CN110165838A - A kind of moment of elasticity control device - Google Patents
A kind of moment of elasticity control device Download PDFInfo
- Publication number
- CN110165838A CN110165838A CN201910290495.9A CN201910290495A CN110165838A CN 110165838 A CN110165838 A CN 110165838A CN 201910290495 A CN201910290495 A CN 201910290495A CN 110165838 A CN110165838 A CN 110165838A
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- China
- Prior art keywords
- shell
- moment
- control device
- angular transducer
- motor
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of moment of elasticity control devices, including angular transducer, connecting plate, shell and input motor, encoded servo device is provided on input motor, connecting plate is fixedly connected with shell, angular transducer and connecting plate are rotatablely connected, intermediate connector one end is connect with angular transducer, the other end is connected to input machine shaft, the inner ring of bearing is rotated coaxially with intermediate connector to be connect, outer ring and cage connection, shell is additionally provided with several extension springs far from the side of angular transducer, extension spring one end is fixedly connected with shell, the other end is fixedly connected with intermediate connector.For the application using common extension spring as elastomer, Derivation of Mathematical Model is simple, and by Serve Motor Control export permit torque, control method of servo motor is mature, and control precision is high.Structure is simple, low in cost, and extension spring can be replaced at any time to change elastomer rigidity, and device is versatile, and the actual torque of output just can be precisely controlled by simply calculating.
Description
Technical field
The present invention relates to power control engineering device technique fields, and in particular to a kind of moment of elasticity control device.
Background technique
Flexible robot has important irreplaceable in fields such as polishing, man-machine collaboration, exoskeleton rehabilitation, precision assemblies
Effect, the feedback perception of power and the key technical problems of control flexible robot.The joint power of flexible robot controls and end
The fundamental of power control is the control of torque.In uncertain contact environment, the feedback measurement of power is sensitive to external disturbance,
The control of the structure difficult design of elastomer, power is complicated, these reasons cause flexible machine man-based development and application.
Arbitrary force system in space can be made of linear force and torque, and turning moment control device can control circular motion mistake
Contact torque in journey theoretically combines with linear force control device and any non-coplanar force output may be implemented.
Currently, moment control device research both at home and abroad is less, it is most of that carrier is deformed as torque using special elastomer,
The design and processing of elastomer are complicated, with high costs, poor universality.Such as torsional spring, special material elastomer etc., it is difficult to install,
Mathematical model is complicated, and nonlinearity is high.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of moment of elasticity control device.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of moment of elasticity control device, including angular transducer, connecting plate, shell and input motor, the input
It is provided with the encoded servo device for feeding back motor corner on motor, the shell is cylinder, the angular transducer and outer
Shell coaxial arrangement, the connecting plate are fixedly connected with shell, and the angular transducer and connecting plate are rotatablely connected, in the shell
Portion is equipped with intermediate connector and bearing, and described intermediate connector one end is connect with angular transducer, and the other end extends shell simultaneously
It is connected to input machine shaft, the inner ring of the bearing is rotated coaxially with intermediate connector to be connect, and outer ring and cage connection are described
Shell is additionally provided with several extension springs far from the side of angular transducer, and described extension spring one end is fixedly connected with shell, separately
One end is fixedly connected with intermediate connector.
Further, gear reduction case is also equipped between input motor and the intermediate connector.
Further, described device is equipped with L-type pedestal.
Further, the gear reduction case is planet-gear speed reducer.
Further, it is equipped with rubber bush between the extension spring and shell or intermediate connector, to adjust bullet
The initial preloaded force size of spring.
Further, the input motor is AC servo motor.
Further, the shell is equipped with the handle for the rotation of manual operation shell.Handle effect is to facilitate people
It is connect for operation experiments or with other component.
Further, the bearing is deep groove ball bearing.
Compared with the prior art, the invention has the following advantages:
For the application using common extension spring as elastomer, Derivation of Mathematical Model is simple, passes through Serve Motor Control
Export permit torque, control method of servo motor is mature, and control precision is high.Structure is simple, low in cost, and extension spring can be at any time
To change elastomer rigidity, device is versatile, and the actual torque of output just can be precisely controlled by simply calculating for replacement.
Detailed description of the invention
Fig. 1 is the front axle geodesic structure schematic diagram of moment of elasticity control device；
Fig. 2 is the rear isometric structural schematic diagram of moment of elasticity control device；
Fig. 3 is the internal explosion structural schematic diagram of moment of elasticity control device；
Fig. 4 is the interior of shell partial cross-sectional structural diagram of moment of elasticity control device；
Fig. 5 is the extension spring original state schematic diagram of moment of elasticity control device；
Fig. 6 is that the casing part of moment of elasticity control device rotates post-tensioning spring status diagram；
Description of symbols: 1, angular transducer；2, connecting plate；3, shell；31, extension spring；32, intermediate connector；
33, bearing；34, rubber bush；4, motor is inputted；5, encoded servo device；6, gear reduction case；7, L-type pedestal；71, reinforcing rib
Plate；8, handle.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment
As depicted in figs. 1 and 2, a kind of moment of elasticity control device, including angular transducer 1, connecting plate 2, shell 3 and
Motor 4 is inputted, inputs and encoded servo device 5 is set on motor 4, input motor 4 selects AC servo motor, the motor moment mould
Formula, velocity mode, three kinds of usage modes of mode position, encoded servo device 5 are mounted on the rear of input motor 4, are mainly used for anti-
Generating aid corner.
3 shape of shell is cylinder, and angular transducer 1 and shell 3 are coaxially disposed, and connecting plate 2 is fixedly connected with shell 3,
Connecting plate 2 is circular plate, the side of shell 3 is fixed on by four screws, angular transducer 1 is rotatably connected on connecting plate 2
Surface, and then with shell 3 be rotatablely connected.Herein the main function of connecting plate 2 be only protect shell 3 inside components and
Setting angle sensor 1, connecting plate 2 can be arbitrary shape, need to only meet function.
As shown in Figure 3 and Figure 4, intermediate connector 32 and bearing 33 are equipped with inside shell 3, bearing 33 selects deep-groove ball axis
It holds, 32 one end of intermediate connector is connect with angular transducer 1, and the other end extends shell 3 and is connected to input 4 shaft of motor,
The inner ring of bearing 33 is rotated coaxially with intermediate connector 32 and is connect, and outer ring is connect with shell 3, and setting in this way connects to detect centre
The relative rotation angle of fitting 32 and shell 3.Shell 3 is additionally provided with four extension springs 31 far from the side of angular transducer 1, draws
It stretches spring 31 to be uniformly mounted on shell 3, and 31 one end of extension spring is fixedly connected with shell 3, the other end is connect with centre
Part 32 is fixedly connected.The both ends of extension spring 31 can be fixed by screws on shell 3 and intermediate connector 32, and wherein one
End can also be equipped with rubber bush 34, and the effect of rubber bush 34 is to adjust the initial preloaded force size of extension spring 31, and
And the height at extension spring 31 both ends and shell 3 can also be adjusted, need to adjust it is parallel with the side of shell 3 to extension spring 31,
Error can be effectively reduced in this way.And it is additionally provided with handle 8 on the one side of installation extension spring 31 on shell 3, handle 8 acts on
In facilitating manual operation to test or connect with other component.
It inputs between motor 4 and intermediate connector 32, is provided with a gear reduction case 6,6 type of gear reduction case is numerous
It is more, planet-gear speed reducer is selected herein.6 both ends of gear reduction case are connect with input motor 4 and intermediate connector 32 respectively, are made
With the deceleration being to input motor 4.And for the ease of the placement of device, gear reduction case 6 is mounted on one piece of L-type bottom plate, L
The long side of type bottom is used to be used as pedestal, and short side and gear reduction case 6 are fixed, and long side and short side are directly equipped with stiffener plate
71,71 shape of stiffener plate is triangle, and two right-angle sides of stiffener plate 71 are fixed with the short side of L-type bottom plate and long side respectively,
To consolidate L-type bottom plate.
Specifically, when in use, setter target output torque is M1, device outer ring and external connection and by
Power, device outer ring is in static perhaps rotation status (the i.e. running of fixing shell 3 input motor 4 or stopping input motor at this time
4 and rotation case 3).In any sampling instant, Internal and external cycle angle α is measured using angular transducer 1 first, then calculates spring
Length AB calculates angle, θ and spring elongation by length AB, finally calculates and obtain this moment torque size M2.One
Simple control mode are as follows: actual torque M2 and target torque M1 is compared, if actual torque is less than M1 at this time, passes through electricity
Machine accelerates or slows down (with direction of rotation along inverse related), finally increases angle [alpha]；If actual torque is greater than M1 at this time,
Accelerated by motor or slowed down (with direction of rotation along inverse related), finally reduces angle [alpha], control target is to maintain actual forces
Square and target torque error are within the scope of given threshold value.The present apparatus can be reduced to linear system, therefore using common linear system
System control method, such as PID can use fuzzy control or other advanced control methods to mention high control precision.
As shown in figure 5, the figure is the original state of device, spring is drift L at this time.Assuming that pulling force is 0 (this at this time
Pulling force is preloaded force when position, not necessarily 0, but adjustable to small amplitude, ignore to reach, in addition, at this time
Pulling force size has no effect on the processes such as the calculating of subsequent length).As shown in fig. 6, outer ring has rotated α degree when inner ring is motionless
When (angular transducer 1 can be measured), positioned at the state of the figure.Length AB is calculated by following formula at this time:
Spring elongation is Δ L=AB-L at this time, it is assumed that spring rate K, then spring tension is K (AB-L).
At this point, shell output torque is calculated as 4RK Δ Lsin θ
Wherein θ calculation formula:
At this point, it is F=K Δ Lcos ∠ ABX that B point, which needs power to be offered,
Angle ABX is calculated
Motor needs output torque size at this time are as follows:
M=4Fr/i
Wherein i is reduction ratio.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications that the essence of content according to the present invention is made, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of moment of elasticity control device, it is characterised in that: including angular transducer (1), connecting plate (2), shell (3) and
It inputs motor (4), the encoded servo device (5) for feeding back motor corner, the shell is provided on input motor (4)
(3) to be cylindrical, the angular transducer (1) and shell (3) are coaxially disposed, the connecting plate (2) and shell (3) fixed company
It connects, the angular transducer (1) and connecting plate (2) are rotatablely connected, and intermediate connector (32) and axis are equipped with inside the shell (3)
It holds (33), described intermediate connector (32) one end is connect with angular transducer (1), and the other end extends shell (3) and is connected to
The shaft of motor (4) is inputted, the inner ring of the bearing (33) is fixedly connected with intermediate connector (32), and outer ring and shell (3) are solid
Fixed connection, the shell (3) are additionally provided with several extension springs (31), the extension spring far from the side of angular transducer (1)
(31) one end is fixedly connected with shell (3), and the other end is fixedly connected with intermediate connector (32).
2. moment of elasticity control device according to claim 1, it is characterised in that: the input motor (4) connects with centre
Gear reduction case (6) are also equipped between fitting (32).
3. moment of elasticity control device according to claim 2, it is characterised in that: described device is equipped with L-type pedestal (7).
4. moment of elasticity control device according to claim 2, it is characterised in that: the gear reduction case (6) is planet
Gear reduction unit.
5. moment of elasticity control device according to claim 1, it is characterised in that: the extension spring (31) and shell
(3) or between intermediate connector (32) it is equipped with rubber bush (34).
6. moment of elasticity control device according to claim 1, it is characterised in that: the input motor (4) is that exchange is watched
Take motor.
7. moment of elasticity control device according to claim 1, it is characterised in that: the shell (3), which is equipped with, is used for people
For the handle (8) of operation housing rotation.
8. moment of elasticity control device according to claim 1, it is characterised in that: the bearing (33) is deep-groove ball axis
It holds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910290495.9A CN110165838B (en) | 2019-04-11 | 2019-04-11 | Elastic torque control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910290495.9A CN110165838B (en) | 2019-04-11 | 2019-04-11 | Elastic torque control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110165838A true CN110165838A (en) | 2019-08-23 |
| CN110165838B CN110165838B (en) | 2020-12-22 |
Family
ID=67639329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910290495.9A Active CN110165838B (en) | 2019-04-11 | 2019-04-11 | Elastic torque control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110165838B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687657A (en) * | 2019-09-23 | 2020-01-14 | 上海大学 | High-precision corner control flexible adjusting device |
| CN110682321A (en) * | 2019-09-10 | 2020-01-14 | 安徽工程大学 | Flexible manipulator and grabbing operation method thereof |
| CN111030387A (en) * | 2019-12-18 | 2020-04-17 | 泉州市海旭贸易有限公司 | Speed regulator with thyristor electromagnetic propulsion elastic feedback for direct current generator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682321A (en) * | 2019-09-10 | 2020-01-14 | 安徽工程大学 | Flexible manipulator and grabbing operation method thereof |
| CN110687657A (en) * | 2019-09-23 | 2020-01-14 | 上海大学 | High-precision corner control flexible adjusting device |
| CN111030387A (en) * | 2019-12-18 | 2020-04-17 | 泉州市海旭贸易有限公司 | Speed regulator with thyristor electromagnetic propulsion elastic feedback for direct current generator |
| CN111030387B (en) * | 2019-12-18 | 2020-12-08 | 嘉兴华维新能源有限公司 | Speed regulator with thyristor electromagnetic propulsion elastic feedback for direct current generator |
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| Publication number | Publication date |
|---|---|
| CN110165838B (en) | 2020-12-22 |
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