CN109514540A - A kind of steering engine and robot - Google Patents
A kind of steering engine and robot Download PDFInfo
- Publication number
- CN109514540A CN109514540A CN201811525796.7A CN201811525796A CN109514540A CN 109514540 A CN109514540 A CN 109514540A CN 201811525796 A CN201811525796 A CN 201811525796A CN 109514540 A CN109514540 A CN 109514540A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- circuit board
- stepper motor
- output shaft
- position sensor
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
-
- 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
Abstract
The present invention is suitable for motor drive technical field, provide a kind of steering engine and robot, steering engine includes stepper motor, deceleration mechanism, control circuit board and steering engine output shaft, the head end of deceleration mechanism and the output axis connection of stepper motor, the end of deceleration mechanism and steering engine export axis connection, controller, driver and position sensor are provided in control circuit board, stepper motor and driver are electrically connected；Controller controls driver driving stepper motor work, stepper motor drive deceleration mechanism drives the rotation of steering engine output shaft, position sensor is located at the underface of steering engine output shaft and the turned position for detecting steering engine output shaft, and position sensor and controller are electrically connected to form close loop control circuit.Stepper motor of the invention its long service life compared with brush motor, lock-bit performance are good；Meanwhile compared with brush DC and permanent magnet synchronous motor, control simpler；In addition, steering engine controls stepper motor using close-loop control mode, it is more accurate to position.
Description
Technical field
The present invention relates to motor drive technical field, in particular to a kind of steering engine and robot.
Background technique
Steering engine is a kind of driver of position (angle) servo, needs angle constantly to change and can keep suitable for those
Control system.Currently, in high-grade remote-control toy, it is as commonly used in being had been obtained in aircraft, submarine model, robot.Rudder
Main task when machine works is to control the movement of its position of output axle or be maintained at a certain setting position.
Currently, for its motor of more small-sized steering machine using brush direct current motor, this motor control is simple on the market,
But because it has mechanical brush to cause its service life short, while the characteristic that brush motor has electricity just to turn holds that it very when controlling lock-bit
It easily overshoots, influences steering engine lock-bit performance；Also fraction steering engine uses the brush DC (Brushless of better performances
Direct Current Motor, BLDC) motor or permanent magnet synchronous motor are as power source, but both motor controls are relatively multiple
It is miscellaneous.
Summary of the invention
The purpose of the present invention is to provide a kind of steering engines, it is intended to solve the motor service life that current steering engine uses it is short,
The technical problem of lock-bit performance difference and control complexity.
The invention is realized in this way a kind of steering engine, including stepper motor, deceleration mechanism, control circuit board and steering engine are defeated
Shaft, the head end of the deceleration mechanism and the output axis connection of the stepper motor, the end of the deceleration mechanism and the rudder
Machine exports axis connection, is provided with controller, driver and position sensor, the stepper motor and institute in the control circuit board
State driver electric connection；
The controller controls the driver and drives the stepper motor work, and the stepper motor drives the deceleration
Mechanism drives the steering engine output shaft rotation, and the position sensor is located at the underface of the steering engine output shaft and for detecting
The turned position of the steering engine output shaft, the position sensor and the controller are electrically connected to form closed-loop control and return
Road.
In one embodiment, the controller includes for inputting the command module of communications command and the order mould
Block be electrically connected PID module, and with the PID module be electrically connected PWM module, the position sensor with it is described
PID module is electrically connected.
In one embodiment, institute's communications command is digital command or pwm signal.
In one embodiment, the position sensor is potentiometer, magnetic coder or optical encoder.
In one embodiment, the driver is integrated driving chip, alternatively, the driver is to include separator
The driving bridge of part composition.
In one embodiment, the control circuit board includes first circuit board and second circuit arranged in parallel
Plate, the controller and driver are set on the first circuit board, and the position sensor is set to the second circuit
On plate.
In one embodiment, the second circuit board is connected to the upper of the first circuit board by more support columns
Side.
In one embodiment, the second circuit board is equipped with notch, the notch close to the side of the stepper motor
Shape and the stepper motor external shape fits.
In one embodiment, the control circuit board includes first circuit board, and the controller, driver and position pass
Sensor is set on the first circuit board, and the steering engine output shaft extends to institute's rheme close to one end of the position sensor
Set the surface of sensor.
Another object of the present invention is to provide a kind of robots comprising steering engine as described above.
Implement a kind of steering engine of the invention, has the advantages that steering engine using stepper motor, brushless and has
Brush motor compares its long service life, and lock-bit performance is good；Meanwhile stepper motor is compared with brush DC and permanent magnet synchronous motor,
Its control is simpler；In addition, steering engine controls stepper motor using close-loop control mode, it is more accurate to position.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the side structure schematic view of steering engine provided in an embodiment of the present invention；
Fig. 2 is the schematic perspective view of steering engine provided in an embodiment of the present invention；
Fig. 3 is the control framework structural schematic diagram of steering engine provided in an embodiment of the present invention.
Label detail involved in above-mentioned attached drawing is as follows:
1- stepper motor；2- deceleration mechanism；21- motor gear；22- one-stage gear group；23- secondary gear group；24- three-level
Gear set；25- steering engine output gear；26- one-stage gear axis；27- secondary gear wheel shaft；28- tertiary gear axis；3- control circuit board；
30- controller；301- command module；302-PID module；303-PWM module；31- first circuit board；32- second circuit board；
33- driver；4- steering engine output shaft；5- position sensor；6- support column；.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects and is located on another component.When a component referred to as " is connected to " another component, it be can be directly or indirectly
It is connected on another component.Term " on ", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top",
The orientation or position of the instructions such as "bottom", "inner", "outside" are orientation based on the figure or position, are merely for convenience of describing,
It should not be understood as the limitation to the technical program.Term " first ", " second " are used merely to facilitate description purpose, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating technical characteristic.The meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Also referring to Fig. 1 to Fig. 3, the embodiment of the invention provides a kind of steering engines comprising stepper motor 1, speed reducer
Structure 2, control circuit board 3 and steering engine output shaft 4, wherein the head end of deceleration mechanism 2 and the output axis connection of stepper motor 1 are slowed down
The end of mechanism 2 is connect with steering engine output shaft 4, the rotation of 1 drive deceleration mechanism 2 of stepper motor, and then drives 4 turns of steering engine output shaft
It is dynamic, i.e., deceleration mechanism 2 by the power transmission of stepper motor 1 to steering engine output shaft 4, to export to external equipment.In the present embodiment
In, 1 essence of stepper motor is brushless motor, i.e. 1 brushless of stepper motor, can be as traditional DC brushless motor or permanent magnetism
Synchronous motor is equally controlled (control its rotation and control the size of its power output), and controls simpler.In a particular application,
Steering engine may also include the structures such as shell, and it will not be described in detail here.
Controller 30, driver 33 and position sensor 5 are provided in control circuit board 3, wherein stepper motor 1 is set
It is placed in control circuit board 3 and is electrically connected with driver 33, drive stepper motor 1 to work by driver 33；Driver 33
It is also electrically connected with controller 30, driver 33 is controlled by controller 30 and is worked, and then stepper motor 1 is driven to work；Position
Sensor 5 is located at the underface of steering engine output shaft 4 and the turned position for detecting steering engine output shaft 4, also, position sensor
5 are also electrically connected with controller 30, feed back to controller 30 for will test result, controller 30 is further according to feedback information
Control driver 33.
Wherein, controller 30, driver 33, stepper motor 1, deceleration mechanism 2, steering engine output shaft 4, position sensor 5 and
Controller 30 constitutes closed circuit, to realize closed-loop control.In the present embodiment, using close-loop control mode control stepping electricity
Machine 1 can effectively solve the problems, such as that losing step when conventional open-loop controls stepper motor 1 leads to position inaccurate.
The steering engine of the embodiment of the present invention use stepper motor 1, brushless, its long service life compared with brush motor,
Lock-bit performance is good；Meanwhile stepper motor 1 controls simpler compared with brush DC and permanent magnet synchronous motor；In addition, steering engine
Stepper motor 1 is controlled using close-loop control mode, it is more accurate to position.
In a particular application, position sensor 5 can be potentiometer, magnetic coder or optical encoder etc., concrete model
Performance and precision according to actual needs determines, such as mps9960, ams5048.In addition, the model of stepper motor 1 is also according to reality
Border application is selected.
In one embodiment, deceleration mechanism 2 be reduction gear comprising motor gear 21, one-stage gear group 22,
Secondary gear group 23, tertiary gear group 24, steering engine output gear 25, one-stage gear axis 26, secondary gear wheel shaft 27 and tertiary gear axis
28.Wherein, head end of the motor gear 21 as deceleration mechanism 2, end of the steering engine output gear 25 as deceleration mechanism 2.Level-one tooth
Wheel shaft 26, secondary gear wheel shaft 27 and tertiary gear axis 28 are arranged in parallel, and parallel with steering engine output shaft 4.Motor gear
21 are sheathed on the output shaft of stepper motor 1, and one-stage gear group 22 is sheathed on one-stage gear axis 26, and secondary gear group 23 is arranged
In on secondary gear wheel shaft 27, tertiary gear group 24 is sheathed on tertiary gear axis 28, and steering engine output gear 25 is sheathed on steering engine output
On axis 4.Between motor gear 21, one-stage gear group 22, secondary gear group 23, tertiary gear group 24 and steering engine output gear 25 gradually
Engagement, and then realize the transmission of power.
In the present embodiment, one-stage gear group 22, secondary gear group 23 and tertiary gear group 24 include gear wheel and small
Gear, wherein gear wheel and pinion gear are fixed together and rotate coaxially.The gear wheel and motor tooth of one-stage gear group 22
21 engagement of wheel, the gear wheel of secondary gear group 23 are engaged with the pinion gear of one-stage gear group 22, the pinion gear of secondary gear group 23
It is engaged with the gear wheel of tertiary gear group 24, the pinion gear of tertiary gear group 24 is engaged with steering engine output gear 25.In addition, level-one tooth
The pinion gear of wheel group 22 is located at the top of its gear wheel, and the pinion gear of secondary gear group 23 is located at the lower section of its gear wheel, three-level
The pinion gear of gear set 24 is located at the lower section of its gear wheel.
Referring to Fig. 3, in one embodiment, controller 30 include command module 301, PID (proportion,
Integral, differential, ratio, integral, differential) module 302 and PWM (Pulse Width Modulation, pulse
Width modulated) module 303, wherein command module 301 is for inputting communications command, and PID module 302 and command module 301 are electrically
Connection, the PID module 302 are also electrically connected with position sensor 5, which is used to receive the logical of command module 301
Letter order, is also used to receive the feedback information of the transmission of position sensor 5, adjusts by comparing communications command and feedback information pair
The control of driver 33.In the present embodiment, closed-loop control uses negative-feedback.In a particular application, command module 301 inputs
Communications command can be digital command, or pwm signal.
In the present embodiment, which is used for the error according to system, and proportion of utilization, integral, difference gauge calculate
Control amount is controlled；PWM module 303 and PID module 302 are electrically connected, which also electrically connects with driver 33
It connects, which is used to carry out digital coding to analog signal level.In other embodiments, PID module 302 can also adopt
It is replaced with PI module or PD module.
In one embodiment, driver 33 is integrated driving chip, in order to simplify driving circuit structure, and is simplified
Assembly technology.In other embodiments, driver 33 is the driving bridge for including discrete device composition, and which can reduce driving
The concentration of device 33 is generated heat.
In one embodiment, control circuit board 3 includes the first circuit board 31 and second circuit board 32 being parallel to each other,
In, controller 30 and driver 33 are all set on first circuit board 31, and position sensor 5 is set on second circuit board 32.
In the present embodiment, second circuit board 32 is located at the top of first circuit board 31, so that the position sensing on second circuit board 32
Device 5 can be closer to the bottom end of steering engine output shaft 4, and then can guarantee the detection accuracy of position sensor 5.In concrete application
In, the end of the bottom end of steering engine output shaft 4 is provided with magnet, which is used cooperatively with position sensor 5, to realize steering engine
The position detection of output shaft 4.
In the present embodiment, second circuit board 32 is connected to the top of first circuit board 31 by more support columns 6.Specifically
Ground is provided with three support columns 6 in the surrounding of first circuit board 31 and second circuit board 32 altogether, and three support columns 6 are parallel to each other
Setting, and vertical with first circuit board 31 and second circuit board 32 respectively, one end of each support column 6 and first circuit board 31
It is fixedly connected, the other end of each support column 6 is fixedly connected with second circuit board 32, and then realizes first circuit board 31 and the
Two circuit boards 32 are fixedly connected.Wherein, in one jiao of not set support column 6 close to stepper motor 1, to prevent 6 shadow of support column
Ring the assembly of stepper motor 1.
In addition, in the present embodiment, jagged, the notch is arranged close to the side of stepper motor 1 in second circuit board 32
Shape and the external shape fits of stepper motor 1 prevent second circuit board 32 from causing to do to stepper motor 1 to avoid stepper motor 1
It relates to.
In another embodiment, control circuit board 3 includes one piece of first circuit board 31, controller 30,33 and of driver
Position sensor 5 is all set on the first circuit board, and steering engine output shaft 4 extends to position close to one end of position sensor 5
The surface of sensor 5, so that the end of the bottom end of steering engine output shaft 4 is close to position sensor 5 and is located at position sensor 5
Surface.
The embodiment of the invention also provides a kind of robots comprising steering engine as stated above.
The foregoing is merely alternative embodiments of the invention, are not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of steering engine, which is characterized in that described to subtract including stepper motor, deceleration mechanism, control circuit board and steering engine output shaft
The output axis connection of the head end of fast mechanism and the stepper motor, the end of the deceleration mechanism and the steering engine output shaft connect
It connects, controller, driver and position sensor, the stepper motor and driver electricity is provided in the control circuit board
Property connection；
The controller controls the driver and drives the stepper motor work, and the stepper motor drives the deceleration mechanism
The steering engine output shaft is driven to rotate, the position sensor is located at the underface of the steering engine output shaft and is used to detect described
The turned position of steering engine output shaft, the position sensor and the controller are electrically connected to form close loop control circuit.
2. steering engine as described in claim 1, which is characterized in that the controller includes the order mould for inputting communications command
Block, the PID module being electrically connected with the command module, and the PWM module being electrically connected with the PID module, institute's rheme
It sets sensor and the PID module is electrically connected.
3. steering engine as claimed in claim 2, which is characterized in that institute's communications command is digital command or pwm signal.
4. steering engine as described in claim 1, which is characterized in that the position sensor is that potentiometer, magnetic coder or light are compiled
Code device.
5. steering engine as described in claim 1, which is characterized in that the driver is integrated driving chip, alternatively, the drive
Dynamic device is the driving bridge for including discrete device composition.
6. such as steering engine described in any one of claim 1 to 5, which is characterized in that the control circuit board includes being parallel to each other to set
The first circuit board and second circuit board set, the controller and driver are set on the first circuit board, the position
Sensor is set on the second circuit board.
7. steering engine as claimed in claim 6, which is characterized in that the second circuit board is connected to described by more support columns
The top of first circuit board.
8. steering engine as claimed in claim 6, which is characterized in that the second circuit board is set close to the side of the stepper motor
It is jagged, the external shape fits of the shape of the notch and the stepper motor.
9. such as steering engine described in any one of claim 1 to 5, which is characterized in that the control circuit board includes first circuit board,
The controller, driver and position sensor are set on the first circuit board, and the steering engine output shaft is close to institute's rheme
The one end for setting sensor extends to the surface of the position sensor.
10. a kind of robot, which is characterized in that including steering engine as described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525796.7A CN109514540A (en) | 2018-12-13 | 2018-12-13 | A kind of steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525796.7A CN109514540A (en) | 2018-12-13 | 2018-12-13 | A kind of steering engine and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109514540A true CN109514540A (en) | 2019-03-26 |
Family
ID=65796630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811525796.7A Pending CN109514540A (en) | 2018-12-13 | 2018-12-13 | A kind of steering engine and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109514540A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501975A (en) * | 2019-07-22 | 2019-11-26 | 北京中航智科技有限公司 | The integrated digital servo straight line steering engine of unmanned helicopter |
| CN111993457A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Multi-degree-of-freedom leg steering engine for industrial robot |
| CN113524232A (en) * | 2020-04-22 | 2021-10-22 | 深圳市优必选科技股份有限公司 | Steering wheel and robot |
| CN114465536A (en) * | 2020-10-30 | 2022-05-10 | 北京机械设备研究所 | Electric steering engine capable of canceling linear displacement sensor and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110501975A (en) * | 2019-07-22 | 2019-11-26 | 北京中航智科技有限公司 | The integrated digital servo straight line steering engine of unmanned helicopter |
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| CN111993457A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Multi-degree-of-freedom leg steering engine for industrial robot |
| CN114465536A (en) * | 2020-10-30 | 2022-05-10 | 北京机械设备研究所 | Electric steering engine capable of canceling linear displacement sensor and control method thereof |
| CN114465536B (en) * | 2020-10-30 | 2024-05-03 | 北京机械设备研究所 | Linear electric steering engine without linear displacement sensor and control method thereof |
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