CN-121984280-A - Driving assembly integrating angle measurement and signal transmission and assembling and driving method

CN121984280ACN 121984280 ACN121984280 ACN 121984280ACN-121984280-A

Abstract

The invention relates to a driving assembly, in particular to a driving assembly integrating angle measurement and signals, and an assembling and driving method, which are used for solving the problems of large axial size, complex shafting structure and complex assembling and calibrating in the prior art. The invention comprises a shell, a base, a main shaft, an encoder driving plate, a motor rotor, a motor stator, a rotary conductive module, an angle encoder, a first bearing and a second bearing, wherein an outer ring of the first bearing is arranged on the inner wall of the shell, an inner ring of the first bearing is coaxially and fixedly connected with the main shaft, an inner ring of the second bearing is fixedly connected on the base, the outer ring is fixedly connected with the main shaft, the motor stator is fixedly arranged on the shell, the motor rotor is sleeved on the main shaft, the angle encoder is used for measuring the information of the angular position and the angular speed of the main shaft, and the rotary conductive module is used for transmitting electric power and signals between an external control system and an external load in a rotary state. The invention realizes the deep coupling of the driving, angle measurement and signal transmission functions in physical space, and remarkably reduces the axial dimension of the component.

Inventors

HU ZHONGYUAN
CUI GUANGHUI
WEI BIN
LIU JINJIE
Duan Xiaoni
ZHANG HUAWEI
LI YUTAO
Chao Tinglong
WANG XIANGYU

Assignees

西安航天精密机电研究所

Dates

Publication Date: 20260505
Application Date: 20251215

Claims (10)

1. The driving assembly integrating angle measurement and signal transmission comprises a machine shell (1), a base (2) arranged at the rear end of the machine shell (1) and a main shaft (3) arranged in the machine shell (1), and is characterized by further comprising a motor rotor (4), a motor stator (5), a rotary conductive module, an angle encoder, an encoder driving plate, a first bearing (8) and a second bearing (9); The machine shell (1) is of a barrel-shaped structure, a first bearing chamber (11) and a stator mounting chamber (12) which are sequentially arranged along the axial direction are arranged in the machine shell, the base (2) is of a step-shaped structure and comprises a base (21) and a boss (22) coaxially connected to the inner end of the base (21), the main shaft (3) is provided with a wire outlet hole which penetrates through the base, the rear end of the main shaft is provided with a second bearing mounting cavity and a connecting hole, and the front end of the main shaft is used for mounting an external load; The outer ring of the first bearing (8) is arranged on the inner wall of the first bearing chamber (11), and the inner ring is fixedly connected with the main shaft (3) coaxially, the inner ring of the second bearing (9) is fixedly connected on the side wall of the boss (22), and the outer ring is fixedly connected with the inner wall of the second bearing mounting cavity, so that the main shaft (3) is supported between the shell (1) and the base (2); the motor stator (5) is fixedly arranged on the inner wall of the stator mounting chamber (12), and the armature winding leading-in end of the motor stator is electrically connected with an external control system to receive a driving control signal of the external control system; The angle encoder comprises a rotating part coaxially fixedly connected with a main shaft (3) and a fixing part fixed on a casing (1), wherein a power input end, a control end and a data output end of the fixing part are respectively and electrically connected with an encoder driving plate, an output port of the encoder driving plate is used for being electrically connected with an external control system, the angle encoder is used for real-time monitoring and resolving of angle position and angular speed information of the main shaft (3) according to control signals of the encoder driving plate and transmitting the resolved angle position and angular speed information to the external control system, the rotating conductive module comprises a conductive rotor supported on the side wall of a boss (22) through at least one third bearing (63) and connected with a connecting hole of the main shaft (3) through a connecting piece and a conductive stator fixed on the front end of a base (21), the power input end, the data input end and the data output end of the conductive stator are respectively and electrically connected with the external control system, the power output end and the data output end of the conductive stator are respectively used for being electrically connected with an external load so as to realize the fact that the power output end and the external control system are in a rotating state, and the power output end and the external control system are connected with the external load through a wire, and the electric connection line (21) are arranged on the base through the connecting hole.
2. The angle measurement and signal transmission integrated drive assembly of claim 1, wherein: the angle encoder is an optoelectronic angle encoder (7); The photoelectric angle encoder (7) comprises a scale grating (71) coaxially and fixedly connected with the main shaft (3), and a light emitting system (72) and a receiving system (73) which are opposite to the two sides of the axial direction of the scale grating (71) and are fixed on the machine shell (1); the encoder driving plate is electrically connected with a power input end and a data input end of the light emitting system (72) respectively and is electrically connected with a power input end and a data output end of the receiving system respectively.
3. The angle measurement and signal transmission integrated drive assembly of claim 1, wherein: The rotary conductive module is a conductive slip ring (6), the conductive slip ring (6) comprises a conductive loop (61) and a brush (62), the conductive loop (61) is a conductive rotor, and the brush (62) is a conductive stator; The inner wall of the conductive loop (61) is supported on the side wall of the boss (22) through at least one third bearing (63), and the front end of the conductive loop is connected with a connecting hole at the rear end of the main shaft (3) through a connecting piece; The power supply input end, the data input end and the data output end of the electric brush (62) are respectively and electrically connected with an external control system, the power supply output end, the data output end and the data input end of the conductive loop (61) are respectively and electrically connected with an external load, and are used for supplying power to the external load through the conductive loop (61) and the electric brush (62) and sending control data, and receiving relevant data fed back by the external load at the same time so as to realize power and signal transmission between the external control system and the external load under a rotating state.
4. A drive assembly with integrated goniometer and signal transmission according to any one of claims 1-3, characterized in that: The first bearing (8) is a double-row angular contact bearing with a stop flange, and the second bearing (9) is a deep groove ball bearing.
5. A drive assembly with integrated goniometer and signal transmission according to any one of claims 1-3, characterized in that: A sealing groove is arranged between the shell (1) and the base (2), and an O-shaped ring is arranged in the sealing groove.
6. A drive assembly with integrated goniometer and signal transmission according to any one of claims 1-3, characterized in that: the magnetic steel of the motor rotor (4) is rare earth neodymium iron boron magnetic steel; the third bearing (63) is a deep groove ball bearing.
7. A drive assembly with integrated goniometer and signal transmission according to claim 3 wherein: The inner wall of the conductive loop (61) is supported on the side wall of the boss (22) through two third bearings (63); A bearing baffle plate (65) and a wave-shaped retainer ring (64) are arranged between the two third bearings (63), and a bearing fixing cover (67) and a bearing baffle plate (66) are arranged on the front side of the third bearing (63) close to the main shaft (3); The bearing baffle plate (66) is provided with a mounting hole, and the mounting hole is used for being connected with the connecting hole of the main shaft (3) through a pin (68) and a silica gel tube (69), so that the conductive loop (61) is coaxially connected with the main shaft (3).
8. A drive assembly with integrated goniometer and signal transmission according to claim 3 wherein: a mechanical limiting structure is arranged on the electric brush (62); The mechanical limiting structure is a limiting screw (621), and the sliding electric brush (62) can axially micro-move along the main shaft (3) by unscrewing the limiting screw (621) so as to adjust the axial distance between the conductive loop (61) and the electric brush (62).
9. A method of assembling an angular and signal transmission integrated drive assembly according to any one of claims 1 to 8, comprising the steps of: step 1, assembling a motor stator (5) S1.1, insulating treatment is carried out on a stator core, wherein the insulating treatment comprises the steps of bonding insulating end plates on two end faces of the stator core, and filling insulating films in tooth grooves of the stator core; S1.2, winding a three-phase armature winding on the insulated stator core according to a preset armature winding wiring diagram to form a motor stator (5); S1.3, pressing a motor stator (5) into a stator mounting chamber (12) of the machine shell (1) and ensuring coaxiality of the motor stator and the machine shell (1); s1.4, encapsulating the motor stator (5) and the shell (1) into a whole by adopting a vacuum glue-pouring process; s1.5, carrying out combined processing on the inner circle of the encapsulated motor stator (5) to finish the assembly of the motor stator (5); Step 2, assembling the motor rotor (4) S2.1, screening and pairing magnetic steels, and pairing the magnetic steels with the surface magnetic phase difference within a preset range; s2.2, assembling the reinforcing sleeve on the outer circle of the magnetic steel, flushing with a limit groove on the end face of the rotor yoke, and then performing vacuum glue filling and processing to form a motor rotor (4); S2.3, the motor rotor (4) is pressed and bonded on the main shaft (3), and then the excircle of the motor rotor (4) is processed to ensure the coaxiality of the motor rotor and the main shaft (3); step3, integral assembly and debugging S3.1, fixedly connecting a fixed part of the angle encoder with the shell (1), respectively electrically connecting a power input end, a control end and a data output end of the fixed part with an encoder driving plate, and coaxially fixedly connecting a rotating part of the angle encoder with the spindle (3) assembled in the step S2.3; S3.2, supporting the main shaft (3) provided with the rotating part of the angle encoder in the step S3.1 on the shell (1) through a first bearing (8), axially preliminarily aligning the motor rotor (5) with the motor stator (4), and adjusting the axial clearance of the first bearing (8) through a locking nut to enable the axial clearance and the radial clearance of the motor rotor (4) and the motor stator (5) to meet the technical requirements, and simultaneously enabling the fixed part and the rotating part of the angle encoder to correspond; s3.3, supporting the conductive rotor of the rotary conductive module on the side wall of the boss (22) by using a third bearing (63), fixing the conductive stator of the rotary conductive module at the front end of the base (21), making contact with the conductive rotor, and electrically connecting the power input end, the data input end and the data output end of the conductive stator with an external control system respectively; S3.4, assembling the second bearing (9) on the side wall of the boss (22) through the inner ring of the second bearing (9), penetrating out the outgoing line of the conductive rotor of the rotary conductor aiming at the outgoing line hole on the main shaft (3), penetrating out the wire through hole on the base (22) which is electrically connected, slowly pushing the base (2) into the shell (1) by utilizing the connecting piece after the front end of the conductive rotor is axially aligned with the connecting hole of the main shaft (3), and increasing the pushing force until the outer ring of the second bearing (9) reaches the edge of the second bearing mounting cavity, completely and in interference fit with the second bearing mounting cavity at the rear end of the main shaft (3), and completely plugging the connecting piece into the connecting hole of the main shaft (3), and after the base (2) is tightly combined with the shell (1), performing performance test of the motor rotor (4), the angle encoder and the rotary conductive module, and finishing the assembly of the driving assembly of the measuring angle and the signal integration.
10. A driving method integrating angle measurement and signal transmission, based on the driving assembly integrating angle measurement and signal transmission as claimed in any one of claims 1 to 8, characterized by comprising the steps of: Step 1, outputting a driving signal to a motor stator (5) through an external control system, and driving a motor rotor (4) to drive a main shaft (3) and an external load arranged on the main shaft (3) to rotate; Step 2, controlling a rotating part and a fixed part of an angle encoder through an encoder driving plate to monitor the angular position and angular speed information of a main shaft (3) and a motor rotor (4) in real time, and resolving the angular position and angular speed information, so that the angular position and angular speed information is fed back to an external control system; and 3, continuously providing power for an external load, transmitting data and receiving data fed back by the external load through the conductive rotor and the conductive stator of the rotary conductive module in a state that the main shaft (3) rotates, and completing bidirectional transmission of a power supply and signals of the external control system and the external load in the rotating state.

Description

Driving assembly integrating angle measurement and signal transmission and assembling and driving method Technical Field The invention relates to a driving assembly, in particular to a driving assembly integrating angle measurement and signal transmission, an assembly method thereof and a driving method thereof. Background In high-precision motion control systems such as photoelectric aiming, laser guidance, robot joints, high-end servo holders and the like, driving execution, angular position and angular speed measurement and rotation signal transmission are three indispensable core functions. In the system, the functions are realized by combining a brushless direct current torque motor and a position feedback element (a rotor of the brushless direct current torque motor is provided with a conductive slip ring), wherein the brushless direct current torque motor converts electric energy into mechanical energy through an electromagnetic induction principle and can directly drive a load to complete specified angular movement without mechanical reversing, the system is mainly responsible for providing driving torque, an independently installed position sensor is used for measuring the angle and the angular speed of the brushless direct current torque motor or an external load, and a sensor rotor with a conductive function is responsible for establishing an electric connection channel between a rotating part (namely the external load) and a fixed part (namely an external control system). The split and spliced technical route realizes basic functions, but also brings inherent problems of systemicity. First, the multiple discrete components and their mounting structure result in a lengthy and bulky axial dimension of the entire drive unit, severely limiting its application in modern precision equipment where space is limited. And secondly, each part depends on the respective installation datum plane and bearing support, and the accumulated error of the whole transmission chain is larger, including shafting misalignment, coupling clearance and the like, so that the rigidity of the system is reduced, and the accuracy and stability of angular position feedback are further directly deteriorated. In addition, complex mechanical assembly and lengthy cable connection make the system assembly, debugging and calibration process extremely tedious, and the components need to be jointly calibrated by relying on external equipment after final assembly, which is time-consuming and laborious and difficult to ensure the long-term uniformity of the internal reference. Most importantly, the conventional angular position element can only feed back the angular position information of the load shaft, and more critical parameters such as angular speed and the like need to be obtained through decoding calculation by a decoding device of the external control system, and additionally occupy the calculation force of the external control system. To solve the above problems, the industry has seen preliminary attempts to integrate part of the functions. For example, a brushless DC torque motor is coupled to some type of encoder, or an electrically conductive slip ring is incorporated into the rotary mechanism. However, these attempts have often been limited to two-by-two integration, or have remained structurally simple "stacked" or "placed side-by-side", failing to achieve deep physical spatial fusion and functional coupling. More importantly, such structures typically lack a high precision and high stiffness reference axis common to the drive, goniometer and signal transmission. This results in the integrated unit still facing problems of limited accuracy, complex shafting, weak anti-interference capability, etc. Meanwhile, because the internal references are not uniform after integration, pre-calibration and self-calibration before delivery are difficult to realize, complex debugging is still needed during on-site deployment, and 'plug and play' of the module cannot be realized fundamentally. In summary, the prior art still has the following problems that firstly, the space utilization rate is low due to large axial size, secondly, the accuracy and stability are difficult to be compatible due to complex shafting structure, and thirdly, the assembly and calibration are complex. Disclosure of Invention The invention aims to solve the technical problems of large axial size, complex shafting structure and complex assembly and calibration in the prior art, and provides a driving assembly and an assembly and driving method for integrating angle measurement and signal transmission. In order to achieve the above purpose, the invention adopts the following technical scheme: The driving assembly integrating angle measurement and signal transmission comprises a shell, a base arranged at the rear end of the shell and a main shaft arranged in the shell, and is characterized by further comprising a motor rotor, a motor stator, a rotary conductive modul