CN107756387A - Machine user tripod head driver - Google Patents
Machine user tripod head driver Download PDFInfo
- Publication number
- CN107756387A CN107756387A CN201610679278.5A CN201610679278A CN107756387A CN 107756387 A CN107756387 A CN 107756387A CN 201610679278 A CN201610679278 A CN 201610679278A CN 107756387 A CN107756387 A CN 107756387A
- Authority
- CN
- China
- Prior art keywords
- gear
- output shaft
- potentiometer
- train
- reduction gears
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
Machine user tripod head driver, it relate to a kind of drive device of small scale robot.The present invention is excessive in order to solve the drive device volume of existing small scale robot, drive precision not high, function is single, integrated level is not high, and does not possess the function of driving and detection separation, it is proposed that a kind of twin shaft output, the servomechanism installation of Dual potentiometer detection, form motor and output shaft closed-loop control, output shaft and the control model of control system closed-loop control so that control system can be to the accurate force-feedback control of joint of robot exercise.Of the invention to have dependable performance, driving precision is high, and torsion is big, the advantages that responding fast, small volume, integrated level height, and can feed back the turned position of output shaft to control system.
Description
Technical field
The present invention relates to one kind can twin shaft output torque, and two axles are mutually perpendicular to, and can feed back output shaft rotation position
Small scale robot servomechanism installation to control system.
Background technology
Due to the development of science and technology, increasing small scale robot is gradually widely used in various dangerous, situations
Worked in the environment complicated, the mankind can not reach, people need to perform certain by the motion or action of robot specific
Task, this just needs the articulated driving equipment for using robot, the articulated driving equipment as small scale robot, it is desirable to is one
Kind technology maturation, dependable performance, driving precision is high, and torsion is big, and response is fast, and the servomechanism installation of small volume, this device is typically adopted
With closed-loop control and the angle moved of joint of robot can be fed back to control system, so as to be best understood from operator and control
Robot processed performs task, but the drive device volume of small scale robot in the market is excessive, and driving precision is not high, function list
One, integrated level is not high, and does not possess the function of driving and detection separation, so that reliability cannot sufficiently ensure.
The content of the invention
The purpose of the present invention be for existing small scale robot drive device volume it is excessive, driving precision it is not high, work(
Can be single, integrated level is not high, and does not possess the function of driving and detection separation, and the present invention is the joint for small scale robot
Driving, by top cover, output shaft, gear, train of reduction gears, potentiometer, pedestal, motor and bottom composition；The device is fixed on small
The joint motion position of humanoid robot, there are two output shafts vertical each other, each output shaft links with potentiometer respectively, according to
By the rotation driving robot corresponding site motion of output shaft, two joint motions can be driven simultaneously, one of potentiometer with
Motor cooperatively forms closed-loop control, and another potentiometer is used for the rotational angle for detecting the servomechanism installation output shaft, and will
It feeds back to control system, control system is formed closed-loop control with output shaft.The present invention has dependable performance, drives precision
Height, torsion is big, the advantages that responding fast, small volume, integrated level height, and can feed back the angle of output shaft rotation to control system.
Brief description of the drawings
Fig. 1 is the overall axonometric drawing of the present invention.
Fig. 2 is the structural representation of the present invention.
Embodiment
As depicted in figs. 1 and 2, the machine user tripod head driver, including top cover 1,12, output shaft A, B, gear 2,3,6,
8, train of reduction gears 4,5, potentiometer 7, pedestal 9, motor 10 and bottom 11.The output shaft A and gear 2 are affixed, the output
Axle A overlaps with the center of rotation of gear 2, and the rotary shaft of the gear 2 and the first potentiometer 7 is affixed, the axle center of the gear 2 with
The axis coinciding of first potentiometer 7, first potentiometer 7 are fixed in the hole seat C of pedestal 9, the output shaft B and gear 3
Affixed, the output shaft B overlaps with the center of rotation of gear 3, and the rotary shaft of the gear 3 and the second potentiometer 7 is affixed, described
The axle center of gear 3 and the axis coinciding of the second potentiometer 7, second potentiometer 7 are fixed in the hole seat D of pedestal 9, the hole
Seat C is vertical with hole seat D axis, and the motor 10 is fixed in pedestal 9, and the rotary shaft of the motor 10 is through hole E and gear 8
Affixed, the gear 8 engages with train of reduction gears 4, and the train of reduction gears 4 engages with gear 2, the train of reduction gears 4 with
Gear 6 engages, and the gear 6 engages with train of reduction gears 5, and the train of reduction gears 5 engages with gear 3, the top cover 1 and base
Seat 9 coordinates fixed output shaft A, train of reduction gears 4 and gear 6, and the top cover 12 and pedestal 9 coordinate fixed output shaft B and deceleration
Gear train 5, the pedestal 9 coordinate fixed motor 10 with bottom 11.Act implementation process：Control system provides drive signal, electricity
Machine 10 drives output shaft A, B to rotate by meshed gears, and the first potentiometer 7 follows output shaft A to rotate, and coordinates shape with motor 10
Into closed-loop control so that output shaft A turns to the position given up to control system, and it is motionless to be maintained at the position, until control
System provides the signal of next position, and the second potentiometer 7 follows output shaft B to rotate, and the position that detection output shaft B is rotated is simultaneously real
When feed back to control system, output shaft A and output shaft B linkages so that closed loop control is formed between control system and output shaft A, B
System.
As another example of the present invention, potentiometer can also be replaced with other sensors, it is defeated can equally to play detection
The purpose of shaft turned position, realizes the purpose of the present invention.
In the case where not making principle of the invention suffer damage, the details and embodiment of above-mentioned composition are only
As example and the thing of diagram, it can not depart from the scope of the present invention and change extensively, and these belong to the guarantor of the present invention
Within shield.
Claims (2)
1. a kind of machine user tripod head driver, for the joint drive of small scale robot, by top cover (1,12), output shaft (A, B),
Gear (2,3,6,8), train of reduction gears (4,5), potentiometer (7), pedestal (9), motor (10) and bottom (11) composition；
It is characterized in that：
The device is fixed on the joint motion position of small scale robot, has two output shafts vertical each other, each output shaft
Linked respectively with potentiometer, drive robot corresponding site motion by the rotation of output shaft, two joint fortune can be driven simultaneously
Dynamic, one of potentiometer cooperatively forms closed-loop control with motor, and another potentiometer is defeated for detecting the servomechanism installation
The rotational angle of shaft, and control system is fed back to, control system is formed closed-loop control with output shaft.
2. machine user tripod head driver according to claim 1, it is characterised in that：The output shaft (A) is solid with gear (2)
Connect, the output shaft (A) overlaps with the center of rotation of gear (2), and the gear (2) and the rotary shaft of the first potentiometer (7) are consolidated
Connect, the axle center of the gear (2) and the axis coinciding of the first potentiometer (7), first potentiometer (7) are fixed on pedestal (9)
Hole seat (C) in, the output shaft (B) and gear (3) are affixed, and the output shaft (B) overlaps with the center of rotation of gear (3),
The gear (3) and the rotary shaft of the second potentiometer (7) are affixed, the axle center of the gear (3) and the axle center of the second potentiometer (7)
Overlap, second potentiometer (7) is fixed in the hole seat (D) of pedestal (9), and the hole seat (C) and the axis of hole seat (D) hang down
Directly, the motor (10) is fixed in pedestal (9), and the rotary shaft of the motor (10) is affixed through hole (E) and gear (8), institute
State gear (8) to engage with train of reduction gears (4), the train of reduction gears (4) is engaged with gear (2), the train of reduction gears (4)
To be engaged with gear (6), the gear (6) is engaged with train of reduction gears (5), and the train of reduction gears (5) is engaged with gear (3),
The top cover (1) and pedestal (9) coordinate fixed output shaft (A), train of reduction gears (4) and gear (6), the top cover (12) and base
Seat (9) coordinates fixed output shaft (B) and train of reduction gears (5), and the pedestal (9) coordinates fixed motor (10) with bottom (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679278.5A CN107756387A (en) | 2016-08-17 | 2016-08-17 | Machine user tripod head driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679278.5A CN107756387A (en) | 2016-08-17 | 2016-08-17 | Machine user tripod head driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756387A true CN107756387A (en) | 2018-03-06 |
Family
ID=61260262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610679278.5A Pending CN107756387A (en) | 2016-08-17 | 2016-08-17 | Machine user tripod head driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756387A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104669265A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Mutually-perpendicular-double-shaft linkage feedback control servo device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
-
2016
- 2016-08-17 CN CN201610679278.5A patent/CN107756387A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080262634A1 (en) * | 2005-12-20 | 2008-10-23 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand Prosthesis Comprising Two Drive Devices |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104669265A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Mutually-perpendicular-double-shaft linkage feedback control servo device |
| CN104858882A (en) * | 2015-05-01 | 2015-08-26 | 袁梦杰 | Mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180306 |