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CN-122026663-A - Miniaturized large-moment output servo mechanism for low-temperature work

CN122026663ACN 122026663 ACN122026663 ACN 122026663ACN-122026663-A

Abstract

A miniaturized high-torque output servo mechanism for low-temperature operation is characterized in that an O-shaped sealing ring is arranged at the positions of an output shaft and an end cover of a speed reducer, and an O-shaped sealing ring is arranged on a motor mounting surface, so that the sealing operation requirements of the speed reducer can be met in two sealing modes. The whole structure is small in size, specifically, the size of the speed reducer is 36 multiplied by 50 multiplied by 52mm, the mechanical impact resistance is strong, the output shaft end can bear 500N.m moment impact within 5s, the rated output moment is large, the stable output moment is 25N.m, the structure is light, and the whole weight of the speed reducer is 450g (not including a motor). The speed reduction ratio is 480 (bevel gear speed reduction ratio is 4 and harmonic speed reduction ratio is 120), the machine is low-temperature resistant, long in service life, capable of working normally in an environment of-60 ℃ for a long time, high in position detection precision and high in reliability. The device has the advantages of simple structure, strong realizability and operability, easy guarantee of precision, adjustable position and long-term use.

Inventors

  • LI YANJIE
  • LIU YONGBING
  • LIU MENG
  • CUN YOUCHAO
  • LU YONG
  • CHEN ZHONGYONG
  • Fan Yulang
  • LI ZHONGJIN
  • REN HONGXI

Assignees

  • 贵州航天控制技术有限公司

Dates

Publication Date
20260512
Application Date
20251210

Claims (9)

  1. 1. The miniaturized high-torque output servo mechanism for low-temperature work is characterized by comprising a speed reducer, a motor, a small bevel gear (2), a detection assembly (3), detection magnetic steel (4), a locking piece (7), a large bevel gear (8), a flexible gear (9), a shell (16), a mounting flange (14), an end cover (6), a rigid gear (10), a rubber ring (12), an output shaft (13), a large needle bearing (11), a small needle bearing (5) and a locking piece (15); The motor torque is input through a small bevel gear, the harmonic generator is driven to do rotary motion through an orthogonal bevel gear, and the transmission rigid wheel of the harmonic gear transmits the rotary motion to the output shaft, so that the speed reduction transmission is realized.
  2. 2. A miniaturized high torque output servo mechanism for low temperature operation according to claim 1, wherein the harmonic wave adopts double wave transmission, and when the output end is only loaded with torque, the radial forces generated by the two meshing pairs cancel each other, and the support bearing is not subjected to radial load.
  3. 3. The miniaturized high-torque output servo mechanism for low-temperature operation according to claim 1, wherein the front end of the output shaft takes the output shaft as a bearing inner ring, the end cover as a bearing outer ring, and 36 needle rollers P3X 9.5 G3 0/-3 are fully filled in the middle.
  4. 4. The miniaturized high-torque output servo mechanism for low-temperature operation according to claim 1, wherein the angle feedback end takes an output shaft as an inner bearing ring, a bearing seat as an outer bearing ring, and 18 needle rollers P3X 9.5 G3 0/-3 are fully installed in the middle.
  5. 5. A miniaturized high torque output servo mechanism for cryogenic operation according to claim 1, wherein the full rollers are used to increase support contact area and support stiffness against deflection caused by bending moment and to reduce the effect of output shaft deflection on internal harmonic drive.
  6. 6. The miniaturized high-torque output servo mechanism for low-temperature work according to claim 1, wherein the transmission parts and the bearing are subjected to interval coating 7015 of very low-temperature lubricating grease for lubrication, and the using temperature ranges from-70 ℃ to +120 ℃.
  7. 7. The miniaturized high-torque output servo mechanism for low-temperature operation according to claim 1, wherein the speed reducer is provided with an O-shaped sealing ring at the positions of the output shaft and the end cover, and the mounting surface of the motor is provided with the O-shaped sealing ring, and the two sealing modes can meet the sealing use requirement of the speed reducer.
  8. 8. The miniaturized large-moment output servo mechanism for low-temperature operation according to claim 1, wherein the volume of the speed reducer is 36 multiplied by 50 multiplied by 52mm, the mechanical impact resistance is strong, the output shaft end can bear 500N.m moment impact within 5 seconds, the rated output moment is large, and the stable output moment is 25N.m.
  9. 9. The miniaturized high-torque output servo mechanism for low-temperature operation according to claim 1, wherein the structure is light in weight, the whole weight of the speed reducer is 450g, and the reduction ratio of the whole machine is 480.

Description

Miniaturized large-moment output servo mechanism for low-temperature work Technical Field The invention belongs to the field of output servo mechanisms, and particularly relates to a miniaturized high-torque output servo mechanism for low-temperature operation. Background The invention mainly aims at the field of servo mechanisms, and has the characteristics of long-term work in an extremely low temperature environment, large torque impact resistance, small volume, light weight and the like, so that small-volume large torque output is realized, and meanwhile, the invention can resist large torque impact and can work in an extremely low temperature environment for a long time. Has high reliability. Aiming at the comprehensive requirements of the unmanned aerial vehicle field on the light weight, long endurance, small volume, light weight and the like of a servo mechanism, the pneumatic characteristic large moment impact influence facing capability is realized, and the servo mechanism with small volume, large reduction ratio, light weight and high reliability is required to be designed. The prior bolt dismounting device in China mainly has the following defects: (1) Under the output moment of the existing product; (2) The existing products have poor large impact resistance; (3) The existing product has large volume, large weight and small reduction ratio; (4) The Hall plate is inaccurate in positioning and inconvenient in position adjustment. (5) The quick disassembly and assembly of the device cannot be realized. (6) The structure is complex, and the manufacturing cost is high. Disclosure of Invention The transmission form is a 90-degree orthogonal shaft structure with input and output. According to the structural layout of a common servo mechanism speed reducer, a two-stage speed reducing mechanism is adopted, a high-speed stage adopts bevel gear transmission reversing, and a low-speed stage adopts harmonic gear transmission with a large speed ratio. The stable output torque is 25Nm, and 40 type (corresponding to cup type 17) harmonic waves are selected according to Q/Lh JS030-2022 design Specification of cross-axis harmonic speed reducer. Based on the service life requirement of more than or equal to 100 hours, the efficiency of more than or equal to 50 percent, and a cup-shaped flexible gear structure with higher bearing capacity and service life is selected. The speed reducer mainly comprises a motor (1), a small bevel gear (2), a detection assembly (3), detection magnetic steel (4), a locking piece (7), a large bevel gear (8), a flexible gear (9), a shell (16), a mounting flange (14), an end cover (6), a rigid gear (10), a rubber ring (12), an output shaft (13), a large needle bearing (11), a small needle bearing (5), a locking piece (15) and other structural members. The motor torque is input through a small bevel gear, the harmonic generator is driven to do rotary motion through an orthogonal bevel gear, and the transmission rigid wheel of the harmonic gear transmits the rotary motion to the output shaft, so that the speed reduction transmission is realized. The working principle is shown as a body 1, the appearance of the speed reducer is shown as a figure 2, and the specific structure composition of the speed reducer is shown as a figure 3. When the output end only loads torque, the radial forces generated by the two meshing pairs are counteracted theoretically, and the support bearing is not subjected to radial load. Therefore, the effect of the output shaft loading bending moment m=500n.m on the bearing is mainly checked. Through analysis and calculation, the radial load of the bending moment 500N.m acting on the supporting position of the output shaft is 52000N, and the rated load of the common deep groove ball and needle bearing cannot meet the use requirement. The support bearing of the output shaft is therefore designed as a non-standard needle bearing filled with rollers. The front end of the output shaft takes the output shaft as a bearing inner ring, an end cover as a bearing outer ring, 36 needle rollers of P3×9.5G3 0/-3 are fully installed in the middle, which is called a large bearing, and similarly, the angle feedback end takes the output shaft as a bearing inner ring, a bearing seat as a bearing outer ring, and 18 needle rollers of P3×9.5G3 0/-3 are fully installed in the middle, which is called a small bearing. The full rollers are used for increasing the supporting contact area and supporting rigidity, resisting the deformation caused by the bending moment action and reducing the influence of the deformation of the output shaft on internal harmonic transmission. The transmission parts and the bearing of the harmonic reducer are coated with 7015 ultralow-temperature lubricating grease for lubrication, and the using temperature ranges from-70 ℃ to +120 ℃. The speed reducer is provided with the O-shaped sealing ring at the positions of the output shaft and the end cover, and the O-shape