CN102484440A - Servo device - Google Patents
Servo device Download PDFInfo
- Publication number
- CN102484440A CN102484440A CN2009801613518A CN200980161351A CN102484440A CN 102484440 A CN102484440 A CN 102484440A CN 2009801613518 A CN2009801613518 A CN 2009801613518A CN 200980161351 A CN200980161351 A CN 200980161351A CN 102484440 A CN102484440 A CN 102484440A
- Authority
- CN
- China
- Prior art keywords
- magnetic sensor
- output
- servomechanism installation
- rotation
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
- G01R33/072—Constructional adaptation of the sensor to specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37124—Magnetic sensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37187—Disk with magnetic, inductive sensors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Control Of Electric Motors In General (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Rotation of a motor (11) is reduced by a reduction mechanism. A magnet plate (16) is arranged on an output shaft of the reduction mechanism (12). A magnetic sensor (17) is arranged in the vicinity of the magnet plate (16) so that the magnet sensor (17) reads out the rotation angle. The output of the magnetic sensor (17) is fed back to a control unit (20) so as to set a rotation angle corresponding to an input signal. Thus, it is possible to control the rotation angle of the servo motor in a non-contact mode without using a potentiometer and increasing the service life of the servo device.
Description
Technical field
The present invention relates to be used for servomechanism installation according to the control signal operation Be Controlled object of being imported, particularly model with radio control unit, industry with the servomechanism installation that uses in radio control unit, the robot.
Background technology
Radio control use by operating device in, be equipped with the receiver of the signal that reception sends from transmitter and be used for a plurality of servomechanism installations of operating operation object.Receiver is the signal (below, be called pwm signal) after each the pulse width modulation of each passage with received signal transformation, to each of each passage it is offered servomechanism installation as control information.Of patent documentation 1 etc., servomechanism installation has motor, through reducing gear servo arm that the rotational delay of motor makes output shaft is rotated in certain angular range (for example from reference position ± 60 °), operates.In servomechanism installation, on the output shaft of reducing gear, potentiometer is installed, detect the anglec of rotation of output shaft, pulse duration as control signal, is carried out FEEDBACK CONTROL, control with the mode of the anglec of rotation that becomes expectation.
Patent documentation 1: TOHKEMY 2007-318986 communique
Summary of the invention
Yet, in servomechanism installation in the past, because output shaft rotates continually, so potentiometer also rotates continually.In addition, be easy to output shaft exerted pressure, and potentiometer is also exerted pressure, so exist potentiometer to be easy to the such shortcoming of deterioration from the outside.If the potentiometer deterioration then can not get proper feedback signal, thus the angular deflection of the reference position of output shaft (neutrality), and the spinning movement that can't expect.Therefore, exist servo motor need change such shortcoming continually.
The present invention is conceived to such problem in the past and accomplishes, and its purpose is to need not to use potentiometer and the anglec of rotation that can detect output shaft non-contactly, improves the reliability of servomechanism installation and realizes long lifetime.
In order to solve this problem, the present invention provides a kind of servomechanism installation, comprising: motor; Reducing gear links with said motor, and the output of said motor is slowed down; Magnet is installed on the rotating shaft of said reducing gear; Magnetic Sensor based on the rotation of said magnet, detects the anglec of rotation of the output shaft of servo arm; And control part, based on from the output of said Magnetic Sensor with from the difference of the control signal of outside, said motor is rotated control so that differential signal becomes zero.
Here, said magnet is disk-like member, in its part, has otch at least, magnetize symmetrically in the face of plectane.
Also has the output that obtains from said Magnetic Sensor accordingly with the anglec of rotation of the output shaft of said reducing gear linear transformation portion here, as the rotation angle information that changes point-blank.
Here, said control part also has: the A/D transformation component, the A/D conversion is carried out in the output that obtains from said Magnetic Sensor, and said linear transformation portion uses function will be transformed to the data of linearity ground variation by the variation of the digital signal of said A/D transformation component conversion.
Here, said control part also has: the A/D transformation component, the A/D conversion is carried out in the output that obtains from said Magnetic Sensor, and said linear transformation portion uses map table will be transformed to the data of linearity ground variation by the variation of the digital signal of said A/D transformation component conversion.
Here, said Magnetic Sensor is the Hall IC that has made up Hall IC and amplifier.
According to the present invention, through the anglec of rotation of magnet and Magnetic Sensor detection servo motor, the anglec of rotation that can detect output shaft non-contactly so need not to use potentiometer with such characteristic.Therefore, obtain can not causing the angles shifts of misoperation, neutrality (neutral), can improve the reliability of servomechanism installation, realize the such effect of long lifetime owing to the deterioration of potentiometer.
Description of drawings
Fig. 1 is the integrally-built stereogram that the servomechanism installation of execution mode of the present invention is shown.
Fig. 2 is the block diagram of the servomechanism installation of this execution mode.
Fig. 3 is the figure that the configuration of the Magnetic Sensor that the magnetic flux to magnet plate and magnet plate of this execution mode detects is shown.
Fig. 4 is the figure of the relation of voltage, A/D transform data and linear transformation data that the anglec of rotation and magnetic detector are shown.
(symbol description)
10: substrate; 11: motor; 12: reducing gear; 12a, 12b, 12c: gear; 13: output shaft; 14: servo arm; 15: magnet is held frame; 16: magnet; 17: Magnetic Sensor; 18: amplifier; 19: Hall IC; 20: control part; The 21:A/D transformation component; 22: linear transformation portion; 23: pulse duration angle-data transformation component; 24: calculus of differences portion; 25: motor driver.
Embodiment
Fig. 1 is the integrally-built stereogram that the servomechanism installation of execution mode of the present invention is shown.As shown in the drawing, motor 11 has been installed on substrate 10.Motor 11 has been linked gear 12a, 12b, the 12c that constitutes reducing gear 12 successively, to the output shaft connection servo arm 14 of gear 12c.In addition, in this execution mode, the output shaft 13 of gear 12c is also connected magnet hold frame 15 and magnet plate 16.Magnet plate 16 is of the back, is discoideus magnetic.In addition, separate the interval of regulation and dispose Magnetic Sensor 17 with this magnet plate 16.17 pairs of Magnetic Sensors are followed in the magnetic variationization of the rotation of magnet plate 16 and are detected, and obtain rotation angle information.
Next, use Fig. 2, the block diagram of the servomechanism installation of this execution mode is described.Amplify through 18 pairs of outputs of amplifier from Magnetic Sensor 17.In this execution mode, used Hall element as Magnetic Sensor 17.Hall element and amplifier 18 also can use independently element, but use the linear Hall IC19 that they have been made up here.Linear Hall IC19 can detect the magnetic flux of the position of regulation, output and the proportional voltage signal of magnetic flux.Be applied to the A/D transformation component 21 of control part 20 from the output of linear Hall IC19.A/D transformation component 21 is transformed to numerical data with input voltage, and its output is applied to linear transformation portion 22.Linear transformation portion 22 is transformed to rotation angle information the data of straight line.
In addition, to this servo motor, never illustrated receiver, pulse width modulation is provided signal (pwm signal).Pwm signal is that for example central value is 1.5ms, and pulse duration is according to the operation of transmitter and the signal that in the scope of 1.5 ± 0.6ms, changes.From receiver pulse-width angle-data transformation component 23 this pwm signal is provided.Pulse duration angle-data transformation component 23 is transformed to the designation data corresponding with its pulse duration with pwm signal.The output of pulse duration angle-data transformation component 23 is provided for calculus of differences portion 24.Calculus of differences portion 24 drives so that differential signal becomes 0 via 25 pairs of motors 11 of motor driver.Through the feedback loop of such formation, be controlled to be the anglec of rotation corresponding with pwm signal.
In addition, in the servomechanism installation of this execution mode, replace potentiometer in the past, use magnet plate 16 and Magnetic Sensor 17.Therefore, can detect the anglec of rotation non-contactly.Here, if magnet plate 16 is plectanes completely, it is not clear then to play magnetic state, thus indeterminate with which type of fixed angle during fabrication, need be through detecting magnetic someway.Therefore, in order to be easy to make, in this execution mode, shown in Fig. 3 (a), be made as the shape of D font.In this case, it is also as shown in Figure 1 that magnet is held frame 15, uses the structure of the depression with D font, if imbed discoideus magnet plate 16 at this, then can make manufacturing process become easy.Here, magnet plate 16 is shown in Fig. 3 (a), from top view magnetize symmetrically.So,, can visually judge the polarity of magnet plate 16 through magnetize as Fig. 3 (a).Then, shown in Fig. 3 (b), the detection position P that is set at Hall IC 19 from top view the time becomes the boundary position of the magnetic pole of magnetize.In addition, shown in Fig. 3 (c), the interval of Hall IC 19 and magnet plate 16 is made as g.
Fig. 4 (a) is the curve of anglec of rotation θ and the relation of the voltage that is detected by Magnetic Sensor 16 that the output shaft 13 of reducing gear 12 is shown.As shown in the figure, the output relative rotation angle θ of Hall IC 19 changes with sine wave shape, and through the interval of magnet plate 16 with Hall IC 19, its amplitude changes shown in curve C 1, C2.Therefore, it is unsaturated and can access the value of sufficient change in voltage the interval g of Hall IC 19 and magnet plate 16 to be set at output.In addition, in embodiments of the present invention, shown in Fig. 4 (b), the output of Hall IC 19 is amplified, and be transformed to after the digital signal, shown in Fig. 4 (c), its linearity ground is changed through linear transformation portion 22 through A/D transformation component 21.These outputs in fact for example are the data of 12 bits, but in Fig. 4 (b), (c), and the change list of data relative rotation angle is shown the analogue value.Linear transformation portion 22 has to the function of the letter inverse of a number characteristic of the change in voltage of representing to be detected by Magnetic Sensor, the function of for example arcsine through use, and sets its coefficient aptly, and makes input change linearity ground conversion.Through such use linear transformation portion 22, can angle-data be changed relative rotation angle point-blank, can still use the mechanism of servomechanism installation in the past.
In addition; In this execution mode, as linear transformation portion 22, use utilizes the function of arcsine and carries out conversion; But also can calculate in advance to input signal and export the table that becomes linear angle-data, and this table is remained in read-only memory nonvolatile memories such as (RoM).Thus, through reading angle-data from this table, can access the data that change point-blank according to input signal.
In addition; In this execution mode; Control the anglec of rotation of motor according to the signal after the pulse width modulation; But, then need not to be provided with pulse duration angle-data transformation component 23, and can the numerical data from the outside directly be input to calculus of differences portion 24 so long as the servomechanism installation to the numerical data of answering the anglec of rotation directly is provided.
In addition, in this execution mode, the part of plectane is changed and made magnet plate become the part of D font, but also can be other shapes.For example, can be made as rectangle, about have the shape of otch.
In addition, in this execution mode, the axle of gear 12c as output shaft 13, and has been installed servo arm 14 and has been held frame 15 with magnet on this axle, but also can be at motor drive shaft, the gear between wherein spool on magnet is installed.In this case,, also rotate repeatedly even when output shaft rotates predetermined angular, thus also need detect rotating speed simultaneously, can be with the anglec of rotation of high resolution detection output shaft.
And then; In this execution mode; To be numerical data from the output transform of linear Hall IC, carry out linear transformation, calculus of differences, but can also be applied to certainly carry out linear transformation with the state of analog signal to the output of linear Hall IC; The pulse duration that will become control signal is transformed to voltage signal, according to the servomechanism installation of the analog type of its differential driving motor driver.
Utilizability on the industry
The present invention need not to use potentiometer and the anglec of rotation that can detect output shaft non-contactly realizes the long lifetime of servomechanism installation, so can be applied to drive the servomechanism installation that servomechanism installation, the particularly model of Be Controlled object are used with radio control unit, robot with radio control unit, industry according to the control signal of being imported.
Claims (6)
1. servomechanism installation comprises:
Motor;
Reducing gear links with said motor, and the output of said motor is slowed down;
Magnet is installed on the rotating shaft of said reducing gear;
Magnetic Sensor based on the rotation of said magnet, detects the anglec of rotation of the output shaft of servo arm; And
Control part based on from the output of said Magnetic Sensor with from the difference of the control signal of outside, is rotated control so that differential signal becomes zero to said motor.
2. servomechanism installation according to claim 1 is characterized in that: said magnet is disk-like member, in its part, has otch at least, magnetize symmetrically in the face of plectane.
3. servomechanism installation according to claim 1 is characterized in that also comprising:
Linear transformation portion, the output that obtains from said Magnetic Sensor accordingly with the anglec of rotation of the output shaft of said reducing gear is as the rotation angle information that changes point-blank.
4. servomechanism installation according to claim 3 is characterized in that:
Said control part also has:
The A/D transformation component carries out the A/D conversion to the output that obtains from said Magnetic Sensor,
Said linear transformation portion uses function will be transformed to the data of linearity ground variation by the variation of the digital signal of said A/D transformation component conversion.
5. servomechanism installation according to claim 3 is characterized in that:
Said control part also has:
The A/D transformation component carries out the A/D conversion to the output that obtains from said Magnetic Sensor,
Said linear transformation portion uses map table will be transformed to the data of linearity ground variation by the variation of the digital signal of said A/D transformation component conversion.
6. servomechanism installation according to claim 1 is characterized in that: said Magnetic Sensor is the Hall IC that has made up Hall IC and amplifier.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2009/004460 WO2011030376A1 (en) | 2009-09-09 | 2009-09-09 | Servo device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102484440A true CN102484440A (en) | 2012-05-30 |
Family
ID=43732065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009801613518A Pending CN102484440A (en) | 2009-09-09 | 2009-09-09 | Servo device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5425917B2 (en) |
| CN (1) | CN102484440A (en) |
| WO (1) | WO2011030376A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6209486B2 (en) | 2014-05-13 | 2017-10-04 | 双葉電子工業株式会社 | Angle detection device and servo device using the angle detection device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6373895A (en) * | 1986-09-16 | 1988-04-04 | Yamaha Motor Co Ltd | Positioning operation mechanism |
| JP2002335689A (en) * | 2001-05-09 | 2002-11-22 | Hitachi Ltd | Motor drive circuit |
| US20030001705A1 (en) * | 2001-06-25 | 2003-01-02 | Toshiki Sugiyama | Combination switch |
| JP2007024689A (en) * | 2005-07-15 | 2007-02-01 | Sony Corp | Noncontact position detection sensor |
| JP2008022590A (en) * | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | Servomotor monitoring device |
-
2009
- 2009-09-09 CN CN2009801613518A patent/CN102484440A/en active Pending
- 2009-09-09 WO PCT/JP2009/004460 patent/WO2011030376A1/en active Application Filing
- 2009-09-09 JP JP2011530638A patent/JP5425917B2/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6373895A (en) * | 1986-09-16 | 1988-04-04 | Yamaha Motor Co Ltd | Positioning operation mechanism |
| JP2002335689A (en) * | 2001-05-09 | 2002-11-22 | Hitachi Ltd | Motor drive circuit |
| US20030001705A1 (en) * | 2001-06-25 | 2003-01-02 | Toshiki Sugiyama | Combination switch |
| JP2007024689A (en) * | 2005-07-15 | 2007-02-01 | Sony Corp | Noncontact position detection sensor |
| JP2008022590A (en) * | 2006-07-10 | 2008-01-31 | Nachi Fujikoshi Corp | Servomotor monitoring device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2011030376A1 (en) | 2013-02-04 |
| WO2011030376A1 (en) | 2011-03-17 |
| JP5425917B2 (en) | 2014-02-26 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120530 |