CN106712600A - Driving device and driving method - Google Patents
Driving device and driving method Download PDFInfo
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- CN106712600A CN106712600A CN201710018788.2A CN201710018788A CN106712600A CN 106712600 A CN106712600 A CN 106712600A CN 201710018788 A CN201710018788 A CN 201710018788A CN 106712600 A CN106712600 A CN 106712600A
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Abstract
The invention discloses a driving device and a driving method. The driving device comprises a housing, wherein the housing comprises an upper portion and a lower portion, the upper portion is a rotating platform, the lower portion is a driving structure, the rotating platform is fixed on the driving structure in a rotational manner, the driving structure comprises a collector ring, a shaft, a bearing combination, a servo motor and a driver, the connector ring is arranged in the driving structure, the shaft is arranged in the driving structure, and is fixedly sleeved outside the collector ring, the shaft comprises a first end and a second end, the second end is opposite to the first end, the bearing combination is arranged in the driving structure, and comprises a first bearing and a second bearing, the first bearing is sleeved at the first end, the second bearing is sleeved at the second end, the servo motor is arranged in the driving structure, and is fixedly sleeved outside the shaft, and the driver is arranged in the driving structure, and is fixedly sleeved outside the collector ring.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of drive device and driving method.
Background technology
With the development of technology, it is highly desirable to use in increasing Military Electronics product and pilot production environment and revolves
Rotary driving device, e.g., the antenna for having many equipment needs that target is scanned for scanning, tracks detection, and this requires equipment
Antenna will 360 ° of continuous rotations；In microwave dark room, laboratory and workshop energy is also required in equipment debugging, detection process
360 ° of drive devices of continuous rotation.
In the rotating driving device for using at present, what is had uses what gear pair indirect belt dynamic load was rotated, its
Load larger but precision often very low；And the rotating driving device of high precision often safeguards that complicated, environmental suitability is poor, energy is loaded
Power is smaller；It is complicated that the small rotating driving device of size often loads small, maintenance.With continuing to develop and using flat for science and technology
The continuous broadening of platform, to the performance requirement of rotating driving device also more and more higher, only comprising size it is small, load is big, high precision, dimension
1~2 drive device of advantage during shield is simple cannot meet use demand.
It can be seen that, there is small size, load big simultaneously, high precision, safeguard simple multiple excellent in the presence of lacking in the prior art
The technical problem of the drive device of point.
The content of the invention
The embodiment of the present invention provides a kind of drive device and driving method, lacks simultaneously for solving to exist in the prior art
Technical problem that is small with size, loading big, high precision, safeguard the simply drive device of multiple advantages, realization provides a kind of
Small size heavy load high-precision driving device, fills up the technique effect of the blank of prior art.
The embodiment of the present application first aspect provides a kind of drive device, including：
Housing, the housing includes top and bottom, and the top is turntable, and the bottom is driving structure, described
Turntable is fixed in the driving structure by rotation mode；
Wherein, the driving structure includes：
Collector ring, is arranged in the driving structure, wherein, the axial line of the center line of the collector ring and the housing
Overlap；
Axle, is arranged in the driving structure and fixation is set in outside the collector ring, the axle include first end and with
The second relative end of first end；
Bearing is combined, and is arranged in the driving structure, wherein, the bearing combination includes clutch shaft bearing and the second axle
Hold, the clutch shaft bearing is set in the first end, the second bearing is set in second end；
Servomotor, is arranged in the driving structure and fixation is set in outside the axle；
Driver, is arranged in the driving structure and fixation is set in outside the collector ring, wherein, the driver with
Second end is adjacent, by the way of direct current torque motor direct drive；
Wherein, when the drive device power-up starts, check original state and enter self-locking mode formula, connect in the driver
After receiving the control signal sent by control terminal, then drive bearing described in the Serve Motor Control to combine relatively described axle and turn
Move so as to drive the turntable to rotate, and sent to the control rotational parameters of the driving structure by the collector ring
Terminal processed, so that the control terminal is when determining that the rotational parameters are unsatisfactory for pre-conditioned, sends corresponding adjustment and refers to
The order adjustment rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
Optionally, the collector ring includes electric current loop, speed ring and position ring, wherein, the electric current loop is used to feed back
Electric current in the driving structure, the speed ring is used to feed back the velocity of rotation of the driving structure, and the position ring is used for
Feed back the angle position of the driving structure, the electric current loop and the inner ring that the speed ring is the position ring, the rotation
Parameter includes current parameters, the velocity of rotation parameter and angle position parameter.
Optionally, the position ring completes position ring closed loop function by the control terminal, and the electric current loop passes through institute
State driver and complete electric current loop closed loop function, the speed ring completes speed ring closed loop function by the driver, wherein, institute
State driver adoption rate control mode and control the electric current loop, the driver adoption rate integration control mode controls described
Speed ring.
Optionally, the drive device also includes sensor, is arranged in the driving structure, for obtaining the driving
The angle position of structure.
Optionally, the first inner ring of the clutch shaft bearing and the first outer ring, the second bearing include the second inner ring and the
Two outer rings, wherein, first inner ring and second inner ring are matched somebody with somebody between the axle using basic hole system, H7/n6 transition respectively
Close and the assembling mode that is modified with the tolerance range of the axle of device to hole, first outer ring and second outer ring respectively with institute
State the assembling mode using basic shaft system and h6/K7 interference fits between hole.
Optionally, the clutch shaft bearing and the second bearing are using accurate 4 ball bearings.
Optionally, the driving structure also includes encoder, and fixation is set in outside the clutch shaft bearing.
Optionally, the encoder is 17 photoelectric encoders.
Optionally, the drive device also includes mounting flange, is arranged on the bottom of the housing.
Optionally, the drive device also includes output interface and input interface, wherein, the output interface is arranged on institute
The first position of turntable side is stated, the input interface is arranged on the second place of the driving structure side.
Optionally, the drive device also includes handle, is arranged on the 3rd position of the turntable side.
Optionally, the drive device also includes manual control terminal, is connected to outside the housing by cable.
Optionally, the external diameter of the drive device is 15-20 centimetres, and the height of the drive device is 12-15 centimetres.
The embodiment of the present application second aspect additionally provides a kind of driving method, is applied to driving dress as described in relation to the first aspect
In putting, including：
When the drive device is powered up and started, check the original state of the drive device and enter self-locking mode formula, its
In, the self-locking pattern is the pattern that the control drive device does not rotate；
After the driver of the drive device receives the control signal sent by control terminal, then the driving is driven
The bearing combination of drive device described in the Serve Motor Control of device rotates described so as to drive relative to the axle of the drive device
The turntable of drive device is rotated, wherein, load is installed on the turntable；
The rotational parameters of the drive device are sent to the control terminal by the collector ring of the drive device, with
Make the control terminal when determining that the rotational parameters are unsatisfactory for pre-conditioned, send corresponding adjust instruction adjustment described
Rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
Said one or multiple technical schemes in the embodiment of the present application, at least imitate with following one or more technology
Really：
First, due to the technical scheme in the embodiment of the present application, using housing, the housing includes top and bottom, described
Top is turntable, and the bottom is driving structure, and the turntable is fixed in the driving structure by rotation mode；Its
In, the driving structure includes：Collector ring, is arranged in the driving structure, wherein, the center line of the collector ring with it is described
The axial line of housing overlaps；Axle, is arranged in the driving structure and fixation is set in outside the collector ring, and the axle includes the
One end and second end relative with first end；Bearing is combined, and is arranged in the driving structure, wherein, the bearing combination bag
Clutch shaft bearing and second bearing are included, the clutch shaft bearing is set in the first end, and the second bearing is set in described second
End；Servomotor, is arranged in the driving structure and fixation is set in outside the axle；Driver, is arranged on described driving and ties
Structure is interior and fixation is set in outside the collector ring, wherein, the driver is adjacent with second end, using direct current torque motor
The technological means of the mode of direct drive, so, by rational structure design, reduces the size of drive device；Meanwhile, by
In whole drive device barycenter just in shaft center line, add the rock-steady structure that duplex bearing is employed inside driving structure,
So as to substantially increase the stability of drive device and improve concussion resistibility ability, it is ensured that larger load capacity；Further,
By the way of direct current torque motor direct drive, middle ring is reduced compared to traditional decelerator and gear pair drive form
Section, improve efficiency and transmission accuracy, so as to efficiently solve in the prior art in the presence of lack and meanwhile have size it is small, load
Greatly, high precision, the technical problem of the drive device of the simple multiple advantages of maintenance, realize that a kind of small size heavy load of offer is high-precision
Degree drive device, fills up the technique effect of the blank of prior art.
2nd, due to the technical scheme in the embodiment of the present application, electric current loop, speed ring and position are included using the collector ring
Ring is put, wherein, the electric current loop is used to feed back the electric current in the driving structure, and the speed ring is used to feed back the driving knot
The velocity of rotation of structure, the position ring is used to feed back the angle position of the driving structure, the electric current loop and the speed ring
It is the inner ring of the position ring, the rotational parameters include current parameters, the velocity of rotation parameter and angle position parameter
Technological means, so, by electric current loop, speed ring, the ring close-loop control scheme of position ring three, so as to by turntable rotate speed
The information such as degree, angle position return to control terminal in real time, and the information that control terminal will be received is contrasted with the information for sending,
Accordingly corrected after contrast, realized the real-time adjustment to drive device, further improved the technology of the precision of drive device
Effect.
3rd, due to the technical scheme in the embodiment of the present application, the first inner ring and the first outer ring using the clutch shaft bearing,
The second bearing includes the second inner ring and the second outer ring, wherein, first inner ring and second inner ring respectively with it is described
The assembling mode being modified with the tolerance range of the axle using basic hole system, H7/n6 interference fits and device to hole between axle, described the
One outer ring and second outer ring are respectively using the assembling mode of basic shaft system and h6/K7 interference fits, described between the hole
Clutch shaft bearing and the second bearing also include encoder at 4 using accurate ball bearing, the driving structures, and fixation is arranged
It is 17 technological means of photoelectric encoder in the outer and described encoder of the clutch shaft bearing, so, from assembling link
The accuracy class of drive device is further improved, precision is reached ± 5 ", the adaptation platform of drive device is expanded, meanwhile,
The convenience of installation and removal is ensure that, relevant device cost of labor is reduced.
Brief description of the drawings
In order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art, embodiment will be described below
Needed for the accompanying drawing to be used be briefly described, it should be apparent that, drawings in the following description are only more of the invention
Embodiment.
Fig. 1 is a kind of internal structure block diagram of drive device that the embodiment of the present application one is provided；
Fig. 2 is the driving principle block diagram of drive device described in the embodiment of the present application one；
Fig. 3 is the three close-loop control theory diagram of collector ring described in the embodiment of the present application one；
Fig. 4 is the outline drawing of drive device described in the embodiment of the present application one；
Fig. 5 is a kind of flow chart of driving method that the embodiment of the present application two is provided；
The wiring diagram that Fig. 6 is connected by cable for drive device in the embodiment of the present application two with control terminal.
Specific embodiment
The embodiment of the present invention provides a kind of drive device and driving method, lacks simultaneously for solving to exist in the prior art
Technical problem that is small with size, loading big, high precision, safeguard the simply drive device of multiple advantages, realization provides a kind of
Small size heavy load high-precision driving device, fills up the technique effect of the blank of prior art.
Technical scheme in the embodiment of the present application is to solve above-mentioned technical problem, and general thought is as follows：
A kind of drive device, including：
Housing, the housing includes top and bottom, and the top is turntable, and the bottom is driving structure, described
Turntable is fixed in the driving structure by rotation mode；
Wherein, the driving structure includes：
Collector ring, is arranged in the driving structure, wherein, the axial line of the center line of the collector ring and the housing
Overlap；
Axle, is arranged in the driving structure and fixation is set in outside the collector ring, the axle include first end and with
The second relative end of first end；
Bearing is combined, and is arranged in the driving structure, wherein, the bearing combination includes clutch shaft bearing and the second axle
Hold, the clutch shaft bearing is set in the first end, the second bearing is set in second end；
Servomotor, is arranged in the driving structure and fixation is set in outside the axle；
Driver, is arranged in the driving structure and fixation is set in outside the collector ring, wherein, the driver with
Second end is adjacent, by the way of direct current torque motor direct drive；
Wherein, when the drive device power-up starts, check original state and enter self-locking mode formula, connect in the driver
After receiving the control signal sent by control terminal, then drive bearing described in the Serve Motor Control to combine relatively described axle and turn
Move so as to drive the turntable to rotate, and sent to the control rotational parameters of the driving structure by the collector ring
Terminal processed, so that the control terminal is when determining that the rotational parameters are unsatisfactory for pre-conditioned, sends corresponding adjustment and refers to
The order adjustment rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
In the above-mentioned technical solutions, using housing, the housing includes top and bottom, and the top is turntable, institute
Bottom is stated for driving structure, the turntable is fixed in the driving structure by rotation mode；Wherein, the driving structure
Including：Collector ring, is arranged in the driving structure, wherein, the axial line weight of the center line of the collector ring and the housing
Close；Axle, is arranged in the driving structure and fixation is set in outside the collector ring, and the axle includes first end and and first end
The second relative end；Bearing is combined, and is arranged in the driving structure, wherein, bearing combination includes clutch shaft bearing and the
Two bearings, the clutch shaft bearing is set in the first end, and the second bearing is set in second end；Servomotor, if
Put in the driving structure and fixation is set in outside the axle；Driver, is arranged in the driving structure and fixation is arranged
Outside the collector ring, wherein, the driver is adjacent with second end, by the way of direct current torque motor direct drive
Technological means, so, by rational structure design, reduce the size of drive device；Simultaneously as whole drive device
Barycenter just in shaft center line, the rock-steady structure that duplex bearing is employed inside driving structure is added, so as to substantially increase
The stability and raising concussion resistibility ability of drive device, it is ensured that larger load capacity；Further, using DC torque electricity
Machine direct drive mode, reduce intermediate link compared to traditional decelerator and gear pair drive form, improve efficiency and
Transmission accuracy, so as to efficiently solve in the prior art in the presence of lacking while there is small size, load big, high precision, safeguarding simple
The technical problem of the drive device of single multiple advantages, realizes providing a kind of small size heavy load high-precision driving device, fills up
The technique effect of the blank of prior art.
In order to be better understood from above-mentioned technical proposal, below by accompanying drawing and specific embodiment to technical solution of the present invention
It is described in detail, it should be understood that the specific features in the embodiment of the present application and embodiment are to the detailed of technical solution of the present invention
Thin explanation, rather than the restriction to technical solution of the present invention, in the case where not conflicting, the embodiment of the present application and embodiment
In technical characteristic can be combined with each other.
Embodiment one
Fig. 1 is refer to, is a kind of drive device that the embodiment of the present application one is provided, including：
Housing 10, the housing includes top and bottom, and the top is turntable 101, and the bottom is driving structure
102, turntable 101 is fixed in driving structure 102 by rotation mode；
Wherein, driving structure bag 102 is included：
Collector ring 1021, is arranged in driving structure 102, wherein, the center line of collector ring 1021 and the axle center of housing 10
Line overlaps；
Axle 1022, is arranged in driving structure 102 and fixation is set in outside collector ring 1021, and the axle 1022 includes first
End and second end relative with first end；
Bearing combination 1023, be arranged in driving structure 102, wherein, bearing combination 1023 include clutch shaft bearing 10231 and
Second bearing 10232, clutch shaft bearing 10231 is set in the first end, and second bearing 10232 is set in second end；
Servomotor 1024, is arranged in driving structure 102 and fixation is set in outside axle 1022；
Driver 1025, is arranged in driving structure 102 and fixation is set in outside collector ring 1021, wherein, driver
1025 is adjacent with second end, by the way of direct current torque motor direct drive；
Wherein, when the drive device power-up starts, check original state and enter self-locking mode formula, connect in driver 1025
After receiving the control signal sent by control terminal, then control bearing 1022 turns of 1023 relative axle of combination of servomotor 1024 is driven
It is dynamic to be rotated so as to platform 101 is rotated, and sent to the control rotational parameters of driving structure 102 by collector ring 1021
Terminal, so that the control terminal is when determining that the rotational parameters are unsatisfactory for pre-conditioned, sends corresponding adjust instruction
Adjust the rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
In specific implementation process, after load is arranged on turntable 101, the drive device just can be to described negative
Row rotation driving is loaded into, the load can be specifically antenna, waveguide etc., and the drive device specifically may apply to airborne flat
Platform, low altitude radar probe vehicles, experiment test platform etc., are not restricted in the embodiment of the present application.The driving of the drive device
Theory diagram is as shown in Figure 2.Sensor is also provided with the drive device, for obtaining driving structure 102 or rotation
The velocity of rotation of turntable 101 and angle position etc..
In the embodiment of the present application, the external diameter of the drive device is 15-20 centimetres, and the height of the drive device is
12-15 centimetres.Housing 10 can be specifically the shapes such as cuboid, cylinder, because circular space quality is minimum, therefore, in tool
In body implementation process, housing 10 can be set to cylinder.It is preferred that a diameter of 18 centimetres of housing 10, highly it is 14 centimetres.
Compared to the drive device of equal deadweight 10Kg, appearance and size of the present invention is smaller than traditional product by 40%, reduces installing space.Together
When, it is that a upper and lower side is provided with the hollow structure of through hole by housing 10, so as to reduce the deadweight of drive device.With prior art
Middle drive device contrast, in the drive device with even load 80Kg, present invention deadweight only has the half of traditional product deadweight, convenient
Install and transport, substantially reduce the operating cost and factory's later maintenance cost of record equipment.
In the embodiment of the present application, the acquisition of the rotational parameters such as velocity of rotation and angle position mainly passes through collector ring 1021
To realize.Collector ring 1021 includes electric current loop, speed ring and position ring, wherein, the electric current loop is used to feed back the driving
Electric current in structure, the speed ring is used to feed back the velocity of rotation of the driving structure, and the position ring is used to feed back described
The angle position of driving structure, the electric current loop and the inner ring that the speed ring is the position ring, the rotational parameters include
Current parameters, the velocity of rotation parameter and angle position parameter.
The electric current loop completes electric current loop closed loop function by the driver, and the speed ring is complete by the driver
Into speed ring closed loop function, wherein, the driver adoption rate control mode controls the electric current loop, the driver to use
Proportional plus integral control mode controls the speed ring, and electric current loop is designed as a link of speed ring.In order to obtain angle
Degree position, the drive device also includes sensor, is arranged in driving structure 102, for obtaining described in driving structure 102
Angle position, and the angle position is sent to control terminal, so that the position ring is completed by the control terminal
Position ring closed loop function.
The three close-loop control theory diagram of the collector ring is as shown in Figure 3.
Certainly, in order to realize the regulation and control to rotational parameters, driving structure 102 also includes encoder 1026, and fixation is set in
Outside clutch shaft bearing 10231.
In the embodiment of the present application, because the size of drive device is smaller, centroid position is very low, and 70mm is about away from bottom surface,
Therefore, the barycenter of whole drive device is placed on axle center by the change of installation site just in shaft center line by barycenter is loaded
On line, meanwhile, duplex bearing rock-steady structure is employed inside driving structure 102, bearing point is arranged up and down, all in outer most edge, difference
In in the form of single bearing, this arrangement of duplex bearing can reduce the abrasion of single bearing, even if turntable is inclined
The abrasion to bearing will not be increased, it is longer compared to single bearing service life, wear and tear smaller, while can also substantially increase drive
The stability and raising concussion resistibility ability of dynamic device, and when barycenter is loaded not in pivot, this structure is still supported
Anti- larger centrifugal force impact, meets the requirement to the load capacity of drive device.
In order that the drive device of small size ensure that precision, in the embodiment of the present application, from design, processing, assembling
Three links are controlled.Specifically, the first inner ring of clutch shaft bearing 10231 and the first outer ring, second bearing 10232 include
Second inner ring and the second outer ring, wherein, first inner ring and second inner ring respectively between axle 1022 using basic hole system,
The assembling mode that H7/n6 interference fits and device to hole are modified with the tolerance range of axle 1022, first outer ring and described second
Outer ring is respectively using basic shaft system and the assembling mode of h6/K7 interference fits between the hole.The axle of clutch shaft bearing 10231 and second
10232 are held using accurate 4 ball bearings.Encoder 1026 is 17 photoelectric encoders.
In specific implementation process, part processing grade is set to IT7 grades with reference to actual conditions, theoretical calculation can reach
0.033mm<0.052mm；The static error of encoder 1026 is less than 0.005 °；Clutch shaft bearing 10231 and second bearing 10232 can
To select PRS (Luoyang Puri is gloomy) 4 ball bearings of precision, because it can not only bear radial load, can also bear axial force, and tool
There is size small, lightweight advantage, bearing accuracy reaches P5 grades.For the ease of assembling, by calculating the magnitude of interference and assembly force, axle
1023 inner rings of combination are held to be brought into from the interference fits H7/n6 of basic hole system and the larger magnitude of interference of permission and to tolerance with axle 1022
The appropriate amendment of row；Bearing combines 1023 outer rings with hole from basic shaft system and the excessive cooperation h6/K7 of the permission very little magnitude of interference；Servo
Motor 1024, encoder 1026 etc. are coordinated from H6/K7.
Fig. 4 is refer to, is the outline drawing of the drive device, the drive device also includes mounting flange 1011, sets
In the bottom of housing 10, for the drive device to be fixed on into table top or mounting platform.The drive device also includes
Output interface 1012 and input interface 1013, wherein, output interface 1012 is arranged on the first position of the turntable side, defeated
Incoming interface 1013 is arranged on the second place of the driving structure side.Carry for convenience just, the drive device also includes
Handle 1014, is arranged on the 3rd position of the turntable side.The drive device also includes manual control terminal, by line
Cable is connected to outside housing 10, so, when human intervention is needed, it is also possible to which manually control terminal is regulated and controled.Correspondingly,
The drive device is also provided with debugging watch window, conveniently regulating and controlling.
Further, because the size of drive device is smaller, therefore, it is internal to the reasonability of the interface shape of drive device
Cabling, controller winding displacement etc. are also required to be adjusted correspondingly, and are easy to convenient later maintenance, operation convenience, rationally control
The size of space hold.
Drive device parameter index in the embodiment of the present application is as shown in the table：
Table 1
Embodiment two
Based on the identical inventive concept of the embodiment of the present application one, refer to Fig. 5, be the embodiment of the present application two provide one
Driving method is planted, methods described is applied in the drive device as described in embodiment one, including：
S101：When the drive device is powered up and started, check the original state of the drive device and enter self-locking mode
Formula, wherein, the self-locking pattern is the pattern that the control drive device does not rotate；
S102：After the driver of the drive device receives the control signal sent by control terminal, then institute is driven
The bearing combination for stating drive device described in the Serve Motor Control of drive device is rotated so as to band relative to the axle of the drive device
The turntable for moving the drive device is rotated, wherein, load is installed on the turntable；
S103：The rotational parameters of the drive device are sent to the control eventually by the collector ring of the drive device
End, so that the control terminal is when determining that the rotational parameters are unsatisfactory for pre-conditioned, sends corresponding adjust instruction and adjusts
The whole rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
In specific implementation process, the mode of such as Fig. 6 of the drive device in embodiment one can be attached and used：It is logical
Special comprehensive cable connection control terminal and drive device input interface are crossed, the power supply of drive device, control signal merge one
On comprehensive cable；It is connected also by a composite cable between control terminal and computer, it is ensured that the control instruction energy of computer
Enough be sent to control terminal, while also by the presentation of information of control terminal on the computer screen.
Then, drive device is fixed on table top or mounting platform, the installation load on rotation platform, safety inspection
Worked by being powered after looking into.When drive device is powered up to be started, self-inspection is carried out, check original state and enter self-locking mode formula, when
After servo controller receives the order of control terminal, into mode of operation, control terminal will output signal to driver, drive
Device motor is rotated platform rotation, and drive device can also be carried out specifying angle with 360 ° of rotations according to control terminal instruction
Degree, speed carry out rotation sweep.When will carry out real-time tracking after load detecting to target, and by the velocity of rotation of drive device,
Angle position Real-time Feedback is real-time by feedack by being sent to display terminal after control terminal treatment to control terminal
Show, when human intervention is needed, remote control can be carried out by control software, it is also manually controllable, make driving
Device is moved according to the desired value of setting.
By one or more technical schemes in the embodiment of the present application, it is possible to achieve following one or more technologies effect
Really：
First, due to the technical scheme in the embodiment of the present application, using housing, the housing includes top and bottom, described
Top is turntable, and the bottom is driving structure, and the turntable is fixed in the driving structure by rotation mode；Its
In, the driving structure includes：Collector ring, is arranged in the driving structure, wherein, the center line of the collector ring with it is described
The axial line of housing overlaps；Axle, is arranged in the driving structure and fixation is set in outside the collector ring, and the axle includes the
One end and second end relative with first end；Bearing is combined, and is arranged in the driving structure, wherein, the bearing combination bag
Clutch shaft bearing and second bearing are included, the clutch shaft bearing is set in the first end, and the second bearing is set in described second
End；Servomotor, is arranged in the driving structure and fixation is set in outside the axle；Driver, is arranged on described driving and ties
Structure is interior and fixation is set in outside the collector ring, wherein, the driver is adjacent with second end, using direct current torque motor
The technological means of the mode of direct drive, so, by rational structure design, reduces the size of drive device；Meanwhile, by
In whole drive device barycenter just in shaft center line, add the rock-steady structure that duplex bearing is employed inside driving structure,
So as to substantially increase the stability of drive device and improve concussion resistibility ability, it is ensured that larger load capacity；Further,
By the way of direct current torque motor direct drive, middle ring is reduced compared to traditional decelerator and gear pair drive form
Section, improve efficiency and transmission accuracy, so as to efficiently solve in the prior art in the presence of lack and meanwhile have size it is small, load
Greatly, high precision, the technical problem of the drive device of the simple multiple advantages of maintenance, realize that a kind of small size heavy load of offer is high-precision
Degree drive device, fills up the technique effect of the blank of prior art.
2nd, due to the technical scheme in the embodiment of the present application, electric current loop, speed ring and position are included using the collector ring
Ring is put, wherein, the electric current loop is used to feed back the electric current in the driving structure, and the speed ring is used to feed back the driving knot
The velocity of rotation of structure, the position ring is used to feed back the angle position of the driving structure, the electric current loop and the speed ring
It is the inner ring of the position ring, the rotational parameters include current parameters, the velocity of rotation parameter and angle position parameter
Technological means, so, by electric current loop, speed ring, the ring close-loop control scheme of position ring three, so as to by turntable rotate speed
The information such as degree, angle position return to control terminal in real time, and the information that control terminal will be received is contrasted with the information for sending,
Accordingly corrected after contrast, realized the real-time adjustment to drive device, further improved the technology of the precision of drive device
Effect.
3rd, due to the technical scheme in the embodiment of the present application, the first inner ring and the first outer ring using the clutch shaft bearing,
The second bearing includes the second inner ring and the second outer ring, wherein, first inner ring and second inner ring respectively with it is described
The assembling mode being modified with the tolerance range of the axle using basic hole system, H7/n6 interference fits and device to hole between axle, described the
One outer ring and second outer ring are respectively using the assembling mode of basic shaft system and h6/K7 interference fits, described between the hole
Clutch shaft bearing and the second bearing also include encoder at 4 using accurate ball bearing, the driving structures, and fixation is arranged
It is 17 technological means of photoelectric encoder in the outer and described encoder of the clutch shaft bearing, so, from assembling link
The accuracy class of drive device is further improved, precision is reached ± 5 ", the adaptation platform of drive device is expanded, meanwhile,
The convenience of installation and removal is ensure that, relevant device cost of labor is reduced.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (14)
1. a kind of drive device, including：
Housing, the housing includes top and bottom, and the top is turntable, and the bottom is driving structure, the rotation
Platform is fixed in the driving structure by rotation mode；
Wherein, the driving structure includes：
Collector ring, is arranged in the driving structure, wherein, the axial line weight of the center line of the collector ring and the housing
Close；
Axle, is arranged in the driving structure and fixation is set in outside the collector ring, and the axle includes first end and with first
The second relative end of end；
Bearing is combined, and is arranged in the driving structure, wherein, the bearing combination includes clutch shaft bearing and second bearing, institute
State clutch shaft bearing and be set in the first end, the second bearing is set in second end；
Servomotor, is arranged in the driving structure and fixation is set in outside the axle；
Driver, is arranged in the driving structure and fixation is set in outside the collector ring, wherein, the driver with it is described
Second end is adjacent, by the way of direct current torque motor direct drive；
Wherein, when the drive device power-up starts, check original state and enter self-locking mode formula, received in the driver
After the control signal sent by control terminal, then drive described in the Serve Motor Control bearing combination relative to the axle rotate from
And drive the turntable to rotate, and sent to the control eventually the rotational parameters of the driving structure by the collector ring
End, so that the control terminal is when determining that the rotational parameters are unsatisfactory for pre-conditioned, sends corresponding adjust instruction and adjusts
The whole rotational parameters, it is ensured that the drive device is according to the pre-conditioned rotation.
2. drive device as claimed in claim 1, it is characterised in that the collector ring includes electric current loop, speed ring and position
Ring is put, wherein, the electric current loop is used to feed back the electric current in the driving structure, and the speed ring is used to feed back the driving knot
The velocity of rotation of structure, the position ring is used to feed back the angle position of the driving structure, the electric current loop and the speed ring
It is the inner ring of the position ring, the rotational parameters include current parameters, the velocity of rotation parameter and angle position parameter.
3. drive device as claimed in claim 2, it is characterised in that the position ring completes position by the control terminal
Ring closed loop function, the electric current loop completes electric current loop closed loop function by the driver, and the speed ring is by the driving
Device completes speed ring closed loop function, wherein, the driver adoption rate control mode controls the electric current loop, the driver
Adoption rate integration control mode controls the speed ring.
4. drive device as claimed in claim 3, it is characterised in that the drive device also includes sensor, is arranged on institute
State in driving structure, the angle position for obtaining the driving structure.
5. drive device as claimed in claim 4, it is characterised in that the first inner ring of the clutch shaft bearing and the first outer ring,
The second bearing includes the second inner ring and the second outer ring, wherein, first inner ring and second inner ring respectively with it is described
The assembling mode being modified with the tolerance range of the axle using basic hole system, H7/n6 interference fits and device to hole between axle, described the
One outer ring and second outer ring are respectively using basic shaft system and the assembling mode of h6/K7 interference fits between the hole.
6. drive device as claimed in claim 5, it is characterised in that the clutch shaft bearing and the second bearing are using essence
Close 4 ball bearings.
7. drive device as claimed in claim 6, it is characterised in that the driving structure also includes encoder, fixation is arranged
Outside the clutch shaft bearing.
8. drive device as claimed in claim 7, it is characterised in that the encoder is 17 photoelectric encoders.
9. drive device as claimed in claim 8, it is characterised in that the drive device also includes mounting flange, is arranged on
The bottom of the housing.
10. drive device as claimed in claim 9, it is characterised in that the drive device also includes output interface and input
Interface, wherein, the output interface is arranged on the first position of the turntable side, and the input interface is arranged on the drive
The second place of dynamic texture edge.
11. drive devices as claimed in claim 10, it is characterised in that the drive device also includes handle, is arranged on institute
State the 3rd position of turntable side.
12. drive devices as claimed in claim 11, it is characterised in that the drive device also includes manual control terminal,
It is connected to outside the housing by cable.
13. drive device as any one of claim 1-12, it is characterised in that the external diameter of the drive device is
15-20 centimetres, the height of the drive device is 12-15 centimetres.
A kind of 14. driving methods, are applied in the drive device as described in claim 1-13, including：
When the drive device is powered up and started, check the original state of the drive device and enter self-locking mode formula, wherein, institute
It is the pattern that the control drive device does not rotate to state self-locking pattern；
After the driver of the drive device receives the control signal sent by control terminal, then the drive device is driven
Serve Motor Control described in drive device bearing combination relative to the drive device axle rotate so as to drive the driving
The turntable of device is rotated, wherein, load is installed on the turntable；
The rotational parameters of the drive device are sent to the control terminal by the collector ring of the drive device, so that institute
Control terminal is stated when determining that the rotational parameters are unsatisfactory for pre-conditioned, corresponding adjust instruction is sent and is adjusted the rotation
Parameter, it is ensured that the drive device is according to the pre-conditioned rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018788.2A CN106712600B (en) | 2017-01-10 | 2017-01-10 | A kind of driving device and driving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018788.2A CN106712600B (en) | 2017-01-10 | 2017-01-10 | A kind of driving device and driving method |
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| CN106712600B CN106712600B (en) | 2019-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN108429571A (en) * | 2018-03-12 | 2018-08-21 | 深圳市杉川机器人有限公司 | A kind of rotating device and rotating radar device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106712600B (en) | 2019-09-17 |
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