CN104742135A - Double-shaft and double-clutch feedback control servo mechanism - Google Patents
Double-shaft and double-clutch feedback control servo mechanism Download PDFInfo
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- CN104742135A CN104742135A CN201310731045.1A CN201310731045A CN104742135A CN 104742135 A CN104742135 A CN 104742135A CN 201310731045 A CN201310731045 A CN 201310731045A CN 104742135 A CN104742135 A CN 104742135A
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Abstract
The invention provides a double-shaft and double-clutch feedback control servo mechanism, and relates to a driving device for a small-sized robot. The double-shaft and double-clutch feedback control servo mechanism aims to solve the problem that an existing driving device for the small-sized robot is oversize, low in driving precision, single in function, low in integration level, and not capable of fulfilling the driving and detecting separation function. The servo mechanism which achieves double-shaft same direction output and double-potentiometer detecting is provided. The control mode that a driving motor and output shafts are in closed-loop control and the output shafts and a control system are in closed-loop control is formed so that the control system can conduct precise force feedback control over the joint movement of the robot. The double-shaft and double-clutch feedback control servo mechanism has the advantages of being reliable in performance, high in driving precision, large in torque, fast in response, small in size, high in integration level, capable of feeding back the rotating positions of the output shafts to the control system and the like.
Description
Technical field
The present invention relates to a kind of flexible twin shaft output torque, and output shaft rotation position can be fed back to the small scale robot servomechanism installation of control system.
Background technology
Due to the development of science and technology, increasing small scale robot is widely used in various danger gradually, situation complexity, work in the environment that the mankind cannot arrive, people need to perform certain specific task by the motion of robot or action, this just needs the articulated driving equipment using robot, as the articulated driving equipment of small scale robot, requirement is a kind of technology maturation, dependable performance, driving precision is high, torsion is large, response is fast, the servomechanism installation that volume is little, this device generally adopts closed-loop control and can feed back the angle of joint of robot motion to control system, thus operator can be made to understand better execute the task with control, but the drive unit volume of small scale robot is excessive in the market, drive precision not high, function singleness, integrated level is not high, and do not possess and drive and detect the function be separated, to such an extent as to reliability can not get sufficient guarantee.
Summary of the invention
The drive unit volume that the object of the invention is for existing small scale robot is excessive, drives precision not high, function singleness, integrated level is not high, and do not possess and drive and detect the function be separated, the present invention is the joint drive for small scale robot, by top cover, output shaft, gear, clutch components, potentiometer, pedestal, motor and bottom composition; This device is fixed on the joint motion position of small scale robot, homonymy has two output shafts, each output shaft links with potentiometer respectively, rely on the rotating drive robot corresponding site motion of output shaft, two joints can be driven to move in the same way, and one of them potentiometer coordinates with drive motors and forms closed-loop control, and another potentiometer is for detecting the rotational angle of this servomechanism installation output shaft simultaneously, and fed back to control system, make control system and output shaft form closed-loop control.The present invention has dependable performance, and drive precision high, torsion is large, and response is fast, and volume is little, and integrated level is high, and can feed back the advantages such as the angle of output shaft rotation to control system.
Accompanying drawing explanation
Fig. 1 is integral shaft mapping of the present invention.
Fig. 2 is schematic internal view of the present invention.
Fig. 3 is the structural representation of clutch components 40.
Fig. 4 is structural representation of the present invention.
Detailed description of the invention
Detailed description of the invention one: as shown in Figure 3 and Figure 4, the two clutch FEEDBACK CONTROL servo control mechanism of described twin shaft, comprise clutch components 40, described clutch components 40 is by clutch friction plate 41, friction plate slide bar 42, returning pull-spring 43, clutch case 44, gear 45 and axle 46 form, friction plate slide bar 42 is affixed with axle 46, two panels clutch friction plate 41 is inserted in friction plate slide bar 42 two ends respectively, returning pull-spring 43 is connected with between two panels clutch friction plate 41, clutch case 44 is inserted in one end of axle 46, for slidingly contacting between clutch case 44 and axle 46, gear 45 is affixed with the other end of axle 46, clutch case 44 is provided with travelling gear.Action implementation process: motor 10 driven wheel 45 rotates, rotation followed by friction plate slide bar 42, when the rotating speed of friction plate slide bar 42 is higher than certain value, the pulling force that two panels clutch friction plate 41 overcomes returning pull-spring 43 slide respectively to two ends of friction plate slide bar 42 and with the contact internal walls of clutch case 44, frictional force is produced to clutch case 44, drives clutch case 44 to rotate; When the rotating speed of friction plate slide bar 42 is lower than certain value, two panels clutch friction plate 41 slides to axis direction under the effect of returning pull-spring 43, is separated with the inwall of clutch case 44, cuts off the connection of clutch case 44 and motor 10.
Detailed description of the invention two: as shown in Figure 1, Figure 2 and Figure 4, the two clutch FEEDBACK CONTROL servo control mechanism of described twin shaft, comprises top cover 1, output shaft A, B, gear 2,3,8, clutch components 40, potentiometer 7, pedestal 9, motor 10 and bottom 11.Described output shaft A and gear 2 affixed, described output shaft A overlaps with the center of rotation of gear 2, the turning cylinder of described gear 2 and the first potentiometer 7 is affixed, the axle center of described gear 2 and the axis coinciding of the first potentiometer 7, described first potentiometer 7 is fixed in the hole seat C of pedestal 9, clutch case 44 gears meshing of described gear 2 and first clutch parts 40, described output shaft B and gear 3 affixed, described output shaft B overlaps with the center of rotation of gear 3, the turning cylinder of described gear 3 and the second potentiometer 7 is affixed, the axle center of described gear 3 and the axis coinciding of the second potentiometer 7, described second potentiometer 7 is fixed in the hole seat D of pedestal 9, clutch case 44 gears meshing of described gear 3 and second clutch parts 40, described first, the gear 45 of second clutch parts 40 engages with gear 8 respectively, described gear 8 is fixed on the axle of motor 10, described top cover 1 and pedestal 9 coordinate fixing output shaft A, B and first, second clutch parts 40, described bottom 11 and pedestal 9 coordinate fixed electrical machinery 10.Action implementation process: control system provides drive singal, motor 10 is by meshed gears driver output axle A, B rotates, first potentiometer 7 is followed output shaft A and is rotated, coordinate with first clutch parts 40 and form closed-loop control, output shaft A is rotated and arrives the given position of control system, and it is motionless to remain on this position, until control system provides the signal of next position, second potentiometer 7 is followed output shaft B and is rotated, coordinate with second clutch parts 40 and form closed-loop control, output shaft B is rotated and arrives the given position of control system, and it is motionless to remain on this position, until control system provides the signal of next position.
As another example of the present invention, also can replace potentiometer with other sensors, the object detecting output shaft rotation position can be played equally, realize object of the present invention.
When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.
Claims (3)
1. the two clutch FEEDBACK CONTROL servo control mechanism of twin shaft, for the joint drive of small scale robot, by top cover (1), output shaft (A, B), gear (2,3,8), clutch components (40), potentiometer (7), pedestal (9), motor (10) and bottom (11) composition;
It is characterized in that:
This device is fixed on the joint motion position of small scale robot, homonymy has two output shafts, each output shaft links with potentiometer respectively, rely on the rotating drive robot corresponding site motion of output shaft, two joints can be driven to move in the same way, and one of them potentiometer coordinates with driver part and forms closed-loop control, and another potentiometer is for detecting the rotational angle of this servomechanism installation output shaft simultaneously, and fed back to control system, make control system and output shaft form closed-loop control.
2. the two clutch FEEDBACK CONTROL servo control mechanism of twin shaft according to claim 1, it is characterized in that: described clutch components (40) is by clutch friction plate (41), friction plate slide bar (42), returning pull-spring (43), clutch case (44), gear (45) and axle (46) composition, friction plate slide bar (42) is affixed with axle (46), two panels clutch friction plate (41) is inserted in friction plate slide bar (42) two ends respectively, returning pull-spring (43) is connected with between two panels clutch friction plate (41), clutch case (44) is inserted in one end of axle (46), for slidingly contacting between clutch case (44) and axle (46), gear (45) is affixed with the other end of axle (46), clutch case (44) is provided with travelling gear.
3. the two clutch FEEDBACK CONTROL servo control mechanism of twin shaft according to claim 1, it is characterized in that: described output shaft (A) is affixed with gear (2), described output shaft (A) overlaps with the center of rotation of gear (2), described gear (2) is affixed with the turning cylinder of the first potentiometer (7), the axle center of described gear (2) and the axis coinciding of the first potentiometer (7), described first potentiometer (7) is fixed in the hole seat (C) of pedestal (9), clutch case (44) gears meshing of described gear (2) and first clutch parts (40), described output shaft (B) is affixed with gear (3), described output shaft (B) overlaps with the center of rotation of gear (3), described gear (3) is affixed with the turning cylinder of the second potentiometer (7), the axle center of described gear (3) and the axis coinciding of the second potentiometer (7), described second potentiometer (7) is fixed in the hole seat (D) of pedestal (9), clutch case (44) gears meshing of described gear (3) and second clutch parts (40), described first, the gear (45) of second clutch parts (40) engages with gear (8) respectively, described gear (8) is fixed on the axle of motor (10), described top cover (1) and pedestal (9) coordinate fixing output shaft (A, and first B), second clutch parts (40), described bottom (11) and pedestal (9) coordinate fixed electrical machinery (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310731045.1A CN104742135A (en) | 2013-12-26 | 2013-12-26 | Double-shaft and double-clutch feedback control servo mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310731045.1A CN104742135A (en) | 2013-12-26 | 2013-12-26 | Double-shaft and double-clutch feedback control servo mechanism |
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| CN104742135A true CN104742135A (en) | 2015-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310731045.1A Pending CN104742135A (en) | 2013-12-26 | 2013-12-26 | Double-shaft and double-clutch feedback control servo mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856860A (en) * | 2016-06-07 | 2016-08-17 | 珠海瑞柏精密科技有限公司 | Thermal-sensitive barcode printer and printing method thereof |
| CN106142070A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Rescue robot flexibility Two axle drive device |
| CN106921258A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Two-axis synchronization driver |
-
2013
- 2013-12-26 CN CN201310731045.1A patent/CN104742135A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142070A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Rescue robot flexibility Two axle drive device |
| CN106921258A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Two-axis synchronization driver |
| CN105856860A (en) * | 2016-06-07 | 2016-08-17 | 珠海瑞柏精密科技有限公司 | Thermal-sensitive barcode printer and printing method thereof |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150701 |
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| WD01 | Invention patent application deemed withdrawn after publication |