CN106541399A - Steering wheel angle controller - Google Patents
Steering wheel angle controller Download PDFInfo
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- CN106541399A CN106541399A CN201510595580.8A CN201510595580A CN106541399A CN 106541399 A CN106541399 A CN 106541399A CN 201510595580 A CN201510595580 A CN 201510595580A CN 106541399 A CN106541399 A CN 106541399A
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- steering wheel
- port
- pivot
- power source
- control
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Abstract
The present invention provides a kind of steering wheel angle controller, including：Power source, with axle center；Transmission component, including power transmission shaft, control-rod and splenium, wherein, power transmission shaft two ends are connected with the axle center of power source and control-rod respectively, drive power transmission shaft to drive control-rod motion by the axle center of power source；Oil pressure unit, with pivoted hole, accommodation space, the first port and the second port, wherein, pivoted hole is pivoted for control-rod, the appropriate oil mass of filling in accommodation space；Steering wheel component, with rotation space, wherein, rotation space projection fixed block and pivot, pivot pivot joint pivot block, pivot block are arranged in rotation space, and fixed block has third connectivity mouth and the 4th port；Conveying assembly, including the first petroleum pipeline and the second petroleum pipeline, wherein, the first petroleum pipeline connects the second port and third connectivity mouth, and the second petroleum pipeline connects the first port and the 4th port.
Description
Technical field
The present invention relates to joint of robot control technology field, more particularly to carries out machine using a kind of steering wheel angle controller
The control of person joint.
Background technology
In the joint drive purposes of robot, the geared motor being widely used is linked by motor and reductor, with deceleration
Rotation of the machine to motor is slowed down, and is thereby exported with suitable torsion and rotary speed.
But the geared motor for joint of robot emphasizes to require small volume, lightweight, because overall robot, including
Head, arm, foot etc. all have more than one joint, if to just think install motor and reductor in each joint, not only plus
The weight of weight robot itself, and increase huge cost；Furthermore, coordinate reductor start using motor, in terms of control angle
Cannot accomplish very accurate.
Therefore, how to improve and this reality is as the disappearance caused by Angle ambiguity using motor and reductor due to joint of robot
With new primary research topic.
The content of the invention
The invention provides a kind of steering wheel angle controller, its main purpose is by the way of Remote, through the oil pressure
Unit is delivered to the steering wheel component for being arranged on robot module's arm by oil mass, controls robot module's arm by the steering wheel component
Carry out swing operation.
It is that, up to object defined above, the present invention provides a kind of steering wheel angle controller, including：Power source, with axle center；Transmission group
Part, including power transmission shaft, control-rod and splenium, wherein, power transmission shaft two ends are connected with the axle center of power source and control-rod respectively, are led to
The axle center for crossing power source drives power transmission shaft to drive control-rod motion；Oil pressure unit, with pivoted hole, accommodation space, the first port
And second port, wherein, pivoted hole is pivoted for control-rod, the appropriate oil mass of filling in accommodation space；Steering wheel component, with rotation
Space, wherein, rotation space projection fixed block and pivot, pivot pivot joint pivot block, pivot block are arranged in rotation space, Gu
Determine block and there is third connectivity mouth and the 4th port；Conveying assembly, including the first petroleum pipeline and the second petroleum pipeline, wherein, the first oil transportation
Pipe connects the second port and third connectivity mouth, and the second petroleum pipeline connects the first port and the 4th port.
It is preferred that also including control circuit, it is electrically connected with previous power source, power source movement is controlled by the control circuit,
And control circuit is electrically connected with feedback unit, feedback unit is sheathed on the pivot of steering wheel component.
Description of the drawings
Fig. 1 is three-dimensional cutaway view of the present invention.
Fig. 2 is another axonometric chart of the invention.
Fig. 3 is that the present invention makees cardon () according to the plane of Fig. 1.
Fig. 4 is that the present invention makees cardon () according to the plane of Fig. 2.
Fig. 5 makees cardon () for robot module's plane of the present invention.
Fig. 6 is that the present invention makees cardon (two) according to the plane of Fig. 1.
Fig. 7 is that the present invention makees cardon (two) according to the plane of Fig. 2.
Fig. 8 makees cardon (two) for robot module's plane of the present invention.
Fig. 9 is that the present invention makees cardon (three) according to the plane of Fig. 1.
Figure 10 is that the present invention makees cardon (three) according to the plane of Fig. 2.
Figure 11 makees cardon (three) for robot module's plane of the present invention.
Figure 12 is another embodiment schematic diagram of robot module of the present invention.
Symbol description in accompanying drawing：
10th, power source；11st, axle center；20th, transmission component；21st, power transmission shaft；22nd, control-rod；23rd, splenium；30th, oil
Pressure unit；31st, pivoted hole；32nd, accommodation space；33rd, the first port；34th, the second port；40th, steering wheel component；41、
Rotation space；410th, fixed block；4100th, third connectivity mouth；4101st, the 4th port；411st, pivot；4110th, pivot block；
50th, conveying assembly；51st, the first petroleum pipeline；52nd, the second petroleum pipeline；60th, control circuit；61st, feedback unit；70th, machine
Device people's module；71st, arm；W, oil mass.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Refer to shown in Fig. 1-11, the present invention relates to a kind of steering wheel angle controller, including：
Power source 10 (can be motor), with axle center 11；
Transmission component 20, including power transmission shaft 21 (can be screw rod), control-rod 22 and splenium 23, wherein, 21 two ends of power transmission shaft
It is connected with the axle center 11 of power source 10 and control-rod 22 respectively, drives power transmission shaft 21 to drive by the axle center 11 of power source 10
Control-rod 22 is moved；
Oil pressure unit 30, with pivoted hole 31, accommodation space 32, the first port 33 and the second port 34, wherein, pivot joint
Hole 30 is pivoted for control-rod 22, appropriate oil mass W of filling in accommodation space 32；
Steering wheel component 40, with rotation space 41, wherein, 41 projection fixed block 410 of rotation space and pivot 411, pivot
411 pivot joint pivot blocks 4110, pivot block 4110 are arranged in rotation space 41, and fixed block 410 has third connectivity mouth 4100
And the 4th port 4101；
Conveying assembly 50, including the first petroleum pipeline 51 and the second petroleum pipeline 52, wherein, the connection of the first petroleum pipeline 51 second is led to
Mouth 34 and third connectivity mouth 4100, the second petroleum pipeline 52 connect the first port 33 and the 4th port 4101；
Control circuit 60, is electrically connected with feedback unit 61 and the power source 10, wherein, feedback unit 61 is sheathed on the steering wheel
The pivot 411 of component 40, and the angle that pivots to the pivot 411 for detecting the steering wheel component 40 of feedback unit 61 whether with
The angle of the output of control circuit 60 is consistent.
Next, the movement relation of explanation steering wheel angle controller of the present invention, is to provide robot module 70 first, will be dynamic
Power source 10, transmission component 20 and oil pressure unit 30 are arranged at below the body of the robot module 70, and steering wheel component 40
Arbitrary joint position of 70 arm 71 of robot module is arranged at, and oil pressure unit 30 is connected using conveying assembly 50 and be somebody's turn to do
Steering wheel component 40, in the present embodiment, when 23 position of splenium of control-rod 22 is at the top of accommodation space 32, the accommodating sky
Between oil mass W in 32 be to be fully distributed on the downside of the splenium 23, and the pivot block 4110 of steering wheel component 40 is located at and rotates empty
Between 41 right side and neighbouring third connectivity mouth 4100, and oil mass W of the rotation space 41 is distributed across a left side for pivot block 4110
Side, and the arm 71 of the robot module 70 is presented the state lifted.
Furthermore, the arm 71 for being intended to order about the robot module 70 is moved, then send signal to power source by control circuit 60
10, the power source 10 rotates axle center 10 after the signal for receiving the control circuit 60, by the axle center of the power source 10
11 driving power transmission shafts 21 are moved, and drive control-rod 22 to move down, when the splenium 23 of the control-rod 22 is being moved gradually downward
Dynamic process, oil mass W being distributed in accommodation space 32 can be gradually conveyed through the first petroleum pipeline 51 by the second port 34
To the third connectivity mouth 4100 of steering wheel component 40, therefore the pivot block 4110 of the steering wheel component 40 can be because be held by oil mass W
Oil pressure produced by continuous injection rotation space 41 is gradually pivoted upward, while being distributed in the oil of 4110 opposite side of pivot block
Amount W then gradually can be sent back in the accommodation space 32 by the first port 33 through the second petroleum pipeline 52 by the 4th port 4101,
Therefore when the pivot block 4110 is switched to 41 middle position of rotation space, the splenium 23 of the control-rod 22 is accommodating in this
The centre position in space 32, and the arm 71 of the robot module 70 is to be rocked to the state that yaw is presented.
And when the splenium 23 of control-rod 22 continues to move gradually downward, oil mass W being distributed in accommodation space 32 can continue
It is delivered in the rotation space 41 of steering wheel component 40, and the pivot block 4110 of steering wheel component 40 equally can be because be subject to oil mass
W persistently injects in rotation space 41 and continues to pivot to the left, while oil mass W persistently sends this back to by the second petroleum pipeline 52
In accommodation space 32, therefore when pivot block 4110 is switched to 41 leftward position of rotation space neighbouring four port 4101, control
The splenium 23 of bar processed 22 is that, in 32 lowest position of accommodation space, and the arm 71 of robot module 70 is in be rocked to
The state now put.
Accordingly, the object of the heavier-weights such as power source 10, transmission component 20 and oil pressure unit 30 is arranged at robot by this case
Below the body of module 70, and the steering wheel component 40 of lighter in weight is arranged at arbitrary pass of the arm 71 of robot module 70
Section position, therefore entirely the center of gravity of control device more can be consolidated, and as shown in figure 12, this case can will many according to actual demand
Individual steering wheel component 40 is arranged on each joint of arm 71 of robot module 70, makes the arm 71 of the robot module 70 each
Individual joint can carry out angle swinging.
In addition, this case connects oil pressure unit 30 and steering wheel component 40 through conveying assembly 50, using the side of similar Remote
Oil mass W is delivered to steering wheel component 40, the pivot block 4110 of remote boot server steering wheel component 40 through oil pressure unit 30 by formula
Pivot, reach the action for controlling that the arm 71 of the robot module 70 is swung, in other words by control transmission component 20
Stroke carry out the mode that the arm 71 of driven machine people module 70 swings, can be more simple and accurate in angle swinging control aspect.
And, the angle that this case is pivoted by the pivot 411 that feedback unit 61 detects steering wheel component 40 whether with control circuit
The angle of 60 outputs is consistent, and passes signal back control circuit 60, for example：Feedback unit 61 detects the pivot of pivot 411
During the angle of 60 original setting of angle deficiency control circuit, the passback feedback signal of feedback unit 61 is learnt to control circuit 60,
So that control circuit 60 output signal, to power source 10, makes the control transmission component 20 of power source 10, oil pressure unit 30 and rudder again
Wheel assembly 40 is moved again, carries out angle compensation operation.
In sum, above-described embodiment and schema are only presently preferred embodiments of the present invention, it is impossible to limit enforcement of the present invention with this
Scope, i.e., the impartial change made according to present patent application scope generally and modification should all belong to the protection of patent of the present invention
In the range of.
Claims (5)
1. a kind of steering wheel angle controller, it is characterised in that include：
Power source (10), with axle center (11)；
Transmission component (20), including power transmission shaft (21), control-rod (22) and splenium (23), wherein, power transmission shaft (21)
Two ends are connected with the axle center (11) of power source (10) and control-rod (22) respectively, by the axle center (11) of power source (10)
Power transmission shaft (21) is driven to drive control-rod (22) motion；
Oil pressure unit (30), with pivoted hole (31), accommodation space (32), the first port (33) and the second port (34),
Wherein, pivoted hole (30) is pivoted for control-rod (22), appropriate oil mass W of filling in accommodation space (32)；
Steering wheel component (40), with rotation space (41), wherein, rotation space (41) projection fixed block (410) and pivot
Axle (411), pivot (411) pivot joint pivot block (4110), pivot block (4110) are arranged in rotation space (41), Gu
Block (410) is determined with third connectivity mouth (4100) and the 4th port (4101)；
Conveying assembly (50), including the first petroleum pipeline (51) and the second petroleum pipeline (52), wherein, the first petroleum pipeline (51)
The second port (34) and third connectivity mouth (4100) are connected, the second petroleum pipeline (52) connects the first port (33) and four-way
Mouth (4101).
2. steering wheel angle controller according to claim 1, it is characterised in that steering wheel angle controller also includes
Control circuit (60), is electrically connected with the power source (10), controls the power source (10) by the control circuit (60)
Motion, and the control circuit (60) is electrically connected with feedback unit (61), the feedback unit (61) is sheathed on the steering wheel component
(40) pivot (411).
3. steering wheel angle controller according to claim 1, it is characterised in that wherein the power transmission shaft (21) is spiral shell
Bar.
4. steering wheel angle controller according to claim 1, it is characterised in that wherein the power source (10) is horse
Reach.
5. steering wheel angle controller according to claim 1, it is characterised in that the wherein power source (10), the biography
Dynamic component (20) and the oil pressure unit (30) are arranged at below the body of robot module (70), and the steering wheel component (40)
It is arranged at arbitrary joint position of the arm (71) of robot module (70).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510595580.8A CN106541399A (en) | 2015-09-18 | 2015-09-18 | Steering wheel angle controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510595580.8A CN106541399A (en) | 2015-09-18 | 2015-09-18 | Steering wheel angle controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106541399A true CN106541399A (en) | 2017-03-29 |
Family
ID=58362885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510595580.8A Pending CN106541399A (en) | 2015-09-18 | 2015-09-18 | Steering wheel angle controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106541399A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2242986Y (en) * | 1995-07-27 | 1996-12-18 | 庄士诚 | Oil-pressure cylinder action controlling device without oil-pressure pump |
| CN2620121Y (en) * | 2003-03-21 | 2004-06-09 | 朱兴龙 | Hydraulic servo-joint |
| WO2009015473A1 (en) * | 2007-07-27 | 2009-02-05 | Ottawa Health Research Institute | Hydraulic articulating joint |
| CN202389592U (en) * | 2011-11-15 | 2012-08-22 | 无锡德林船舶设备有限公司 | Rotary vane type hydraulic rudder |
| CN103538079A (en) * | 2013-09-24 | 2014-01-29 | 南京工程学院 | Rotation elastic driver for robot joint |
| CN205033215U (en) * | 2015-09-18 | 2016-02-17 | 永瑞科技股份有限公司 | Steering wheel angel position control device |
-
2015
- 2015-09-18 CN CN201510595580.8A patent/CN106541399A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2242986Y (en) * | 1995-07-27 | 1996-12-18 | 庄士诚 | Oil-pressure cylinder action controlling device without oil-pressure pump |
| CN2620121Y (en) * | 2003-03-21 | 2004-06-09 | 朱兴龙 | Hydraulic servo-joint |
| WO2009015473A1 (en) * | 2007-07-27 | 2009-02-05 | Ottawa Health Research Institute | Hydraulic articulating joint |
| CN202389592U (en) * | 2011-11-15 | 2012-08-22 | 无锡德林船舶设备有限公司 | Rotary vane type hydraulic rudder |
| CN103538079A (en) * | 2013-09-24 | 2014-01-29 | 南京工程学院 | Rotation elastic driver for robot joint |
| CN205033215U (en) * | 2015-09-18 | 2016-02-17 | 永瑞科技股份有限公司 | Steering wheel angel position control device |
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| PB01 | Publication | ||
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Application publication date: 20170329 |