CN101271348B - Digital steering engine - Google Patents
Digital steering engine Download PDFInfo
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- CN101271348B CN101271348B CN2008101008560A CN200810100856A CN101271348B CN 101271348 B CN101271348 B CN 101271348B CN 2008101008560 A CN2008101008560 A CN 2008101008560A CN 200810100856 A CN200810100856 A CN 200810100856A CN 101271348 B CN101271348 B CN 101271348B
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- motor
- brshless
- chip microcomputer
- steering engine
- digitizing
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Abstract
The invention relates to a steering engine, in particular to a digital steering engine which is used for controlling a movable carrier and is controlled by automatization and the steering engine belongs to automatization control field. The invention consists of a digital brushless direct current motor driver, a limit mechanism, a brushless direct current motor, a reduction gear group, an action executing mechanism etc. The digital steering engine is provided with a standard RS-232 port and a standard RS-485 port, which can be efficiently, fast and stably connected with an upper computer or a main control system in a communicating way, and the digital steering engine receives digital command and executes. The output shaft rotating angle range of the steering engine can be limited by the limit mechanism. The digital steering engine can be applied to the automatization control field of the no-man control of a robot, the manual control of a flexible machine, the control of a numerical control machine, the control of an unpiloted vehicle etc.
Description
Technical field
The present invention relates to a kind of steering wheel, particularly a kind of digital steering wheel by robotization control of controlled motion carrier belongs to automation control area.
Background technology
General controlled motion carrier turns to the hand gear that mostly is with direction, and this hand gear can not adapt to the developing direction of current robotization control.In order to make motion carrier realize robotization control, invention is applicable to that the digital steering engine of robotization control is very necessary.
Summary of the invention
Purpose of the present invention just is to provide a kind of digital steering engine by robotization control that is applicable to the controlled motion carrier.This digital steering engine has replaced the hand gear or the man-operated mechanism with direction of turning to of traditional controlled motion carrier, changes the digital steering engine of being made up of digitizing brshless DC motor driver, position-limit mechanism, brshless DC motor, train of reduction gears, action actuating mechanism etc. into and replaces.The utilization of this digital steering engine, realized a kind of do not need that the people operates, safety, efficiently, novel action executive system is steering gear system, this digital steering engine can be used for unmanned control, the control of mobile type mechanical hand, the numerically-controlled machine control of robot, the automation control area such as control of automatic driving vehicle.
The objective of the invention is to be achieved through the following technical solutions:
The hand gear that replacement of the present invention is traditional or the digital steering engine of mechanism comprise digitizing brshless DC motor driver, position-limit mechanism, brshless DC motor, train of reduction gears and action actuating mechanism etc.Brshless DC motor and train of reduction gears are the integrated design, and its output shaft is connected with action actuating mechanism, and drive actions topworks carries out corresponding actions.Position-limit mechanism is that the optronic circuit board that main element constitutes is formed by the photoelectricity baffle plate with the optoelectronic switch.The photoelectricity baffle plate is fixedly mounted on the action actuating mechanism that requires control running angular range, optronic circuit board and electric connection of digitizing brshless DC motor driver.Brshless DC motor and electric connection of digitizing brshless DC motor driver.Digitizing brshless DC motor driver is judged the running status of brshless DC motor by the brshless DC motor pickup wire that is electrically connected, by the operation of the motor output line control brshless DC motor that connects.
Digitizing brshless DC motor driver is by main control part, power drive, motor-driven, current sampling feedback circuit, and communication part is formed.Main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thus the drive motor operation.The input of external control instruction and the user feedback of motor operating state have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and the motor operating state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by RS232 serial communication (also can select the RS485 communication for use), and the motor operating state parameter is in time fed back.The collection of motor operating state parameter is finished by single-chip microcomputer.The current sampling feedback circuit is regulated the operation with the control motor by the detection to current motor operating current after the single-chip microcomputer inter-process.
Beneficial effect:
(1) the present invention has substituted traditional controlled motion carrier and has turned to hand gear or mechanism with direction;
(2) the present invention make turn to, the control of direction and speed realized digitizing, instructionization, can realize that motion carrier turns to, the accurate control of state such as direction and speed;
(3) the present invention also has very powerful Man Machine Interface, the operation of instructionization, and it is extremely convenient that the user uses;
(4) independence of the present invention is strong, can have an autonomous control system of one's own, has adopted idea of modular, and exploitability and extendability are strong;
(5) the present invention has timely feedback, adjusting and the control function of motor operating current, has effectively protected motor, motor driver and motion carrier.
Description of drawings
Fig. 1 is a general structure synoptic diagram of the present invention;
Fig. 2 is a position-limit mechanism structural representation of the present invention;
Fig. 3 is a position-limit mechanism of the present invention installation site synoptic diagram in an embodiment;
Fig. 4 is an electrical principle block diagram of the present invention;
Fig. 5 is the program flow diagram of digitizing brshless DC motor driver of the present invention;
Among the figure: 1-brshless DC motor, 2-train of reduction gears, 3-output shaft, 4-digitizing brshless DC motor driver, 5-action actuating mechanism, 6-position-limit mechanism, 7-mounting base, 8-optoelectronic switch, 9-photoelectricity baffle plate, 10-screw.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention mainly is made up of brshless DC motor 1, train of reduction gears 2, digitizing brshless DC motor driver 4, action actuating mechanism 5 and position-limit mechanism 6.Brshless DC motor 1 is the integrated design with train of reduction gears 2, fixedlys connected with mounting base 7 by screw 10, and its output shaft 3 is fixedlyed connected with action actuating mechanism 5, as the driving force of topworks 5.Position-limit mechanism 6 is fixedly mounted on the action actuating mechanism 5 that requires control running angular range.Brshless DC motor 1 and digitizing brshless DC motor driver 4 are electrically connected by electromechanical transducer line and motor winding wire.Digitizing brshless DC motor driver 4 is judged the running status of brshless DC motor 1 by the electromechanical transducer line, by the operation of the motor windings line traffic control brshless DC motor 1 that connects.Position-limit mechanism 6 is electrically connected by limit signal line and brshless DC motor driver 4, and the boundary position signals of action actuating mechanism 5 is provided for digitizing brshless DC motor driver 4.In embodiment as shown in Figure 1, directly be connected between action actuating mechanism 5 and the train of reduction gears 2, the stay cord of train of reduction gears 2 direct drive actions topworkies 5, and in practice, also can be connected (connecting) between action actuating mechanism 5 and the train of reduction gears 2 by other mechanisms as worm and gear, be connected with action actuating mechanism 5 again, as the driving force of action actuating mechanism 5.Brshless DC motor 1 increases the driving multiplying power by train of reduction gears 2, passes to action actuating mechanism 5 then, till limited.
As Fig. 2, shown in Figure 3, position-limit mechanism 6 is that the optronic circuit board 8 that main element constitutes is formed by photoelectricity baffle plate 9 with the optoelectronic switch.Photoelectricity baffle plate 9 is fixedly mounted on the action actuating mechanism 5 that requires control running angular range, and optronic circuit board and digitizing brshless DC motor driver 4 are electrically connected.The position of optoelectronic switch is corresponding with the position of photoelectricity baffle plate 9, and the center line of photoelectricity baffle plate 9 roughly overlaps with the center line of the bayonet socket of optoelectronic switch, and when photoelectricity baffle plate 9 rotated, its catch can block and decontrol the emission and the receiving port of optoelectronic switch.When photoelectricity baffle plate 9 rotates, photoelectricity baffle plate 9 will pass through optoelectronic switch, per pass, optoelectronic switch can send electric signal one time, signal passes to digitizing brshless DC motor driver 4, digitizing brshless DC motor driver 4 calculates the movement position that dc brushless motor 1 rotates, and then accurately controls the work of dc brushless motor 1, that is the accurate work of control action topworks 5.
As shown in Figure 4, digitizing brshless DC motor driver 4 is by main control part, power drive, motor-driven, current sampling feedback circuit, the communication section composition that grades.Its main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thus the drive motor operation.The input of external control instruction and the user feedback of motor operating state have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and the motor operating state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by RS232 serial communication (also can select the RS485 communication for use), and the motor operating state parameter is in time fed back.The collection of motor operating state parameter is finished by single-chip microcomputer.The current sampling feedback circuit is regulated the operation with the control motor by the detection to current motor operating current after the single-chip microcomputer inter-process.
Fig. 5 is the program flow diagram of digitizing brshless DC motor driver of the present invention, as Fig. 1, shown in Figure 5, when this invention powers on operation, carry out the single-chip microcomputer initialization earlier, then can carry out a position probing (i.e. action resets) automatically, when action resets, 5 operations of brshless DC motor driver 4 drive actions topworkies, judge the extreme position that moves by position-limit mechanism 6, and by single-chip microcomputer record and processing.After brshless DC motor driver 4 receives operating instruction, earlier carry out command analysis and handle and distribute, according to the processing priority processing of sorting by single-chip microcomputer.Move fill order in this way, single-chip microcomputer the extreme position by position-limit mechanism 6 records judged whether to exceed the extreme position of setting or calculate whether carry out put in place after, continue to carry out operation program or out-of-work judgement thereby make.
Claims (2)
1. digital steering engine, it mainly is made up of brshless DC motor (1), train of reduction gears (2), digitizing brshless DC motor driver (4), action actuating mechanism (5) and position-limit mechanism (6), it is characterized in that: brshless DC motor (1) is the integrated design with train of reduction gears (2), fixedly connected with mounting base (7) by screw (10), brshless DC motor (1) is fixedlyed connected with action actuating mechanism (5) with the output shaft (3) of train of reduction gears (2), and the driving force of output shaft (3) is as the driving force of topworks (5); Position-limit mechanism (6) is fixedly mounted on the action actuating mechanism (5) that requires control running angular range; Brshless DC motor (1) is electrically connected by electromechanical transducer line and motor winding wire with digitizing brshless DC motor driver (4); Digitizing brshless DC motor driver (4) is by main control part, power drive, motor-driven, current sampling feedback circuit, and communication part is formed; Its main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thereby drives brshless DC motor (1) operation; The input of external control instruction and the user feedback of brshless DC motor (1) running status have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and brshless DC motor (1) running state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by the RS232 serial communication, and brshless DC motor (1) running state parameter is in time fed back; The collection of brshless DC motor (1) running state parameter is finished by single-chip microcomputer; The current sampling feedback circuit is regulated the operation with control brshless DC motor (1) by the detection to current brshless DC motor (1) running current after the single-chip microcomputer inter-process; Position-limit mechanism (6) provides the boundary position signals of action actuating mechanism for digitizing brshless DC motor driver (4), signal is passed to digitizing brshless DC motor driver (4), the movement position that digitizing brshless DC motor driver (4) rotates according to the calculated signals dc brushless motor (1) that is transmitted, and judge movement position whether exceeded the extreme position of setting or calculate whether carry out put in place after, continue to carry out operation program or out-of-work judgement thereby make, and then accurately control the work of dc brushless motor (1); Directly be connected between action actuating mechanism (5) and the train of reduction gears (2), train of reduction gears (2) is the stay cord of drive actions topworks (5) directly, brshless DC motor (1) increases the driving multiplying power by train of reduction gears (2), passes to action actuating mechanism (5) then, till limited.
2. a kind of digital steering engine according to claim 1, it is characterized in that: when digital steering engine powers on operation, carry out the single-chip microcomputer initialization earlier, then can once move automatically and reset, when action resets, digitizing brshless DC motor driver (4) drive actions topworks (5) operation is judged the extreme position that moves by position-limit mechanism (6), and by single-chip microcomputer record and processing; After digitizing brshless DC motor driver (4) receives operating instruction, earlier carry out command analysis and handle and distribute, according to the processing priority processing of sorting by single-chip microcomputer; Move fill order in this way, single-chip microcomputer the extreme position by position-limit mechanism (6) record judged whether to exceed the extreme position of setting or calculate whether carry out put in place after, continue to carry out operation program or out-of-work judgement thereby make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101008560A CN101271348B (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101008560A CN101271348B (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101271348A CN101271348A (en) | 2008-09-24 |
| CN101271348B true CN101271348B (en) | 2010-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101008560A Expired - Fee Related CN101271348B (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
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| CN (1) | CN101271348B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5880954B2 (en) * | 2012-03-22 | 2016-03-09 | 株式会社ジェイテクト | Vehicle steering system |
| CN102991159A (en) * | 2012-12-03 | 2013-03-27 | 苏州工业园区鑫海胜电子有限公司 | Motor and printer integrated control system |
| CN107850904A (en) * | 2016-06-16 | 2018-03-27 | 深圳市创客工场科技有限公司 | Steering wheel |
| WO2018023725A1 (en) * | 2016-08-05 | 2018-02-08 | 深圳市创客工场科技有限公司 | Servo motor |
| IT201600127693A1 (en) * | 2016-12-16 | 2018-06-16 | Fondazione St Italiano Tecnologia | PROCEDURE AND SYSTEM FOR THE CONTROL OF A BRUSHLESS ELECTRIC MOTOR |
| CN107253214A (en) * | 2017-07-31 | 2017-10-17 | 南京阿凡达机器人科技有限公司 | A kind of digital steering wheel of extended pattern and its method of work |
| CN111258339B (en) * | 2019-11-25 | 2022-12-09 | 天津津航技术物理研究所 | Follow-up control device based on stepping motor and photoelectric switch |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2674430Y (en) * | 2003-03-25 | 2005-01-26 | 上海华龙测试仪器有限公司 | Microcomputer controlled electronic universal tester |
| CN200939354Y (en) * | 2006-04-26 | 2007-08-29 | 罗之洪 | Model steering engine |
| CN201017202Y (en) * | 2006-11-09 | 2008-02-06 | 上海大学 | Steering engine controller |
-
2008
- 2008-02-25 CN CN2008101008560A patent/CN101271348B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2674430Y (en) * | 2003-03-25 | 2005-01-26 | 上海华龙测试仪器有限公司 | Microcomputer controlled electronic universal tester |
| CN200939354Y (en) * | 2006-04-26 | 2007-08-29 | 罗之洪 | Model steering engine |
| CN201017202Y (en) * | 2006-11-09 | 2008-02-06 | 上海大学 | Steering engine controller |
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| CN101271348A (en) | 2008-09-24 |
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| C14 | Grant of patent or utility model | ||
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20080924 Assignee: Hubei celebrating reaches science and technology limited Company Assignor: Hubei Handan Electromechnical Co., Ltd. Contract record no.: 2012420000171 Denomination of invention: Digital steering engine Granted publication date: 20100915 License type: Exclusive License Record date: 20121017 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C17 | Cessation of patent right | ||
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Granted publication date: 20100915 Termination date: 20130225 |