CN206967503U - A kind of cloud platform rotation angle detection mechanism - Google Patents
A kind of cloud platform rotation angle detection mechanism Download PDFInfo
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- CN206967503U CN206967503U CN201720941039.2U CN201720941039U CN206967503U CN 206967503 U CN206967503 U CN 206967503U CN 201720941039 U CN201720941039 U CN 201720941039U CN 206967503 U CN206967503 U CN 206967503U
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- harmonic wave
- encoder
- fixed seat
- bearing
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Abstract
The utility model provides a kind of cloud platform rotation angle detection mechanism, including head fixed seat, electric machine assembly, harmonic wave speed reducing machine, speed encoder and absolute value encoder；The motor stator of the electric machine assembly is arranged in head fixed seat；Speed encoder, transition bearing are set with the motor output shaft of the electric machine assembly successively, the input of the harmonic wave speed reducing machine is enclosed in transition bearing, and is connected with motor output shaft；The output end of the harmonic wave speed reducing machine is connected with crossed roller bearing；Also with exporting transition axis connection, the absolute value encoder is arranged on output transition axis the crossed roller bearing；The head fixed seat, electric machine assembly, harmonic wave speed reducing machine, speed encoder, absolute value encoder, transition bearing, crossed roller bearing, output transition axis are hollow structure.The utility model is more convenient to the power supply of head end load or transmission signal, and compared to the slip ring design used in the past, installation is more convenient, and cost is lower.
Description
Technical field
It the utility model is related to a kind of cloud platform rotation angle detection mechanism.
Background technology
The head design applied to rail type mobile robot mainly has brush or brushless electric machine to coordinate using conventional at present
Corresponding reductor (planetary reducer and harmonic wave speed reducing machine are more typical) is exactly head load end the defects of traditional scheme maximum with
Power supply between prime control system must be connected with signal cable by the way of plug-in or slip ring.And plug-in mode for
The compact of outward appearance and system has a great influence, and the mode cost of slip ring structure is higher, and safeguards very inconvenient.
The method detected at present applied to the head angle of rail type mobile robot mainly has following several：(1) drive
Motor is equipped with absolute optical encoder, and this method cost is higher, and installation dimension is limited, and is limited to the influence nothing of transmission mechanism etc.
Method realizes the accurate detection of load end angle information.(2) the absolute magnetic coder of central-axis type is used, magnet steel must be installed in this method
In motor axis center.
The content of the invention
To solve the problems, such as that prior art is present, the utility model provides a kind of cloud platform rotation angle detection mechanism, it is more square
Just to the power supply of head end load or transmission signal, compared to the slip ring design used in the past, installation is more convenient, and cost is lower.
Cloud platform rotation angle detection mechanism provided by the utility model, including head fixed seat, electric machine assembly, harmonic reduction
Machine, speed encoder and absolute value encoder；The motor stator of the electric machine assembly is arranged in head fixed seat；The motor
Speed encoder, transition bearing are set with the motor output shaft of component successively, the input of the harmonic wave speed reducing machine is enclosed on transition
In bearing, and it is connected with motor output shaft；The output end of the harmonic wave speed reducing machine is connected with crossed roller bearing；It is described to intersect rolling
Also with exporting transition axis connection, the absolute value encoder is arranged on output transition axis bearing；The head fixed seat, electricity
Thermomechanical components, harmonic wave speed reducing machine, speed encoder, absolute value encoder, transition bearing, crossed roller bearing, output transition axis are
Hollow structure.Speed encoder uses hollow photo-electric orthogonal encoder.
During practical application, after the given output of motor, rotor, which rotates, drives motor output shaft motion, and motor output shaft leads to
Transition bearing and harmonic wave speed reducing machine make rear class output transition axle speed slow down and increase moment of torsion, and output transition axis drives rear class again
Load movement.Speed encoder detects for motor output speed, available for doing output speed closed-loop control.Absolute value encoder
Detected for end load rotation angle information.The utility model is from head fixed seat to final load, using hollow structure
Part, the maximum advantage of this design is can be more attractive in appearance without plug-in cable, whole system from structure intermediate traces.
Harmonic wave speed reducing machine described in the utility model, which includes harmonic wave input axle bed, harmonic oscillator, harmonic wave gear ring, gear ring, to be fixed
Seat, harmonic wave flexbile gear；The harmonic wave gear ring is arranged in gear ring fixed seat, and the harmonic wave flexbile gear is arranged in harmonic wave gear ring, described
Harmonic oscillator is arranged in harmonic wave flexbile gear, and one end of the harmonic wave input axle bed is connected with harmonic oscillator, other end installation
In transition bearing.Motor output shaft slows down rear class output transition axle speed by bearing and harmonic wave speed reducing machine and increases torsion
Square.
Absolute value encoder described in the utility model includes magnetic coder detection circuit board and magnet ring, the magnetic coder inspection
Slowdown monitoring circuit plate, magnet ring are enclosed on outside the output transition axis.Magnet ring is fixed on output transition axis, can synchronously be turned with harmonic wave
Dynamic, magnetic coder detection circuit board is fixed in head fixed seat, is remained stationary as, not with output transition axis synchronous axial system.
Electric machine assembly described in the utility model includes motor stator, rotor, motor output shaft, wherein, rotor
It is enclosed on outside motor stator, motor output shaft is connected with rotor, and motor stator is hollow structure.Internal rotor knot can also be used
Structure, i.e. rotor are arranged in motor stator, and motor output shaft, rotor use hollow structure.
The utility model use hollow type design, be more convenient power supply to head end load or transmission signal, cable from
Passed through in hollow structure, compared to the slip ring design used in the past, installation is more convenient, and cost is lower；It is and exposed relative to cable
Method, total is more attractive in appearance compact.The utility model detects the side of circuit board detecting annular magnet using magnetic coder
Formula detects absolute position.In actual use, compared to routine magnet steel mounting means (motor axis center can only be installed on),
Magnet ring of the present utility model can be both arranged on solid power transmission shaft, can be also arranged on the power transmission shaft of hollow structure.Absolute value
Encoder is installed on system end (load end), only detects the angle at the end information that everybody most pays close attention in actual applications, effectively
Error caused by reducing transmission process.
Brief description of the drawings
Fig. 1 is the utility model explosive view；
Fig. 2 is magnetic coder detects schematic diagram；
In figure：1st, load；2nd, magnetic coder detection circuit board；3rd, magnet ring；4th, transition axis is exported；5th, bearing fixed seat；6、
Crossed roller bearing；7th, harmonic wave flexbile gear；8th, gear ring fixed seat；9th, harmonic wave gear ring；10th, harmonic oscillator；11st, harmonic wave input shaft
Seat；12nd, transition bearing；13rd, photoelectricity orthogonal encoder；14th, motor output shaft；15th, rotor；16th, motor stator；17th, cloud
Platform fixed seat.
Embodiment
Structure of the present utility model is described in detail below in conjunction with Fig. 1,2.Head fixed seat 17 is fixed on rail type mobile machine
(not shown) on the body of device people, electric machine assembly include motor stator 16, rotor 15, motor output shaft 14, motor
Stator 16 is arranged in head fixed seat 17, and rotor 15 is enclosed on outside motor stator 16, motor output shaft 14 and rotor
15 connections, after energization, the drive motor output shaft 14 of rotor 15 rotates.Head fixed seat 17, motor output shaft 14, motor are fixed
Son 16 is hollow structure.Photoelectricity orthogonal encoder 13, transition bearing 12 are sequentially sleeved on motor output shaft 14.Harmonic wave speed reducing machine bag
Include harmonic wave input axle bed 11, harmonic oscillator 10, harmonic wave gear ring 9, gear ring fixed seat 8, harmonic wave flexbile gear 7.Harmonic wave gear ring 9 is arranged on
In gear ring fixed seat 8, harmonic wave flexbile gear 7 is arranged in harmonic wave gear ring 9, and harmonic oscillator 10 is arranged in harmonic wave flexbile gear 7, and harmonic wave is defeated
The one end for entering axle bed 11 is connected with harmonic oscillator 10, and the other end is arranged in transition bearing 12.Crossed roller bearing 6 is arranged on
In bearing fixed seat 5, output transition axis 4 is connected with crossed roller bearing 6, and crossed roller bearing 6 is connected with harmonic wave flexbile gear 7.Absolutely
Include magnetic coder detection circuit board 2 and magnet ring 3 to value encoder, magnet ring 3 is enclosed on outside output transition axis 4.Load 1 (video camera
Or paw etc.) be arranged in output transition 4.Load 1, magnetic coder detection circuit board 2, output transition axis 4, crossed roller bearing
6th, harmonic wave flexbile gear 7, gear ring fixed seat 8, harmonic wave gear ring 9, harmonic oscillator 10, harmonic wave input axle bed 11, transition bearing 12, photoelectricity
Orthogonal encoder 13 is all hollow structure.Head fixed seat realizes the fixation of whole clouds terrace system, and electric machine assembly realizes head end
End driving, speed encoder use hollow type photoelectricity orthogonal encoder, motor speed detected, harmonic wave speed reducing machine is to motor
Output speed is slowed down and increases moment of torsion, and absolute value encoder detects to head angle at the end, and magnet ring is fixed on output transition
, can be with harmonic wave synchronous axial system on axle, magnetic coder detection circuit board is fixed, to ensure accuracy of detection, the circuit board
It can be fixed on by structure extension device in head fixed seat, not with output transition axis synchronous axial system.
It is this to design the excellent of maximum using the part of hollow structure from head fixed seat to final load in the system
Gesture is can be more attractive in appearance without plug-in cable, whole system from structure intermediate traces.
During practical application, after the given output of motor, rotor, which rotates, drives motor output shaft motion, and motor output shaft leads to
Transition bearing and harmonic wave speed reducing machine make rear class output transition axle speed slow down and increase moment of torsion, and output transition axis drives rear class again
Load movement.
System medium velocity encoder detects for motor output speed, available for doing output speed closed-loop control.Absolute value
Encoder detects for end load rotation angle information.
In the system, the magnetic detection chip on magnetic coder detection circuit board uses iC-Hans IC-MU150, selects
The SPI communication mode of the chip, magnet ring can be selected 16 extremely to, 32 extremely pair or 64 extremely to hollow magnet ring (number of pole-pairs is more, detection
Precision is higher.The magnet ring need to install special magnetic circuit magnet ring corresponding with IC-MU150 chips, such as 32 extremely to MU18S 30-
32N).Shown in magnet ring and magnetic coder detection circuit board installation reference picture 2.It must ensure that magnet ring center and magnetic are compiled in actual use
The distance between detection chip (IC-MU150) on code device detection circuit board cannot be greater than 1.5mm, and magnet ring mounting surface and core
Piece needs parallel.
Claims (5)
- A kind of 1. cloud platform rotation angle detection mechanism, it is characterised in that：Including head fixed seat, electric machine assembly, harmonic wave speed reducing machine, Speed encoder and absolute value encoder；The motor stator of the electric machine assembly is arranged in head fixed seat；The group of motors Speed encoder, transition bearing are set with the motor output shaft of part successively, the input of the harmonic wave speed reducing machine is enclosed on transition axis In holding, and it is connected with motor output shaft；The output end of the harmonic wave speed reducing machine is connected with crossed roller bearing；The crossed roller Also with exporting transition axis connection, the absolute value encoder is arranged on output transition axis bearing；The head fixed seat, motor During component, harmonic wave speed reducing machine, speed encoder, absolute value encoder, transition bearing, crossed roller bearing, output transition axis are Hollow structure.
- 2. cloud platform rotation angle detection mechanism as claimed in claim 1, it is characterised in that：The harmonic wave speed reducing machine includes harmonic wave Input axle bed, harmonic oscillator, harmonic wave gear ring, gear ring fixed seat, harmonic wave flexbile gear；The harmonic wave gear ring is arranged on gear ring fixed seat On, the harmonic wave flexbile gear is arranged in harmonic wave gear ring, and the harmonic oscillator is arranged in harmonic wave flexbile gear, the harmonic wave input shaft One end of seat is connected with harmonic oscillator, and the other end is arranged in transition bearing.
- 3. cloud platform rotation angle detection mechanism as claimed in claim 1 or 2, it is characterised in that：The absolute value encoder bag Magnetic coder detection circuit board and magnet ring are included, the magnetic coder detection circuit board, magnet ring are enclosed on outside the output transition axis, institute Magnet ring and output transition axis synchronous axial system are stated, the magnetic coder detection circuit board is fixed in head fixed seat.
- 4. cloud platform rotation angle detection mechanism as claimed in claim 1 or 2, it is characterised in that：The speed encoder is light Electric-type orthogonal encoder.
- 5. cloud platform rotation angle detection mechanism as claimed in claim 1 or 2, it is characterised in that：The electric machine assembly includes electricity Machine stator, rotor, motor output shaft, wherein, rotor is enclosed on outside motor stator, and motor output shaft connects with rotor Connect, motor stator is hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720941039.2U CN206967503U (en) | 2017-07-31 | 2017-07-31 | A kind of cloud platform rotation angle detection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720941039.2U CN206967503U (en) | 2017-07-31 | 2017-07-31 | A kind of cloud platform rotation angle detection mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206967503U true CN206967503U (en) | 2018-02-06 |
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ID=61398193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201720941039.2U Active CN206967503U (en) | 2017-07-31 | 2017-07-31 | A kind of cloud platform rotation angle detection mechanism |
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| CN (1) | CN206967503U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110768424A (en) * | 2019-10-23 | 2020-02-07 | 广东工业大学 | Rigid-flexible coupling high-precision galvanometer motor and control method thereof |
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN113050712A (en) * | 2021-02-25 | 2021-06-29 | 首钢京唐钢铁联合有限责任公司 | Method and device for determining operation angle of mechanical rotating equipment |
-
2017
- 2017-07-31 CN CN201720941039.2U patent/CN206967503U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN110768424A (en) * | 2019-10-23 | 2020-02-07 | 广东工业大学 | Rigid-flexible coupling high-precision galvanometer motor and control method thereof |
| CN110768424B (en) * | 2019-10-23 | 2021-04-06 | 广东工业大学 | Rigid-flexible coupling high-precision galvanometer motor and control method thereof |
| CN113050712A (en) * | 2021-02-25 | 2021-06-29 | 首钢京唐钢铁联合有限责任公司 | Method and device for determining operation angle of mechanical rotating equipment |
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