CN105643653A

CN105643653A - Vertical double-shaft linkage servo device with clutch device

Info

Publication number: CN105643653A
Application number: CN201410686343.8A
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-26
Filing date: 2014-11-26
Publication date: 2016-06-08

Abstract

The invention provides a vertical double-shaft linkage servo device with a clutch device and relates to driving devices for small robots. By the adoption of the servo device with a double-shaft unidirectional output function and a double-potentiometer detection function, the problems that an existing driving device of a small robot is excessively large in size, low in driving accuracy, simplex in function and low in integration degree and does not have a driving and detection separating function are solved. Closed-loop control over a driving motor and output shafts is achieved. By means of the output shafts and the closed-loop control mode of a control system, accurate force feedback control over joint movement of the robot can be conducted by the control system. The vertical double-shaft linkage servo device with the clutch device has the advantages that the performance is reliable, the driving accuracy is high, the torsion is large, responding is fast, the size is small, the integration degree is high, and rotation positions of the output shafts can be fed back to the control system.

Description

There is the vertical twin shaft linkage servo gear of arrangement of clutch

Technical field

The present invention relates to a kind of flexible twin shaft and export moment, and output shaft rotation position can be fed back to small machines people's servo gear of Controlling System.

Background technology

Due to the development of science and technology, more and more small machines people is widely used in various danger gradually, situation complexity, the environment that the mankind cannot arrive works, people need the motion by robot or action to perform certain specific task, this just needs to use the articulated driving equipment of robot, as the articulated driving equipment of small machines people, requirement is a kind of technology maturation, dependable performance, drive precision height, torsion is big, response is fast, the servo gear that volume is little, this kind of device generally adopts closed-loop control and can feed back the angle of joint of robot motion to Controlling System, execute the task it is thus possible to make operator understand better with control, but the drive unit volume of small machines people is excessive in existing market, drive precision not high, function singleness, integrated level is not high, and do not possess the function driven with detection is separated, to such an extent as to reliability can not get sufficient guarantee.

Summary of the invention

It is an object of the invention to the drive unit volume for existing small machines people excessive, drive precision not high, function singleness, integrated level is not high, and not possessing the function driven with detection is separated, the present invention is the joint drive for small machines people, by top cover, output shaft, gear, train of reduction gears, potentiometer, pedestal, drive element and bottom composition; This device is fixed on the joint motion position of small machines people, two different masks have mutually perpendicular two output shafts, each output shaft links with potentiometer respectively, rely on the corresponding position motion of the rotating drive robot of output shaft, two joints can be driven to move in the same way simultaneously, one of them potentiometer coordinates formation closed-loop control with drive-motor, another potentiometer is for detecting the rotation angle of this servo gear output shaft, and fed back to Controlling System, make Controlling System and output shaft form closed-loop control. The present invention has dependable performance, drives precision height, and torsion is big, and response is fast, and volume is little, integrated level height, and can feed back the advantage such as angle of output shaft rotation to Controlling System.

Accompanying drawing explanation

Fig. 1 is the overall axonometric drawing of the present invention.

Fig. 2 is the structural representation of drive element 111.

Fig. 3 is the structural representation of the present invention.

Embodiment

Embodiment one: as shown in Figures 2 and 3, the described vertical twin shaft linkage servo gear with arrangement of clutch, comprise drive element 111, described drive element 111 comprises miniature motor 40 and arrangement of clutch, described arrangement of clutch is by arrangement of clutch friction plate 41, the sliding bar 42 of friction plate, returning pull-spring 43, arrangement of clutch lid 44 forms, the sliding bar 42 of friction plate connects admittedly with the axle of miniature motor 40, two panels arrangement of clutch friction plate 41 is inserted in sliding bar 42 two ends of friction plate respectively, it is connected with returning pull-spring 43 between two panels arrangement of clutch friction plate 41, arrangement of clutch lid 44 is inserted in the axle of miniature motor 40, it it is sliding contact between the axle of arrangement of clutch lid 44 and miniature motor 40, arrangement of clutch lid 44 is provided with transmitting gear. action implementation process: when miniature motor 40 rotating speed is higher than certain value, the pulling force that two panels arrangement of clutch friction plate 41 overcomes returning pull-spring 43 slide respectively to two ends of the sliding bar 42 of friction plate and with the contact internal walls of arrangement of clutch lid 44, arrangement of clutch lid 44 is produced frictional force, drives arrangement of clutch lid 44 to rotate, when miniature motor 40 rotating speed is lower than certain value, two panels arrangement of clutch friction plate 41 slides to axis direction under the effect of returning pull-spring 43, is separated with the inwall of arrangement of clutch lid 44, cuts off the connection of arrangement of clutch lid 44 with miniature motor 40.

Embodiment two: as shown in Figure 1, Figure 2 and Figure 3, described in have arrangement of clutch vertical twin shaft linkage servo gear, comprise top cover 1,12, output shaft A, B, gear 2,3,6, train of reduction gears 4,5, potentiometer 7, pedestal 9, drive element 111 and bottom 11. described output shaft A and gear 2 connect admittedly, the rotation axis coinciding of described output shaft A and gear 2, the rotation axis of described gear 2 and the first potentiometer 7 connects admittedly, 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, described output shaft B and gear 3 connect admittedly, the rotation axis coinciding of described output shaft B and gear 3, the rotation axis of described gear 3 and the 2nd potentiometer 7 connects admittedly, the axle center of described gear 3 and the axis coinciding of the 2nd potentiometer 7, described 2nd potentiometer 7 is fixed in the hole seat D of pedestal 9, the axis of described hole seat C and hole seat D is orthogonal, described drive element 111 is fixed in the hole seat E of pedestal 9, arrangement of clutch lid 44 gear of described drive element 111 engages with train of reduction gears 4, described train of reduction gears 4 engages with gear 2, described train of reduction gears 4 engages with gear 6, described gear 6 engages with train of reduction gears 5, described train of reduction gears 5 engages with gear 3, described top cover 1 and pedestal 9 coordinate fixing output shaft A, train of reduction gears 4 and gear 6, described top cover 12 and pedestal 9 coordinate fixing output shaft B and train of reduction gears 5, described bottom 11 coordinates fixed drive parts 111 with pedestal 9. action implementation process: Controlling System provides actuate signal, drive element 111 is by the gear drive output shaft A of engagement, B rotates, first potentiometer 7 is followed output shaft A and is rotated, coordinate with drive element 111 and form closed-loop control, output shaft A is rotated and arrives the given position of Controlling System, and remain on this position and do not move, until Controlling System provides the signal of next position, 2nd potentiometer 7 is followed output shaft B and is rotated, the position that detection output shaft B rotates also feeds back to Controlling System in real time, output shaft A and output shaft B links, make Controlling System and output shaft A, closed-loop control is formed between B.

As another example of the present invention, it is also possible to replace potentiometer with other sensors, the object of detection output shaft rotation position can be played equally, it is achieved the object of the present invention.

When not making the principle of the present invention be subject to damaging, the details of above-mentioned formation and embodiment are only that it can not depart from the scope of the present invention and extensively change, within these protections all belonging to the present invention as example and illustrated thing.

Claims

1. one kind has the vertical twin shaft linkage servo gear of arrangement of clutch, for the joint drive of small machines people, by top cover (1,12), output shaft (A, B), gear (2,3,6), train of reduction gears (4,5), angle sensor device (7), pedestal (9), drive element (111) and bottom (11) composition;

It is characterized in that:

This device is fixed on the joint motion position of small machines people, two different masks have mutually perpendicular two output shafts, each output shaft links with angle sensor device respectively, rely on the corresponding position motion of the rotating drive robot of output shaft, two joints can be driven to move in the same way simultaneously, one of them angle sensor device coordinates formation closed-loop control with drive element, another angle sensor device is for detecting the rotation angle of this servo gear output shaft, and fed back to Controlling System, make Controlling System and output shaft form closed-loop control.

2. the vertical twin shaft linkage servo gear with arrangement of clutch according to claim 1, it is characterized in that: described drive element (111) comprises miniature motor (40) and arrangement of clutch, described arrangement of clutch is by arrangement of clutch friction plate (41), the sliding bar (42) of friction plate, returning pull-spring (43), arrangement of clutch lid (44) forms, the sliding bar (42) of friction plate connects admittedly with the axle of miniature motor (40), two panels arrangement of clutch friction plate (41) is inserted in sliding bar (42) two ends of friction plate respectively, returning pull-spring (43) it is connected with between two panels arrangement of clutch friction plate (41), arrangement of clutch lid (44) is inserted in the axle of miniature motor (40), it it is sliding contact between the axle of arrangement of clutch lid (44) and miniature motor (40), arrangement of clutch lid (44) is provided with transmitting gear.

3. the vertical twin shaft linkage servo gear with arrangement of clutch according to claim 1, it is characterized in that: described output shaft (A) and gear (2) connect admittedly, the rotation axis coinciding of described output shaft (A) and gear (2), described gear (2) connects admittedly with the rotation axis of the first angle sensor device (7), the axle center of described gear (2) and the axis coinciding of the first angle sensor device (7), described first angle sensor device (7) is fixed in the hole seat (C) of pedestal (9), described output shaft (B) and gear (3) connect admittedly, the rotation axis coinciding of described output shaft (B) and gear (3), described gear (3) connects admittedly with the rotation axis of the 2nd angle sensor device (7), the axle center of described gear (3) and the axis coinciding of the 2nd angle sensor device (7), described 2nd angle sensor device (7) is fixed in the hole seat (D) of pedestal (9), described hole seat (C) is orthogonal with the axis of hole seat (D), described drive element (111) is fixed in the hole seat (E) of pedestal (9), described bottom (10) coordinates fixed drive parts (111) with pedestal (9), arrangement of clutch lid (44) gear of described drive element (111) engages with train of reduction gears (4), described train of reduction gears (4) engages with gear (2), described train of reduction gears (4) engages with gear (6), described gear (6) engages with train of reduction gears (5), described train of reduction gears (5) engages with gear (3), described top cover (1) and pedestal (9) coordinate fixing output shaft (A), train of reduction gears (4) and gear (6), described top cover (12) and pedestal (9) coordinate fixing output shaft (B) and train of reduction gears (5), described bottom (11) coordinates fixed drive parts (111) with pedestal (9).