CN107756440A - Heteropleural sync driver - Google Patents
Heteropleural sync driver Download PDFInfo
- Publication number
- CN107756440A CN107756440A CN201610679205.6A CN201610679205A CN107756440A CN 107756440 A CN107756440 A CN 107756440A CN 201610679205 A CN201610679205 A CN 201610679205A CN 107756440 A CN107756440 A CN 107756440A
- Authority
- CN
- China
- Prior art keywords
- output shaft
- gear
- potentiometer
- pedestal
- heteropleural
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Heteropleural sync driver, it relate to a kind of rescue robot rocking arm that is used for and links, can heteropleural twin shaft output equidirectional torque small servo device.The present invention is excessive in order to solve the servomechanism installation volume of existing rescue 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 exports in the same direction, 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
Be used to rescue robot rocking arm the present invention relates to one kind link, can heteropleural twin shaft output equidirectional torque, and can will be defeated
Shaft turned position feeds back to the small servo device of control system.
Background technology
Due to the development of science and technology, increasing robot is gradually widely used in various dangerous, situation complexity
, worked in the environment that the mankind can not reach, people need to perform certain specific to appoint by the motion or action of robot
Business, this just needs the articulated driving equipment for using robot, the articulated driving equipment as robot, it is desirable to be a kind of technology into
Ripe, dependable performance, driving precision is high, and torsion is big, and response is fast, and the servomechanism installation of small volume, this device typically uses closed loop control
Make and the angle that joint of robot moves can be fed back to control system, so as to make operator be best understood from and control machine people
Execution task, but the drive device volume of robot in the market is excessive, and driving precision is not high, and function is single, and integrated level is not
Height, and do 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 rescue 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 rescue robot
Driving, by top cover, output shaft, gear, gear train, potentiometer, pedestal, motor and bottom composition；The device is fixed on rescuing machine
The joint motion position of device people, heteropleural have two output shafts, and each output shaft links with potentiometer respectively, by output shaft
The corresponding site motion of driving robot is rotated, two joints can be driven to move in the same direction simultaneously, one of potentiometer and driving electricity
Machine cooperatively forms closed-loop control, and another potentiometer is used for the rotational angle for detecting the servomechanism installation output shaft, and is fed back
To control system, control system is set to form closed-loop control with output shaft.The present invention has dependable performance, and driving precision is high, torsion
Greatly, the advantages that responding fast, small volume, integrated level height, and the angle of output shaft rotation can be fed back 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 heteropleural sync driver, including top cover 1, output shaft A, B, gear 2,3,8, tooth
Wheel group 4,5, potentiometer 7, pedestal 9, motor 10 and bottom 11.The output shaft A and gear 2 are affixed, the output shaft A and gear
2 center of rotation overlaps, and the rotary shaft of the gear 2 and the first potentiometer 7 is affixed, axle center and the first current potential of the gear 2
The axis coinciding of device 7, first potentiometer 7 are fixed in the hole seat C of pedestal 9, and the output shaft B and gear 3 are affixed, described
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, the axle of the gear 3
The axis coinciding of the heart and the second potentiometer 7, second potentiometer 7 are fixed in the hole seat D of pedestal 9, and the motor 10 is fixed
In in pedestal 9, the rotary shaft of the motor 10 is affixed through hole E and gear 8, and the gear 8 engages with gear train 4,5, described
Top cover 1 and pedestal 9 coordinate fixed output shaft A, B and gear train 4,5, and the pedestal 9 coordinates fixed motor 10 with bottom 11.Action
Implementation process：Control system provides drive signal, and motor 10 drives output shaft A, B to rotate by meshed gears, the first current potential
Device 7 follows output shaft A to rotate, and closed-loop control is cooperatively formed with motor 10 so that output shaft A turns to what is given up to control system
Position, and it is maintained at that the position is motionless, until control system provides the signal of next position, the second potentiometer 7 follows output
Axle B is rotated, and simultaneously Real-time Feedback links to control system, output shaft A and output shaft B for the position that detection output shaft B is rotated so that control
Closed-loop control is formed between system processed and output shaft A, B.
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)
- A kind of 1. heteropleural sync driver, for the joint drive of rescue robot, by top cover (1), output shaft (A, B), gear (2,3,8), gear train (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 rescue robot, and heteropleural has two output shafts, each output shaft respectively with Potentiometer links, and drives robot corresponding site motion by the rotation of output shaft, two joints can be driven to move in the same direction simultaneously, One of potentiometer cooperatively forms closed-loop control with motor, and another potentiometer is used to detect the servomechanism installation output shaft Rotational angle, and be fed back to control system, control system is formed closed-loop control with output shaft.
- 2. heteropleural sync 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 motor (10) is fixed in pedestal (9), institute It is affixed through hole (E) and gear (8) to state the rotary shaft of motor (10), the gear (8) is engaged with gear train (4,5), the top Cover (1) and pedestal (9) coordinates fixed output shaft (A, B) and gear train (4,5), the pedestal (9) coordinates with bottom (11) fixes Motor (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679205.6A CN107756440A (en) | 2016-08-17 | 2016-08-17 | Heteropleural sync driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679205.6A CN107756440A (en) | 2016-08-17 | 2016-08-17 | Heteropleural sync driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756440A true CN107756440A (en) | 2018-03-06 |
Family
ID=61261254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610679205.6A Pending CN107756440A (en) | 2016-08-17 | 2016-08-17 | Heteropleural sync driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756440A (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 |
| CN104669267A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Different-side same-direction 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 CN201610679205.6A patent/CN107756440A/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 |
| CN104669267A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Different-side same-direction 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 |