CN107756446A - Closed-loop control Two axle drive device - Google Patents
Closed-loop control Two axle drive device Download PDFInfo
- Publication number
- CN107756446A CN107756446A CN201610679220.0A CN201610679220A CN107756446A CN 107756446 A CN107756446 A CN 107756446A CN 201610679220 A CN201610679220 A CN 201610679220A CN 107756446 A CN107756446 A CN 107756446A
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- CN
- China
- Prior art keywords
- gear
- output shaft
- potentiometer
- closed
- loop control
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Closed-loop control Two axle drive device, 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 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
The present invention relates to a kind of wrist joint for rescue robot, can twin shaft output equidirectional torque, and will can export
Axle turned position feeds back to the device of control system.
Background technology
Due to the development of science and technology, rescue robot is gradually used in increasing scope, from 20th century 90
From age, international sophisticated machine people plans (IARP) and has held excessive robot symposium, has been rescued in developed country
Help robot marketization product.At present, advanced rescue robot technology speedily carry out rescue work, the disaster relief, anti-terrorism etc. obtained it is extensive
Using.Rescue robot also has good application prospect in terms of the rescue of battlefield, by the extensive attention of foreign military.According to five jiaos
The latest data that building is announced, U.S. army have fallen in battle people more than 4200 in Iraq battlefield, and number of injured people is then more than 31000 people, largely
The wounded are that medical care soldier emits considerable risk and rescued back from battlefield.However, due to the importance of medical care soldier and obvious red ten
Word mark, afield shuttle they equally can turn into enemy target.According to conventional battlefield experience, if soldier's energy
It is enough to be treated within injured the latter hour, the survival probability of soldier will be greatly improved.But afield, aid-man carries
Medical equipment it is fairly limited, and rescue robot can complete temporary rescue task, when striving for the rescue of preciousness for patient more
Between.Mankind doctor can be by these robots of satellite remote control, and it can be rapid steady within officers and men's injured a few minutes
Determine the condition of the injury, and wounded's internal medicine or surgical nursing are given when withdrawing.Gao Deng Plan Bureaus of U.S. Department of Defense (DARPA) are the U.S.
The ground force future battlefield sick and wounded rescue and medical treatment devises Highgrade integration, robotization and intelligentized medical system.Rescue
Robot technology is collection medical science, biomethanics, mechanics, Mechanics of Machinery, materialogy, computer graphics, computer vision, number
The novel crossed research field that the subjects such as credit analysis, robot are integrated, there is important researching value, in the military and people
Use and have a wide range of applications, be the study hotspot of current robot field.Such robot passes through Remote
The wounded so that it is guaranteed that passing through complicated landform, are transported to base hospital by guidance in time, its appearance, will significantly reduce battlefield doctor
The injures and deaths probability of shield personnel.In addition to military first aid, this robot can be used for many occasions, particularly occur earthquake,
In core biological and chemical attack or the hazardous environment of harmful substance leakage, rescue robot can rely on outstanding lifting capacity and toughness
One exrending boxing pin.
The content of the invention
The purpose of the present invention is too fat to move, expensive, difficult in maintenance for existing rescue robot system complexity, structure
The shortcomings of, brand-new design is done to each articulated driving equipment of rescue robot, by detection of joints mechanism and drive mechanism
It is integrated in one, simplifies system architecture, and adds arrangement of clutch, when system moment output signal, motor rotates, from
Attach together and put connection motor and train of reduction gears, the joint that motor is specified by train of reduction gears driving, the motion to the joint is applied
The effect of reinforcing, when system does not have torque output signal, motor stalls, arrangement of clutch disconnects motor and train of reduction gears
Connection, reduce and reduce the resistance of joint motions, make the motion in joint more smooth.The present invention is to be used for rescue robot
Detection of joints and driving equipment, be made up of shell, motor, arrangement of clutch, potentiometer, gear, power transmission shaft, motor and clutch
Device connects, and arrangement of clutch drives power transmission shaft by the cooperation of train of reduction gears, and power transmission shaft drives current potential by another group of gear
Device, shell provide support and protective effect to transmission parts.The present invention enables rescue robot movable joint position to keep maximum
Degree it is flexible, the installation cost is low, and using simple, it is easy to safeguard.
Brief description of the drawings
Fig. 1 is the schematic internal view of the present invention.
Fig. 2 is the structural representation of the present invention.
Embodiment
As depicted in figs. 1 and 2, the closed-loop control Two axle drive device, including top cover 1, output shaft A, B, gear 2,3,8,
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 shaft A
Overlapped with the center of rotation of gear 2, the rotary shaft of the gear 2 and the first potentiometer 7 is affixed, the axle center of the gear 2 and the
The axis coinciding of one potentiometer 7, first potentiometer 7 are fixed in the hole seat C of pedestal 9, and the output shaft B is solid with gear 3
Connect, 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, the tooth
The axle center of wheel 3 is fixed in the hole seat D of pedestal 9 with the axis coinciding of the second potentiometer 7, second potentiometer 7, the motor
10 are fixed in pedestal 9, and the rotary shaft of the motor 10 is affixed through hole E and gear 8, the gear 8 and train of reduction gears 4,5
Engagement, the train of reduction gears 4 are engaged with gear 2, and the train of reduction gears 5 is engaged with gear 3, and the top cover 1 and pedestal 9 are matched somebody with somebody
Fixed output shaft A, B and gear train 4,5 are closed, the pedestal 9 coordinates fixed motor 10 with bottom 11.Act implementation process：Control
System provides drive signal, and motor 10 drives output shaft A, B to rotate by meshed gears, and the first potentiometer 7 follows output shaft A
Rotate, closed-loop control is cooperatively formed with motor 10 so that output shaft A turns to the position given up to control system, and is maintained at
The position is motionless, and until control system provides the signal of next position, the second potentiometer 7 follows output shaft B to rotate, and detection is defeated
The position and Real-time Feedback that shaft B is rotated are linked to control system, output shaft A and output shaft B so that control system and output shaft
A, closed-loop control is formed between 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)
1. a kind of closed-loop control Two axle drive device, the wrist joint for rescue robot drives, by top cover (1), output shaft (A,
B), gear (2,3,8), 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 wrist joint moving part of rescue robot, and homonymy has two output shafts, each output shaft point
Do not linked with potentiometer, drive robot corresponding site motion by the rotation of output shaft, can drive two joints in the same direction simultaneously
Motion, one of potentiometer cooperatively form closed-loop control with motor, and another potentiometer is used to detect the servomechanism installation
The rotational angle of output shaft, and control system is fed back to, control system is formed closed-loop control with output shaft.
2. closed-loop control Two axle drive device according to claim 1, it is characterised in that：The output shaft (A) and gear (2)
Affixed, the output shaft (A) overlaps with the center of rotation of gear (2), the gear (2) and the rotary shaft of the first potentiometer (7)
Affixed, the axle center of the gear (2) and the axis coinciding of the first potentiometer (7), first potentiometer (7) are fixed on pedestal
(9) in hole seat (C), the output shaft (B) and gear (3) are affixed, the output shaft (B) and the center of rotation weight of gear (3)
Close, the gear (3) and the rotary shaft of the second potentiometer (7) are affixed, axle center and the second potentiometer (7) of the gear (3)
Axis coinciding, second potentiometer (7) are fixed in the hole seat (D) of pedestal (9), and the motor (10) is fixed on pedestal (9)
Interior, the rotary shaft of the motor (10) is affixed through hole (E) and gear (8), and the gear (8) is nibbled with train of reduction gears (4,5)
Close, the train of reduction gears (4) is engaged with gear (2), and the train of reduction gears (5) is engaged with gear (3), the top cover (1)
Coordinate fixed output shaft (A, B) and gear train (4,5) with pedestal (9), the pedestal (9) coordinates fixed motor with bottom (11)
(10)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679220.0A CN107756446A (en) | 2016-08-17 | 2016-08-17 | Closed-loop control Two axle drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610679220.0A CN107756446A (en) | 2016-08-17 | 2016-08-17 | Closed-loop control Two axle drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756446A true CN107756446A (en) | 2018-03-06 |
Family
ID=61260276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610679220.0A Pending CN107756446A (en) | 2016-08-17 | 2016-08-17 | Closed-loop control Two axle drive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756446A (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 |
| CN104669294A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Same-side and 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 CN201610679220.0A patent/CN107756446A/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 |
| CN104669294A (en) * | 2013-11-27 | 2015-06-03 | 苏茂 | Same-side and 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 |