CN201177774Y - Digital steering engine - Google Patents
Digital steering engine Download PDFInfo
- Publication number
- CN201177774Y CN201177774Y CNU2008200791775U CN200820079177U CN201177774Y CN 201177774 Y CN201177774 Y CN 201177774Y CN U2008200791775 U CNU2008200791775 U CN U2008200791775U CN 200820079177 U CN200820079177 U CN 200820079177U CN 201177774 Y CN201177774 Y CN 201177774Y
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- China
- Prior art keywords
- motor
- brshless
- steering engine
- digitizing
- actuating mechanism
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Abstract
The utility model relates to a steering engine, in particular to an automatically controlled digital steering engine used for controlling a moving carrier, and belongs to the automation control field. The digital steering engine comprises a digital brushless direct current motor driver, a limiting mechanism, a brushless direct current motor, a reducing gear set, an action executing mechanism, etc. The digital steering engine is provided with a standard RS-232 interface and a standard RS-485 interface, thereby performing communication and connection with an upper computer or a main control system effectively, rapidly and stably, so as to receive a digital command and execute the digital command. The range of the rotation angle of an output shaft of the steering engine is limited through the limiting mechanism. The digital steering engine can be applied to various automation control fields, such as the unmanned robot control field, the flexible mechanical hand control field, the numerical machine tool control field, the unmanned vehicle control field, etc.
Description
Technical field
The utility model relates to a kind of steering wheel, and particularly a kind of digital steering wheel by robotization control of controlled motion carrier belongs to automation control area.
Background technology
General controlled motion carrier turns to the hand gear that mostly is with direction, and this hand gear can not adapt to the developing direction of current robotization control.In order to make motion carrier realize robotization control, invention is applicable to that the digital steering engine of robotization control is very necessary.
Summary of the invention
The purpose of this utility model just is to provide a kind of digital steering engine by robotization control that is applicable to the controlled motion carrier.This digital steering engine has replaced the hand gear or the man-operated mechanism with direction of turning to of traditional controlled motion carrier, changes the digital steering engine of being made up of digitizing brshless DC motor driver, position-limit mechanism, brshless DC motor, train of reduction gears, action actuating mechanism etc. into and replaces.The utilization of this digital steering engine, realized a kind of do not need that the people operates, safety, efficiently, novel action executive system is steering gear system, this digital steering engine can be used for unmanned control, the control of mobile type mechanical hand, the numerically-controlled machine control of robot, the automation control area such as control of automatic driving vehicle.
The purpose of this utility model is achieved through the following technical solutions:
The hand gear that replacement of the present utility model is traditional or the digital steering engine of mechanism comprise digitizing brshless DC motor driver, position-limit mechanism, brshless DC motor, train of reduction gears and action actuating mechanism etc.Brshless DC motor and train of reduction gears are the integrated design, and its output shaft is connected with action actuating mechanism, and drive actions topworks carries out corresponding actions.Position-limit mechanism is that the optronic circuit board that main element constitutes is formed by the photoelectricity baffle plate with the optoelectronic switch.The photoelectricity baffle plate is fixedly mounted on the action actuating mechanism that requires control running angular range, optronic circuit board and electric connection of digitizing brshless DC motor driver.Brshless DC motor and electric connection of digitizing brshless DC motor driver.Digitizing brshless DC motor driver is judged the running status of brshless DC motor by the brshless DC motor pickup wire that is electrically connected, by the operation of the motor output line control brshless DC motor that connects.
Digitizing brshless DC motor driver is by main control part, power drive, motor-driven, current sampling feedback circuit, and communication part is formed.Main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thus the drive motor operation.The input of external control instruction and the user feedback of motor operating state have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and the motor operating state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by RS232 serial communication (also can select the RS485 communication for use), and the motor operating state parameter is in time fed back.The collection of motor operating state parameter is finished by single-chip microcomputer.The current sampling feedback circuit is regulated the operation with the control motor by the detection to current motor operating current after the single-chip microcomputer inter-process.
Beneficial effect:
(1) the utility model has substituted traditional controlled motion carrier and has turned to hand gear or mechanism with direction;
(2) the utility model make turn to, the control of direction and speed realized digitizing, instructionization, can realize that motion carrier turns to, the accurate control of state such as direction and speed;
(3) the utility model also has very powerful Man Machine Interface, the operation of instructionization, and it is extremely convenient that the user uses;
(4) independence of the present utility model is strong, can have an autonomous control system of one's own, has adopted idea of modular, and exploitability and extendability are strong;
(5) the utlity model has timely feedback, adjusting and the control function of motor operating current, effectively protected motor, motor driver and motion carrier.
Description of drawings
Fig. 1 is the utility model general structure synoptic diagram;
Fig. 2 is a position-limit mechanism structural representation of the present utility model;
Fig. 3 is a position-limit mechanism of the present utility model installation site synoptic diagram in an embodiment;
Fig. 4 is an electrical principle block diagram of the present utility model;
Fig. 5 is the program flow diagram of the utility model digitizing brshless DC motor driver;
Among the figure: 1-brshless DC motor, 2-train of reduction gears, 3-output shaft, 4-digitizing brshless DC motor driver, 5-action actuating mechanism, 6-position-limit mechanism, 7-mounting base, 8-optoelectronic switch, 9-photoelectricity baffle plate, 10-screw.
Embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
As shown in Figure 1, the utility model mainly is made up of brshless DC motor 1, train of reduction gears 2, digitizing brshless DC motor driver 4, action actuating mechanism 5 and position-limit mechanism 6.Brshless DC motor 1 is the integrated design with train of reduction gears 2, fixedlys connected with mounting base 7 by screw 10, and its output shaft 3 is fixedlyed connected with action actuating mechanism 5, as the driving force of topworks 5.Position-limit mechanism 6 is fixedly mounted on the action actuating mechanism 5 that requires control running angular range.Brshless DC motor 1 and digitizing brshless DC motor driver 4 are electrically connected by electromechanical transducer line and motor winding wire.Digitizing brshless DC motor driver 4 is judged the running status of brshless DC motor 1 by the electromechanical transducer line, by the operation of the motor windings line traffic control brshless DC motor 1 that connects.Position-limit mechanism 6 is electrically connected by limit signal line and brshless DC motor driver 4, and the boundary position signals of action actuating mechanism 5 is provided for digitizing brshless DC motor driver 4.In embodiment as shown in Figure 1, directly be connected between action actuating mechanism 5 and the train of reduction gears 2, the stay cord of train of reduction gears 2 direct drive actions topworkies 5, and in practice, also can be connected (connecting) between action actuating mechanism 5 and the train of reduction gears 2 by other mechanisms as worm and gear, be connected with action actuating mechanism 5 again, as the driving force of action actuating mechanism 5.Brshless DC motor 1 increases the driving multiplying power by train of reduction gears 2, passes to action actuating mechanism 5 then, till limited.
As Fig. 2, shown in Figure 3, position-limit mechanism 6 is that the optronic circuit board 8 that main element constitutes is formed by photoelectricity baffle plate 9 with the optoelectronic switch.Photoelectricity baffle plate 9 is fixedly mounted on the action actuating mechanism 5 that requires control running angular range, and optronic circuit board and digitizing brshless DC motor driver 4 are electrically connected.The position of optoelectronic switch is corresponding with the position of photoelectricity baffle plate 9, and the center line of photoelectricity baffle plate 9 roughly overlaps with the center line of the bayonet socket of optoelectronic switch, and when photoelectricity baffle plate 9 rotated, its catch can block and decontrol the emission and the receiving port of optoelectronic switch.When photoelectricity baffle plate 9 rotates, photoelectricity baffle plate 9 will pass through optoelectronic switch, per pass, optoelectronic switch can send electric signal one time, signal passes to digitizing brshless DC motor driver 4, digitizing brshless DC motor driver 4 calculates the movement position that dc brushless motor 1 rotates, and then accurately controls the work of dc brushless motor 1, that is the accurate work of control action topworks 5.
As shown in Figure 4, digitizing brshless DC motor driver 4 is by main control part, power drive, motor-driven, current sampling feedback circuit, the communication section composition that grades.Its main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thus the drive motor operation.The input of external control instruction and the user feedback of motor operating state have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and the motor operating state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by RS232 serial communication (also can select the RS485 communication for use), and the motor operating state parameter is in time fed back.The collection of motor operating state parameter is finished by single-chip microcomputer.The current sampling feedback circuit is regulated the operation with the control motor by the detection to current motor operating current after the single-chip microcomputer inter-process.
Fig. 5 is the program flow diagram of the utility model digitizing brshless DC motor driver, as Fig. 1, shown in Figure 5, when this invention powers on operation, carry out the single-chip microcomputer initialization earlier, then can carry out a position probing (i.e. action resets) automatically, when action resets, 5 operations of brshless DC motor driver 4 drive actions topworkies, judge the extreme position that moves by position-limit mechanism 6, and by single-chip microcomputer record and processing.After brshless DC motor driver 4 receives operating instruction, earlier carry out command analysis and handle and distribute, according to the processing priority processing of sorting by single-chip microcomputer.Move fill order in this way, single-chip microcomputer the extreme position by position-limit mechanism 6 records judged whether to exceed the extreme position of setting or calculate whether carry out put in place after, continue to carry out operation program or out-of-work judgement thereby make.
Claims (3)
1, a kind of digital steering engine, it mainly is made up of brshless DC motor (1), train of reduction gears (2), digitizing brshless DC motor driver (4), action actuating mechanism (5) and position-limit mechanism (6), it is characterized in that: brshless DC motor (1) is the integrated design with train of reduction gears (2), fixedly connected with mounting base (7) by screw (10), its output shaft (3) is fixedlyed connected with action actuating mechanism (5), as the driving force of topworks (5); Position-limit mechanism (6) is fixedly mounted on the action actuating mechanism (5) that requires control running angular range; Brshless DC motor (1) is electrically connected by electromechanical transducer line and motor winding wire with digitizing brshless DC motor driver (4); Digitizing brshless DC motor driver (4) is by the running status of electromechanical transducer line judgement brshless DC motor (1), by the operation of connected electromechanical transducer line and motor windings line traffic control brshless DC motor (1); Directly be connected between action actuating mechanism (5) and the train of reduction gears (2), train of reduction gears (2) is the stay cord of drive actions topworks (5) directly, brshless DC motor (1) increases the driving multiplying power by train of reduction gears (2), passes to action actuating mechanism (5) then, till limited.
2, a kind of digital steering engine as claimed in claim 1, it is characterized in that: position-limit mechanism (6) is fixedly mounted on the action actuating mechanism that requires control running angular range, the boundary position signals of action actuating mechanism is provided for digitizing brshless DC motor driver (4), signal is passed to digitizing brshless DC motor driver (4), the movement position that digitizing brshless DC motor driver (4) rotates according to the calculated signals dc brushless motor (1) that is transmitted, and then accurately control the work of dc brushless motor (1) that is the accurate work of control action topworks.
3, a kind of digital steering engine as claimed in claim 1 is characterized in that: digitizing brshless DC motor driver (4) is by main control part, power drive, motor-driven, current sampling feedback circuit, the communication section composition that grades; Its main control part adopts single-chip microcomputer, and single-chip microcomputer drives by the further drive motor of power drive, thus the drive motor operation; The input of external control instruction and the user feedback of motor operating state have dual mode: a kind of is to be transferred to single-chip microcomputer by other master controllers, and the motor operating state parameter in time fed back, another kind directly is transferred to single-chip microcomputer by the RS232 serial communication, and the motor operating state parameter in time fed back, the collection of motor operating state parameter is finished by single-chip microcomputer; The current sampling feedback circuit is regulated the operation with the control motor by the detection to current motor operating current after the single-chip microcomputer inter-process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200791775U CN201177774Y (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200791775U CN201177774Y (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201177774Y true CN201177774Y (en) | 2009-01-07 |
Family
ID=40217796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200791775U Expired - Fee Related CN201177774Y (en) | 2008-02-25 | 2008-02-25 | Digital steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201177774Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885463A (en) * | 2014-03-21 | 2014-06-25 | 中国科学院国家天文台南京天文光学技术研究所 | Electromechanical limit braking mechanism of rotating mechanical device and mounting and adjusting method thereof |
| CN106515682A (en) * | 2017-01-04 | 2017-03-22 | 成都四威高科技产业园有限公司 | Electric ground brake for AGV |
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
-
2008
- 2008-02-25 CN CNU2008200791775U patent/CN201177774Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885463A (en) * | 2014-03-21 | 2014-06-25 | 中国科学院国家天文台南京天文光学技术研究所 | Electromechanical limit braking mechanism of rotating mechanical device and mounting and adjusting method thereof |
| CN103885463B (en) * | 2014-03-21 | 2016-05-11 | 中国科学院国家天文台南京天文光学技术研究所 | The spacing arrestment mechanism of electromechanical of rotating machinery and installation thereof, method of adjustment |
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
| CN106515682A (en) * | 2017-01-04 | 2017-03-22 | 成都四威高科技产业园有限公司 | Electric ground brake for AGV |
| CN106515682B (en) * | 2017-01-04 | 2023-08-04 | 成都四威高科技产业园有限公司 | Electric ground brake for AGV |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090107 Termination date: 20110225 |