CN114700929A - Transmission control method and device for worm gear mechanism - Google Patents
Transmission control method and device for worm gear mechanism Download PDFInfo
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- CN114700929A CN114700929A CN202210450102.8A CN202210450102A CN114700929A CN 114700929 A CN114700929 A CN 114700929A CN 202210450102 A CN202210450102 A CN 202210450102A CN 114700929 A CN114700929 A CN 114700929A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a transmission control method and a control device for a worm gear mechanism. The worm gear mechanism comprises a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the transmission control method includes: receiving a transmission instruction, wherein the transmission instruction comprises target position information indicating the worm gear to transmit to; acquiring encoder accumulated pulses of the motor, and determining current position information of the worm gear based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm wheel, wherein the motor control instruction is used for indicating the rotation direction and the rotation time of the motor so that the worm wheel is driven to the target position. The invention can realize the transmission control of the worm and gear mechanism without arranging an angle measuring instrument, reduces the size of the joint of the mechanical arm consisting of the worm and gear mechanism and reduces the manufacturing cost of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a transmission control method and a control device for a worm gear structure and electronic equipment.
Background
The worm gear transmission structure is a mechanism for transmitting motion between spatially staggered shafts with wide application, has the advantages of compact structure, stable work, small impact vibration, capability of obtaining a large single-stage transmission ratio and the like, has good self-locking performance, can be applied to a worm gear clearance adjusting assembly for a mechanical arm joint, and is mainly used for worm gear transmission in a transmission mode of the worm gear clearance adjusting assembly for the explosive-removing mechanical arm joint.
At present, in the control process of the worm gear, a special angle measuring instrument or an angle measuring mechanism is mostly adopted to measure the rotation angle of the worm gear, and the rotation angle of the worm gear is controlled according to the measurement result. On the one hand, the special angle measuring instrument or the angle measuring mechanism is arranged, so that the joint of the mechanical arm is large in size and cannot adapt to a micro environment. On the other hand, the provision of a dedicated angle measuring instrument or angle measuring mechanism results in a high manufacturing cost of the robot arm.
Disclosure of Invention
The invention provides a transmission control method and a control device for a worm and gear mechanism and electronic equipment, which can realize transmission control of the worm and gear mechanism without arranging an angle measuring instrument, reduce the size of a joint of a mechanical arm and reduce the manufacturing cost of the mechanical arm.
In a first aspect, the invention provides a transmission control method for a worm gear mechanism, which comprises a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the transmission control method includes: receiving a transmission instruction, wherein the transmission instruction comprises target position information indicating the worm gear to transmit to; acquiring encoder accumulated pulses of the motor, and determining current position information of the worm gear based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm wheel, and controlling the motor to rotate so that the worm wheel is driven to the target position.
The invention provides a transmission control method for a worm gear mechanism, which determines the current position information of a worm gear based on the accumulated pulse of an encoder of a motor, generates a motor control instruction based on the current position information of the worm gear and the target position information in a transmission instruction, and controls the motor so as to drive the worm gear to the target position. The invention can realize the transmission control of the worm gear mechanism based on the accumulated pulse of the encoder of the motor without arranging an angle measuring instrument, thereby reducing the size of the joint formed by the worm gear mechanism and reducing the manufacturing cost of the worm gear mechanism.
In one possible implementation, the target position information includes a transmission direction and an angle to be transmitted along the transmission direction; generating a motor control instruction based on the current position information and the target position information of the worm wheel, controlling the motor to rotate so that the worm wheel is driven to a target position, and comprising: determining a target increment of accumulated pulses of an encoder of a motor according to a to-be-transmitted angle of a worm gear along a transmission direction; determining the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm gear; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; determining a real-time increment of an encoder accumulated pulse of the motor based on a real-time value of the encoder accumulated pulse of the motor; and when the real-time increment is equal to the target increment, the input voltage of the motor is disconnected, and the motor stops rotating.
In one possible implementation, the target position information includes a target transmission angle to which the worm gear is transmitted; generating a motor control instruction based on the current position information and the target position information of the worm wheel, controlling the motor to rotate so that the worm wheel is driven to a target position, and comprising: determining a target value of an encoder accumulated pulse of the motor according to a target transmission angle to which the worm gear is transmitted; determining the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm gear; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; when the real-time value of the encoder accumulated pulse of the motor is equal to the target value of the encoder accumulated pulse of the motor, the input voltage of the motor is cut off, and the motor stops rotating.
In one possible implementation, determining current position information of the worm wheel based on the encoder accumulated pulses includes: and determining the transmission angle of the worm wheel based on the accumulated pulses of the encoder and the preset mapping relation between the accumulated pulses of the encoder and the transmission angle of the worm wheel so as to determine the current position information of the worm wheel.
In a second aspect, an embodiment of the present invention provides a control device, configured to control a transmission process of a worm and gear mechanism, where the worm and gear mechanism includes a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the control device comprises a communication module and a processing module; the communication module is used for receiving a transmission instruction, and the transmission instruction comprises target position information indicating the transmission of the worm gear; the processing module is used for acquiring encoder accumulated pulses of the motor and determining the current position information of the worm gear based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm wheel, and controlling the motor to rotate so that the worm wheel is driven to the target position.
In one possible implementation, the target position information includes a transmission direction and an angle to be transmitted along the transmission direction; the processing device is specifically used for determining a target increment of accumulated pulses of an encoder of the motor according to the to-be-transmitted angle of the worm gear along the transmission direction; determining the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm gear; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; determining a real-time increment of an encoder accumulated pulse of the motor based on a real-time value of the encoder accumulated pulse of the motor; and when the real-time increment is equal to the target increment, the input voltage of the motor is disconnected, and the motor stops rotating.
In one possible implementation, the target position information includes a target transmission angle; the processing device is specifically used for determining a target value of the accumulated pulse of the encoder of the motor according to the target transmission angle to which the worm gear is transmitted; determining the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm wheel; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; when the real-time value of the encoder accumulated pulse of the motor is equal to the target value of the encoder accumulated pulse of the motor, the input voltage of the motor is cut off, and the motor stops rotating.
In a possible implementation manner, the processing module is specifically configured to determine the transmission angle of the worm wheel based on the encoder accumulated pulses and a preset mapping relationship between the encoder accumulated pulses and the transmission angle of the worm wheel, so as to determine the current position information of the worm wheel.
In a third aspect, an embodiment of the present invention further provides a control apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect and any possible implementation manner of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, including an input device and a control device as described in any one of the second aspect and the possible implementation manner of the second aspect; the input device is used for receiving a transmission instruction input by a user and sending the transmission instruction to the communication module of the control device.
In a fifth aspect, an embodiment of the present invention provides a robot arm, where the robot arm includes a worm and gear mechanism, a first arm and a second arm connected by the worm and gear mechanism, and a control device as described in possible implementations of the above embodiments.
In some embodiments, the worm gear mechanism includes a motor, a worm drivingly connected to an output shaft of the motor, and a worm gear drivingly connected to the worm.
In a sixth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method according to the first aspect and any possible implementation manner of the first aspect.
For technical effects brought by any possible implementation manner of the second aspect to the sixth aspect, reference may be made to technical effects brought by a corresponding implementation manner of the first aspect, and details are not described here.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of a worm and gear mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic front view of a worm and gear mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view taken along line A-A' according to an embodiment of the present invention;
FIG. 4 is a schematic side view of a worm and gear mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view taken along line B-B' of the present invention;
FIG. 6 is a schematic flow chart of a transmission control method of a worm and gear mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of another transmission control method for a worm and gear mechanism according to an embodiment of the present invention;
FIG. 8 is a flow chart of another transmission control method for a worm and gear mechanism according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another control device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In the description of the present invention, "/" means "or" unless otherwise specified, for example, a/B may mean a or B. "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. Further, "at least one" or "a plurality" means two or more. The terms "first", "second", and the like do not necessarily limit the number and execution order, and the terms "first", "second", and the like do not necessarily limit the difference.
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion for ease of understanding.
Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to the listed steps or modules, but may alternatively include other steps or modules not listed or inherent to such process, method, article, or apparatus.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1 to 5, an embodiment of the present invention provides a worm and gear mechanism, where the worm and gear mechanism 100 includes a motor 101, a worm 102 in transmission connection with an output shaft of the motor 101, and a worm wheel 103 in transmission connection with the worm 102.
As described in the background art, in the conventional transmission control process of the worm wheel 103, a special angle measuring instrument or an angle measuring mechanism is mostly adopted to measure the transmission angle of the worm wheel in the worm and gear mechanism, so that the size of the joint of the mechanical arm composed of the worm and gear mechanism is large, the mechanical arm cannot adapt to a micro environment, and the manufacturing cost of the mechanical arm is high due to the arrangement of the special angle measuring instrument.
In order to solve the technical problem, an embodiment of the present invention provides a transmission control method for a worm and gear mechanism, in which a preset mapping relationship between an encoder accumulated pulse of a motor and a transmission angle of a worm wheel is established, in a control process of rotating the worm wheel 103, current position information of the worm wheel 103 is determined based on the encoder accumulated pulse, a motor control instruction is generated based on the current position information and target position information of the worm wheel, and the motor is controlled to rotate, so that the adjustment of the transmission angle of the worm wheel is realized. In the process, an angle measuring instrument or an angle measuring mechanism is not needed, the size of the worm and gear mechanism is reduced, the size of the joint of the mechanical arm is further reduced, and the manufacturing cost of the mechanical arm is reduced.
As shown in fig. 6, an embodiment of the present invention provides a transmission control method for a worm gear mechanism, where the worm gear mechanism includes a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the transmission control method includes steps S301-S303.
S301, the control device receives a transmission command.
Wherein the transmission command includes target position information indicating a target position to which the worm gear is transmitted.
In some embodiments, the current position information of the worm wheel is an angular displacement between the current position of the worm wheel and an initial position. The target position information of the worm wheel is an angular displacement between a target position and an initial position of the worm wheel.
For example, the initial position of the worm gear may be any position during rotation of the worm gear. When the worm wheel rotates from the arbitrary position to the first direction, the transmission angle of the worm wheel is a positive value. When the worm wheel rotates from the arbitrary position to the second direction, the transmission angle of the worm wheel is a negative value. Wherein the first direction and the second direction are opposite.
As yet another example, the worm gear is mounted with a limit structure that limits a transmission angle of the worm gear such that the worm gear transmits between an extreme position in a first direction and an extreme position in a second direction.
For example, the control device may set the limit position in the second direction as an initial position of the worm wheel, and set the transmission angle of the worm wheel as an angular displacement between the current position of the worm wheel and the initial position. For example, the control device may set the gear angle of the initial position of the worm wheel to 0 °, and the worm wheel may be driven between 0 ° and 90 ° assuming that the gear angle of the worm wheel corresponding to the extreme position of the first direction is 90 °.
In some embodiments, the target position information to which the worm gear is driven includes a target drive angle to which the worm gear is driven. For example, assuming that the transmission angle of the worm wheel is 45 °, the target transmission angle may be 50 °, or may also be 40 °, which is not limited herein.
In other embodiments, the target position information transmitted by the worm wheel comprises the transmission direction of the worm wheel and the angle to be transmitted of the worm wheel along the transmission direction. For example, assuming that the transmission angle of the worm wheel is 45 °, the target position information may be 5 ° in the first direction, or the target position information may also be 5 ° in the second direction, which is not limited herein.
As a possible implementation, the control device may receive a transmission command input by a user. For example, a user inputs a drive command through an input panel. Such as a touch screen. The control device can receive a transmission command input by a user through the input panel and adjust the transmission angle of the worm wheel according to the transmission command.
As a possible implementation, the control device may receive transmission commands sent by other devices. Illustratively, the worm gear may be part of other devices. For example, a worm gear may be part of a joint of a robotic arm in a robot. The control device can receive a transmission instruction sent by the CPU of the robot, so that the control device can adjust the transmission angle of the worm wheel according to the transmission instruction.
S302, the control device obtains an encoder accumulated pulse of the motor and determines the current position information of the worm gear based on the encoder accumulated pulse.
In the embodiment of the application, the accumulated pulse of the encoder is used for representing the angular displacement between the current position and the initial position of the output shaft of the motor, and the initial position of the output shaft of the motor corresponds to the initial position of the worm wheel.
In some embodiments, assuming that the initial position of the worm wheel is the extreme position of the second direction, that is, the initial position of the worm wheel may be a position where the rotation angle is 0 °, the initial position of the output shaft of the motor may correspond to the initial position of the worm wheel, and the initial position of the output shaft of the motor may be a position where the rotation angle is 0 °.
In other embodiments, assuming that the initial position of the worm wheel is an arbitrary position during the rotation of the worm wheel, the initial position of the output shaft of the motor corresponds to the initial position of the worm wheel, and the initial position of the output shaft of the motor corresponds to the position of the output shaft of the motor corresponding to the arbitrary position.
As a possible implementation, the control device may send an instruction to an encoder of the motor for instructing acquisition of an encoder accumulated pulse. The encoder of the motor transmits an encoder accumulated pulse to the control device after receiving the command. Thus, the control device acquires the encoder accumulated pulses of the motor.
As another possible implementation, the control device may acquire the encoder accumulated pulses of the motor on a periodic basis. Accordingly, the encoder of the motor sends encoder accumulated pulses to the control device in cycles. The period may be 1ms, which is not limited herein.
It should be noted that, during the rotation of the worm wheel, the rotation direction of the worm wheel is uncertain. For example, during a first time period, the worm gear rotates 5 ° in a first direction. During a second time period, the worm gear is rotated 5 ° in a second direction. Correspondingly, the angular displacement between the current position and the initial position of the output shaft of the motor is increased in the first time period and decreased in the second time period. In this way, the accumulated pulses of the encoder are increased in the first time period and decreased in the second time period, so that the accumulated pulses of the encoder correspond to the angular displacement between the current position and the initial position of the output shaft of the motor, and the angular displacement between the current position and the initial position of the output shaft of the motor is represented by the accumulated pulses of the encoder.
For example, the rotation of the motor and the worm gear will be described with reference to fig. 3 and 5. It is assumed that the worm wheel 101 rotates clockwise in fig. 5 as a first direction in which the worm wheel 101 rotates, and the worm wheel 101 rotates counterclockwise as a second direction in which the worm wheel 101 rotates. In fig. 3, the clockwise rotation of the worm 102 is the third direction of rotation of the worm 102, and the counterclockwise rotation of the worm 102 is the fourth direction of rotation of the worm 102.
For example, an increase in the accumulated pulses of the encoder indicates that the output shaft of the motor is rotating in the third direction, which drives the worm gear to rotate in the first direction. When the accumulated pulse of the encoder is reduced, the output shaft of the motor rotates to the fourth direction, and the worm wheel is driven to rotate to the second direction.
Or, for another example, if the accumulated pulse of the encoder increases, it indicates that the output shaft of the motor rotates in the fourth direction, and the worm wheel is driven to rotate in the second direction. When the accumulated pulse of the encoder is reduced, the output shaft of the motor rotates to the third direction, and the worm wheel is driven to rotate to the first direction.
As a possible implementation manner, the control device may determine the transmission angle of the worm wheel according to the encoder accumulated pulse and a preset mapping relationship between the encoder accumulated pulse and the transmission angle of the worm wheel, so as to determine the current position information of the worm wheel.
For example, the preset mapping relationship may be a mapping relationship table between the accumulated pulses of the encoder and the transmission angle of the worm wheel. The control device can determine the transmission angle of the worm wheel according to the mapping relation table.
As yet another example, the preset mapping may be a function of the accumulated pulses of the encoder and the drive angle of the worm gear. For example, the control device may determine the transmission angle of the worm gear according to the following formula.
θ＝kM+b；
Wherein theta is the transmission angle of the worm wheel, M is the accumulated pulse of the encoder, and k and b are preset coefficients.
In some embodiments, the predetermined mapping relationship may be predetermined. For example, the preset mapping may be calculated from the mechanical gear ratio of the worm and gear.
In other embodiments, the preset mapping relationship may be re-determined according to the transmission conditions of the motor and the worm gear.
For example, the predetermined mapping relationship may be determined according to the steps A1-A3.
A1, the control device controls the motor to rotate, adjusts the worm wheel to the initial position, determines the initial position of the output shaft of the motor, and records the encoder accumulated pulse of the motor as the first encoder accumulated pulse.
For example, the first encoder accumulated pulses may correspond to a position where the drive angle of the worm gear is zero.
As a possible implementation manner, the limit switches are arranged at the limit positions of the worm gear mechanism in the first direction and the limit positions in the second direction during the worm gear transmission process. The control device can determine whether the worm wheel is driven to the initial position or not through the limit signal transmitted by the limit switch.
A2, the control device controls the motor to rotate, adjusts the worm wheel to the position where the transmission angle of the worm wheel is maximum, determines the end position of the output shaft of the motor, and records the encoder accumulated pulse of the motor as the second encoder accumulated pulse.
For example, the second encoder accumulated pulses may correspond to a position where the gear angle of the worm gear is at a maximum. For example, the worm gear may have a maximum drive angle of 90 °.
As a possible implementation manner, the limit switches are arranged at the limit positions of the worm gear mechanism in the first direction and the limit positions in the second direction during the worm gear transmission process. The control device can determine whether the worm wheel is driven to the position with the maximum transmission angle or not through the limit signal transmitted by the limit switch.
A3, the control device determines the preset mapping relation according to the accumulated pulse of the first encoder, the accumulated pulse of the second encoder and the maximum value of the transmission angle of the worm wheel.
It can be understood that the worm wheel and the worm are in transmission through a mechanical structure, so that the output shaft of the motor drives the worm to transmit, and the worm drives the worm wheel to transmit. Wherein the mechanical transmission ratio of the mechanical structure between the worm wheel and the worm is a constant value. Therefore, the preset mapping relation is a first-order function relation, and the control device determines the preset mapping relation according to the accumulated pulses of the first encoder, the accumulated pulses of the second encoder and the maximum value of the transmission angle of the worm wheel.
It should be noted that, in the embodiment of the present invention, the value interval of the accumulated pulses of the encoder is determined by determining the accumulated pulses of the first encoder and the accumulated pulses of the second encoder, that is, a mapping relationship between the value interval of the accumulated pulses of the encoder and the angle interval of the transmission angle of the worm wheel is established. Therefore, each encoder accumulated pulse in the value interval of the encoder accumulated pulse corresponds to one angle in the angle interval, the transmission angle of the worm wheel is determined through the encoder accumulated pulse, and the control of the transmission angle of the worm wheel is realized under the condition of no angle measuring instrument.
Illustratively, the value interval of the accumulated pulses of the encoder can be [0, 18000], and the angle interval of the transmission angle of the worm gear can be [0 degrees and 90 degrees ].
And S303, the control device generates a motor control command based on the current position information and the target position information of the worm wheel, and controls the motor to rotate so as to drive the worm wheel to the target position.
The invention provides a transmission control method for a worm gear mechanism, which determines the current position information of a worm gear based on the accumulated pulse of an encoder of a motor, generates a motor control instruction based on the current position information of the worm gear and the target position information in a transmission instruction, and controls the motor so as to drive the worm gear to the target position. The invention can realize the transmission control of the worm gear mechanism based on the accumulated pulse of the encoder of the motor without arranging an angle measuring instrument, thereby reducing the size of the joint formed by the worm gear mechanism and reducing the manufacturing cost of the worm gear mechanism.
As shown in fig. 7, optionally, when the target position information includes a transmission direction and a to-be-transmitted angle along the transmission direction, step S303 may be specifically implemented as steps S401 to S407.
S401, the control device determines a target increment of accumulated pulses of an encoder of the motor according to the angle to be transmitted along the transmission direction.
For example, assuming a worm gear to be rotated at an angle of 5 °, the target increment for the motor's encoder to accumulate pulses is 1000.
S402, the control device determines the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm wheel.
It should be noted that, if the rotation directions of the motors are different, the positive and negative of the input voltage of the motors are different. Illustratively, the input voltage is positive when the direction of rotation is the first direction. When the rotation direction is the second direction, the input voltage is a negative value.
And S403, applying an input voltage to the motor by the control device, and controlling the motor to rotate along the rotation direction.
S404, the control device acquires a real-time value of the accumulated pulse of the encoder of the motor.
S405, the control device determines real-time increment of the encoder accumulated pulse of the motor based on the real-time value of the encoder accumulated pulse of the motor.
As a possible implementation manner, the control device may determine a value of the encoder accumulated pulse before the motor rotates as an initial value, and determine a difference value between the real-time value and the initial value as an implementation increment of the encoder accumulated pulse of the motor.
And S406, the control device judges whether the real-time increment is equal to the target increment or not, executes S407, and otherwise, executes S403.
And S407, the control device controls to cut off the input voltage of the motor, and the motor stops rotating.
It can be understood that the real-time increment is equal to the target increment, which means that the worm gear is driven to the target position, the control device can cut off the input voltage of the motor, the motor stops rotating, and the transmission process of the worm gear is stopped.
Therefore, the embodiment of the invention can carry out transmission control on the worm gear mechanism based on the transmission direction and the angle to be transmitted along the transmission direction, does not need to arrange an angle measuring instrument, reduces the size of the joint of the mechanical arm and reduces the manufacturing cost of the mechanical arm.
As shown in fig. 8, as another possible implementation, when the target position information includes the target transmission angle, step S303 may be embodied as steps S501 to S506.
S501, the control device determines a target value of the accumulated pulse of the encoder of the motor according to the target transmission angle.
For example, assuming a 45 ° worm gear angle to be translated, the target increment for the motor's encoder accumulated pulses is 9000.
S502, the control device determines the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm wheel.
As a possible implementation, the control device may calculate a difference between the target transmission angle and the current transmission angle. If the difference is negative, the rotation direction is the second direction, and if the difference is positive, the rotation direction is the first direction. Alternatively, if the difference is negative, the rotation direction is the first direction, and if the difference is positive, the rotation direction is the second direction.
It should be noted that, if the rotation directions of the motors are different, the positive and negative of the input voltage of the motors are different. Illustratively, the input voltage is positive when the direction of rotation is the first direction. When the rotation direction is the second direction, the input voltage is a negative value.
S503, the control device applies input voltage to the motor and controls the motor to rotate along the rotation direction.
And S504, the control device acquires a real-time value of the encoder accumulated pulse of the motor.
And S505, the control device judges whether the real-time value is equal to the target value, if so, the step S505 is executed, and if not, the step S503 is executed.
And S506, the control device controls to cut off the input voltage of the motor, and the motor stops rotating.
It is understood that the real-time value is equal to the target value, which indicates that the worm gear is driven to the target position, the control device may disconnect the input voltage of the motor, stop the rotation of the motor, and stop the transmission process of the worm gear.
Therefore, the embodiment of the invention can carry out transmission control on the worm gear mechanism based on the target transmission angle without arranging an angle measuring instrument, thereby reducing the size of the joint of the mechanical arm and reducing the manufacturing cost of the mechanical arm.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The following are embodiments of the apparatus of the invention, reference being made to the corresponding method embodiments described above for details which are not described in detail therein.
Fig. 9 is a schematic structural diagram of a control device 600 according to an embodiment of the present invention, where the control device is used to control a transmission process of a worm and gear mechanism, where the worm and gear mechanism includes a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the control device 600 includes a communication module 601 and a processing module 602;
the communication module 601 is used for receiving a transmission instruction, wherein the transmission instruction comprises target position information indicating that the worm gear is transmitted to;
the processing module 602 is used for acquiring encoder accumulated pulses of the motor and determining the current position information of the worm gear based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm wheel, and controlling the motor to rotate so that the worm wheel is driven to the target position.
In one possible implementation manner, the control device 600 includes the target position information including a transmission direction and an angle to be transmitted along the transmission direction; the processing device 602 is specifically configured to determine a target increment of an encoder accumulated pulse of the motor according to a to-be-transmitted angle of the worm gear along the transmission direction; determining the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm gear; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; determining a real-time increment of an encoder accumulated pulse of the motor based on a real-time value of the encoder accumulated pulse of the motor; and when the real-time increment is equal to the target increment, disconnecting the input voltage of the motor and stopping the motor.
In one possible implementation, the target position information includes a target transmission angle; a processing device 602, specifically configured to determine a target value of an encoder accumulated pulse of the motor based on a target transmission angle to which the worm gear is transmitted; determining the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm gear; applying input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; when the real-time value of the encoder accumulated pulse of the motor is equal to the target value of the encoder accumulated pulse of the motor, the input voltage of the motor is cut off, and the motor stops rotating.
In one possible implementation, the processing module 602 is specifically configured to determine the transmission angle of the worm wheel based on the accumulated pulses of the encoder and a preset mapping relationship between the accumulated pulses of the encoder and the transmission angle of the worm wheel, so as to determine the current position information of the worm wheel.
Fig. 10 is a schematic structural diagram of another control device according to an embodiment of the present invention. As shown in fig. 10, the control device 600 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in said memory 702 and executable on said processor 701. The processor 701 implements the steps in the above method embodiments, such as the steps 301 to 303 shown in fig. 6, when executing the computer program 703. Alternatively, the processor 701, when executing the computer program 703, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the communication module 601 and the processing module 602 shown in fig. 9.
Illustratively, the computer program 703 may be partitioned into one or more modules/units that are stored in the memory 702 and executed by the processor 701 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 703 in the control apparatus 600. For example, the computer program 703 may be divided into a communication module 601 and a processing module 602 shown in fig. 9.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 702 may be an internal storage unit of the control device 600, such as a hard disk or a memory of the control device 600. The memory 702 may also be an external storage device of the control apparatus 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the control apparatus 600. Further, the memory 702 may also include both an internal storage unit and an external storage device of the control apparatus 600. The memory 702 is used for storing the computer program and other programs and data required by the terminal. The memory 702 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the application provides electronic equipment which comprises an input device and a control device according to possible implementation manners in the embodiment; the input device is used for receiving a transmission instruction input by a user and sending the transmission instruction to the communication module of the control device.
The embodiment of the invention further provides a mechanical arm, which comprises a worm and gear mechanism, a first arm and a second arm which are connected through the worm and gear mechanism, and a control device according to possible implementation manners of the embodiment.
In some embodiments, the worm gear mechanism includes a motor, a worm drivingly connected to an output shaft of the motor, and a worm gear drivingly connected to the worm.
The control device in the embodiment of the invention can determine the transmission angle of the worm wheel based on the accumulated pulse of the encoder of the motor, thereby determining the rotation angle of the second arm and realizing the control of the rotation angle of the second arm. In addition, an angle measuring instrument or an angle measuring mechanism does not need to be arranged in the process, the size of the joint of the mechanical arm is reduced, and the manufacturing cost of the mechanical arm is reduced.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A transmission control method for a worm gear mechanism is characterized in that the worm gear mechanism comprises a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the transmission control method includes:
receiving a transmission instruction, wherein the transmission instruction comprises target position information indicating that a worm gear is transmitted to;
acquiring an encoder accumulated pulse of the motor, and determining current position information of the worm gear based on the encoder accumulated pulse;
and generating a motor control instruction based on the current position information and the target position information of the worm wheel, and controlling the motor to rotate so that the worm wheel is driven to the target position.
2. The method of claim 1, wherein the target position information includes a driving direction and an angle to be driven along the driving direction;
the generating a motor control command based on the current position information and the target position information of the worm wheel, controlling the motor to rotate so that the worm wheel is driven to a target position, includes:
determining a target increment of an encoder accumulated pulse of the motor according to the to-be-transmitted angle of the worm gear along the transmission direction;
determining the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm wheel;
applying the input voltage to the motor to control the motor to rotate along the rotation direction;
in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor;
determining a real-time increment of an encoder accumulated pulse of the motor based on a real-time value of the encoder accumulated pulse of the motor;
and when the real-time increment is equal to the target increment, disconnecting the input voltage of the motor and stopping the motor from rotating.
3. The method of claim 1, wherein the target position information includes a target drive angle;
the generating a motor control command based on the current position information and the target position information of the worm wheel, controlling the motor to rotate so that the worm wheel is driven to a target position, includes:
determining a target value of an encoder accumulated pulse of the motor according to the target transmission angle;
determining the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm wheel;
applying the input voltage to the motor to control the motor to rotate along the rotation direction;
in the rotating process, acquiring a real-time value of an encoder accumulated pulse of the motor;
and when the real-time value of the encoder accumulated pulse of the motor is equal to the target value of the encoder accumulated pulse of the motor, the input voltage of the motor is disconnected, and the motor stops rotating.
4. The method of any of claims 1 to 3, wherein determining current position information of the worm gear based on the encoder accumulated pulses comprises:
and determining the transmission angle of the worm gear based on the accumulated pulses of the encoder and a preset mapping relation between the accumulated pulses of the encoder and the transmission angle of the worm gear so as to determine the current position information of the worm gear.
5. The control device is characterized by being used for controlling the transmission process of a worm gear mechanism, wherein the worm gear mechanism comprises a motor, a worm in transmission connection with an output shaft of the motor, and a worm wheel in transmission connection with the worm; the control device comprises a communication module and a processing module;
the communication module is used for receiving a transmission instruction, and the transmission instruction comprises target position information indicating that the worm gear is transmitted to;
the processing module is used for acquiring encoder accumulated pulses of the motor and determining the current position information of the worm gear based on the encoder accumulated pulses; and generating a motor control instruction based on the current position information and the target position information of the worm wheel, and controlling the motor to rotate so that the worm wheel is driven to the target position.
6. The control device according to claim 5, wherein the target position information includes a transmission direction and a to-be-transmitted angle in the transmission direction;
the processing device is specifically used for determining a target increment of an accumulated pulse of an encoder of the motor according to the to-be-transmitted angle of the worm gear along the transmission direction; determining the rotation direction of the motor and the input voltage of the motor according to the transmission direction of the worm wheel; applying the input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; determining a real-time increment of an encoder accumulated pulse of the motor based on a real-time value of the encoder accumulated pulse of the motor; and when the real-time increment is equal to the target increment, disconnecting the input voltage of the motor and stopping the motor from rotating.
7. The control device of claim 5, wherein the target position information includes a target transmission angle;
the processing device is specifically used for determining a target value of an encoder accumulated pulse of the motor based on a target transmission angle to which the worm gear is transmitted; determining the rotation direction of the motor and the input voltage of the motor according to the current position information and the target position information of the worm wheel; applying the input voltage to the motor to control the motor to rotate along the rotation direction; in the rotating process, acquiring a real-time value of an accumulated pulse of an encoder of the motor; and when the real-time value of the encoder accumulated pulse of the motor is equal to the target value of the encoder accumulated pulse of the motor, the input voltage of the motor is disconnected, and the motor stops rotating.
8. The control device according to any one of claims 5 to 7,
the processing module is specifically configured to determine the transmission angle of the worm wheel based on the encoder accumulated pulse and a preset mapping relationship between the encoder accumulated pulse and the transmission angle of the worm wheel, so as to determine current position information of the worm wheel.
9. An electronic device, characterized in that the electronic device comprises an input means and a control means according to any one of claims 5 to 8; the input device is used for receiving a transmission instruction input by a user and sending the transmission instruction to the communication module of the control device.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210450102.8A CN114700929A (en) | 2022-04-26 | 2022-04-26 | Transmission control method and device for worm gear mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210450102.8A CN114700929A (en) | 2022-04-26 | 2022-04-26 | Transmission control method and device for worm gear mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH05223789A (en) * | 1992-02-12 | 1993-08-31 | Eagle Ind Co Ltd | Actuator |
| US5933687A (en) * | 1997-07-11 | 1999-08-03 | Minolta Co., Ltd. | Image forming apparatus having a plurality of image holding components |
| CN104943232A (en) * | 2015-06-30 | 2015-09-30 | 武汉华夏精冲技术有限公司 | Automatic adjustment and control system for mold closing height of fine blanking machine and control method thereof |
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2022
- 2022-04-26 CN CN202210450102.8A patent/CN114700929A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05223789A (en) * | 1992-02-12 | 1993-08-31 | Eagle Ind Co Ltd | Actuator |
| US5933687A (en) * | 1997-07-11 | 1999-08-03 | Minolta Co., Ltd. | Image forming apparatus having a plurality of image holding components |
| CN104943232A (en) * | 2015-06-30 | 2015-09-30 | 武汉华夏精冲技术有限公司 | Automatic adjustment and control system for mold closing height of fine blanking machine and control method thereof |
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