achieve an integrated design. There are multiple connection links between the motor and the reducer, and the steering gear connection structure is complex and axial. The size is large; the sensor arrangement scheme generally adopts the installation method on both sides, that is, the installation at the rear end cover of the motor and the installation at the output side of the reducer. This structure has problems such as long axial size and insufficient compactness; the purpose of the present invention is to provide A compact rotary electric steering gear is provided to solve the above problems. To achieve the above object, the present invention provides the following technical solutions:

In the embodiment of the present invention, as shown in FIG. 1 , a compact rotary electric steering gear includes:

The servo motor 14 is driven and controlled to rotate by the servo control driver 17. The servo motor 14 is installed inside the motor housing 1. The servo motor 14 is integrated with the sun gear of the planetary reducer through the provided motor output shaft 16, reducing the size of the The connection link improves the dynamic characteristics; and the sun gear is used to drive the planetary gear 9 to do planetary motion around the sun gear;

Inside the motor housing 1, there is a chamber for installing the reducer output sensor 12 and the motor sensor 13. The reducer output sensor 12 acts on the planetary reducer and is installed on the side of the planetary reducer, as well as the planetary reducer. The reducer is installed with a cage, which makes the structure more compact; the output sensor 12 of the reducer and the motor sensor 13 are installed in the same room as double sensors to reduce the axial length of the electric steering gear; thus realizing the most compact structure and improving system integration.

In the embodiment of the present invention, as shown in FIG. 1 , the servo control driver 17 is installed on the motor housing 1 at one end away from the holder; the outer cover of the servo control driver 17 is provided with a driver protective cover 18 , and the driver protective cover 18 Installed on the motor housing 1 by screws. Further, the driver protection cover 18 is provided with a waterproof plug 19 .

In the embodiment of the present invention, as shown in FIG. 1 , the output sensor 12 of the reducer and/or the motor sensor 13 are fixed on the motor housing through the sensor mounting bracket 11 and screws, and the static plate of the motor sensor 13 is connected to the motor housing. The sensor mounting bracket 11 is fastened, and the moving piece of the motor sensor 13 and the motor output shaft 16 are fastened by screw connection; The moving piece and the cage are fastened by screw connection; this realizes double feedback control.

In the embodiment of the present invention, as shown in FIG. 1 , the planetary wheel 9 is installed in the middle of the cage through the planetary wheel support pin 7 and the needle bearing 8 , and retaining rings 6 are installed at the left and right ends of the planetary wheel support pin 7 to prevent the The planetary gear support pin 7 protrudes axially.

In the embodiment of the present invention, as shown in FIG. 1 , the cage includes a right cage 5 and a left cage 10 . Under the action of the inner ring gear 2 , the output rotational motion of the right cage 5 and the left cage 10 is equal to Power; the right cage 5 and the left cage 10 are installed on the planetary reducer, and cooperate with the planetary reducer and the motor output shaft 16 for power transmission.

Specifically, the right cage 5 and/or the left cage 10 are fastened by connecting screws II 21, and fixed longitudinally by positioning pins 22; the inner gear 2 is fixed with an output end cover 3, which is connected to Install with screw I20; static seal is realized by using O-ring between inner gear 2 and output end cover 3; dynamic seal is realized by skeleton oil seal between output end cover 3 and right cage 5; Skeleton oil seals are used between the frame 10, the motor output shaft 16 and the inner gear ring 2 to achieve dynamic sealing, thereby ensuring the complete sealing of the planetary reducer, avoiding grease overflow affecting the working characteristics and life of the reducer, and avoiding grease affecting the dual feedback sensor. Work.

In the embodiment of the present invention, as shown in FIG. 1 and FIG. 2 , the planetary reducer is connected with the reducer support bearing 4; the servo motor 14 is connected with the motor support bearing 15; the limit block 111 is installed on the On the left holder 10, and by setting the limit device 112 on the sensor mounting bracket 11, the mechanical limit of the output angle of the entire steering gear is realized.

The compact rotary electric steering gear of the present invention includes: a servo motor 14 driven and controlled to rotate by a servo control driver 17, the servo motor 14 is installed inside the motor housing 1, and the servo motor 14 is connected to the motor output shaft 16 through the provided motor output shaft 16. The integrated design of the sun gear of the planetary reducer reduces the connection links and improves the dynamic characteristics; and uses the sun gear to drive the planetary gear 9 to make planetary motion around the sun gear; The cavity where the reducer output sensor 12 and the motor sensor 13 are installed, the reducer output sensor 12 acts on the planetary reducer and is installed on the side of the planetary reducer, and the planetary reducer is installed with a cage, making the structure more compact; The output sensor 12 of the reducer and the motor sensor 13 should be installed in the same room as two sensors to reduce the axial length of the electric steering gear, thereby realizing the most compact structure and improving the system integration.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various aspects can also be made without departing from the purpose of the present invention. kind of change.

Claims (9)

1. A compact rotary electric steering engine, comprising:

the servo motor is driven and controlled to rotate by the servo control driver and is arranged in the motor shell, and the servo motor is integrally designed with a sun gear of the planetary reducer through an arranged motor output shaft; the sun wheel is used for driving the planet wheel to do planet motion around the sun wheel;

and a cavity for installing a speed reducer output sensor and a motor sensor is arranged in the motor shell, the speed reducer output sensor acts on the planetary speed reducer and is installed on the side edge of the planetary speed reducer, and the planetary speed reducer is installed by adopting a retainer.

2. The compact rotary electric steering engine of claim 1,

the servo control driver is arranged on the motor shell at one end far away from the retainer;

be located the outside cover of servo control driver and be equipped with the driver safety cover, the driver safety cover passes through the screw installation on motor casing.

3. A compact rotary electric steering engine according to claim 2, wherein the driver shield is provided with a waterproof plug.

4. The compact rotary electric steering engine of claim 1,

the speed reducer output sensor and/or the motor sensor are/is fixed on the motor shell through a sensor mounting bracket and a screw in a matching way, a stator of the motor sensor is fastened with the sensor mounting bracket, and a rotor of the motor sensor is connected and fastened with the motor output shaft through the screw;

and a stator of the output sensor of the speed reducer is fastened with the sensor mounting bracket, and a rotor of the output sensor of the speed reducer is connected and fastened with the retainer through a screw.

5. The compact rotary electric steering engine of claim 1, wherein the planet gears are mounted to the middle of the cage by planet gear support pins and needle bearings, and retaining rings are mounted on the left and right ends of the planet gear support pins to prevent the planet gear support pins from axially shifting out.

6. The compact rotary electric steering engine according to claim 1, wherein said cage comprises a right cage and a left cage, said right and left cages outputting rotational motion and power under the action of the inner gear ring; the right retainer and the left retainer are arranged on the planetary reducer and are matched with the planetary reducer and the motor output shaft for power transmission.

7. The compact rotary electric steering engine of claim 6, wherein the right and/or left cage is fastened by a connecting screw II and is longitudinally fixed by a locating pin.

8. The compact rotary electric steering engine of claim 6,

an output end cover is fixed on the inner gear ring and is installed through a connecting screw I;

static sealing is realized by adopting an O-shaped ring between the internal gear ring and the output end cover; a framework oil seal is adopted between the output end cover and the right retainer to realize dynamic sealing; and a framework oil seal is adopted between the left retainer and the motor output shaft as well as between the left retainer and the inner gear ring to realize dynamic seal.

9. The compact rotary electric steering engine of claim 1, wherein a reducer support bearing is connected to the planetary reducer; and the servo motor is connected with a motor supporting bearing.

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