KR20080048862A - Double actuator unit, double actuator apparatus with the same and the method for controlling the double actuator apparatus - Google Patents

Abstract

A double actuator unit, a double actuator device with the same and a control method of the double actuator device are provided to maximize load strength and to increase operation performance by increasing a reduction gear ratio and by installing a gear train with a planetary gear. A double actuator unit comprises the followings: a housing unit; an operating unit installed at the housing unit, including a location operator(210) for controlling a location and a strength operator(230) for controlling strength, of an output axle extended through the housing unit, and a location operator encorder(220) and a strength operator encorder(240) measuring a rotation angle of the location operator and the strength operator respectively; and a gear train(300) supplying power to the output axle, including a location gear unit(301) connected to a location operator axle of the location operator, and a strength gear unit(303) connected to a strength operator axle of the strength operator and geared externally with the location gear unit.

Description

DOUBLE ACTUATOR UNIT, DOUBLE ACTUATOR APPARATUS WITH THE SAME AND THE METHOD FOR CONTROLLING THE DOUBLE ACTUATOR APPARATUS}

1 is a schematic perspective view of a double actuator unit according to an embodiment of the present invention.

FIG. 2 is a schematic exploded perspective view of the double actuator unit of FIG. 1. FIG.

3 is a schematic cross-sectional view of the double actuator unit of FIG. 1.

4 is a schematic exploded perspective view of some components of the double actuator unit of FIG. 1.

5 is a block diagram illustrating a schematic configuration of a double actuator device according to another embodiment of the present invention.

6 is a schematic state diagram of a gear train for showing the operating state of a double actuator unit and a device having the same according to the present invention.

7 is a schematic conceptual view illustrating an operating state of a double actuator unit and a device having the same according to the present invention.

8 to 10 are schematic state diagrams of a gear train for explaining a process for executing stiffness control by an external object.

11 and 12 are schematic control flowcharts showing a control process of the double actuator device of the present invention.

13 is a schematic layout view for illustrating another modified example of the double actuator unit according to the present invention.

14 is a schematic layout view of a double actuator unit further comprising a gear clutch unit according to the present invention.

15 to 17 are schematic layout views of a double actuator unit having a gear clutch of a modified form.

* Description of the symbols for the main parts of the drawings *

100 ... housing 110 ... housing case

120.Housing cover 200 ... Driver

210 ... Position Driver 220 ... Position Driver Encoder

230 ... rigid actuator 240 ... rigid actuator encoder

300 ... gear train 301 ... position gear part

303 rigid gear 310 sun gear

320 Planetary gear 330 External ring gear

340 ... Internal ring gear 360 ... Carrier

400, 500, 600 ... gear clutch

The present invention relates to an actuator unit, and more particularly, to an actuator unit having a simple structure capable of achieving position control and stiffness control, an apparatus having the same, and a control method thereof.

Robots are used not only for industrial purposes but also for daily life such as cleaning robots due to continuous research on practical methods, and the proportion of robots is increasing in real life. The robot manipulator motions used in the can be classified into free motion in free space and contact motion in contact with the external environment, and determine the quality of motion of the robot manipulator during free motion and contact motion of the robot manipulator. One factor is positional accuracy. When the robot manipulator moves to the desired position by the movement of the robot manipulator, the rigidity of the robot manipulator should be large to increase the position accuracy.

However, increasing the stiffness of the robotic manipulator is effective for increasing positional accuracy but involves other side effects. For example, a sudden collision with an external object occurs during free movement or during contact movement, due to the high stiffness, damage or breakage of the external object and / or the external environment is caused. In particular, the increase in stiffness may have serious consequences in the event that a sudden collision may cause a human accident, such as a worker. In order to solve such a problem, accurate rigidity control (force control) of the robot manipulator is desired.

The robot manipulator according to the prior art is provided with a rigid force / torque sensor at the end of the robot manipulator to achieve desired position control during sudden collision or continuous contact movement during free movement and to minimize damage or injury to the external environment. Control was implemented.

However, the force / torque sensor provided in the robot manipulator according to the prior art not only significantly increases the production cost of the device as expensive equipment, but also implements force / torque control through such a force / torque sensor. By increasing the control time with the algorithm, a problem has arisen that if the subject of a sudden collision during the free movement is a human, it may cause considerable injury.

Accordingly, an object of the present invention is to provide a double actuator unit, a double actuator device having the same, and a method of controlling the same, which can be inexpensively manufactured and have excellent responsiveness with a simple structure.

The present invention for achieving the above object, the housing portion; A position driver for position control of the output shaft discharged through the housing part, a rigid driver for rigidity control, a position driver encoder and a rigid driver encoder for measuring rotation angles of the position driver and the rigid driver, respectively, and the housing A drive unit mounted to the unit; And a gear train connected to the position drive shaft of the position driver and a rigid gear unit connected to the rigid drive shaft of the rigid actuator and external to the position gear unit, the gear train providing power to the output shaft. Provide an actuator unit.

In the double actuator unit, the position driver and the rigid driver are fixedly mounted to the housing part, and the position gear part includes: a sun gear directly connected to the position drive shaft, an outer ring gear meshing outwardly with the rigid gear part; An inner ring gear disposed inside the outer ring gear, two or more planetary gears disposed to circumscribe the sun gear and the inner ring gear, and the planetary gears are rotatably connected and coaxial with the sun gear. And a carrier having a carrier shaft disposed therein, wherein the rigid gear portion may be a spur gear meshing with the outer ring gear, the carrier shaft may be coaxial with the output shaft, and for intermittent rotation of the rigid gear portion. The rigid gear clutch part may be further provided.

In addition, the gear clutch portion: a clutch rack having a clutch solenoid disposed inside the housing portion and a gear tooth movable by the clutch solenoid to the rigid gear portion and engaged with the rigid gear portion to the side facing the rigid gear portion. And a clutch guide formed inside the housing part for guiding movement of the clutch rack, wherein the gear clutch part has a rigid gear tooth engaged with the rigid gear part and is movable to the rigid gear part side. A clutch screw is formed in the outer periphery of the gear and a screw thread is formed on the outer circumference thereof so as to rotate through the clutch gear so as to engage with the clutch gear. Make the ship penetrate to the clutch gear It is connected to the clutch gear and the guide, the screw clutch which may be disposed with the clutch motor for rotating the screw clutch.

In addition, the gear clutch portion: a clutch gear having a rigid gear tooth engaged with the rigid gear portion, one end of which is rotatably mounted and the other end of which has a clutch gear tooth, and one end of which is rotatable. A clutch screw mounted on and engaged with the clutch gear tooth on an outer circumferential surface thereof, the clutch motor providing a rotational force to the clutch screw, wherein the gear clutch portion includes: a rigid gear tooth engaged with the rigid gear portion and one end of the housing; A clutch gear rotatably mounted to a portion, a clutch gear elastic member having one end connected to the other end of the clutch gear at one end thereof, a clutch cam contacting one side of the clutch gear to rotate the clutch gear; It may be provided with a clutch motor for providing a rotational force to the clutch cam. There.

In the double actuator unit, a rigid driver mounting bearing is provided between the housing part and the rigid driver, and the rigid driver is disposed in the housing part to be rotatable through the rigid driver mounting bearing, and the position gear part and The rigid gear portion may be respective spur gears that circumscribe each other, and the output shaft may be coaxial with the rigid drive shaft.

According to another aspect of the invention, the housing portion; And a position driver for position control of the output shaft discharged through the housing part, a rigid driver for rigidity control, a position driver encoder and a rigid driver encoder for measuring the rotation state of each of the rigid actuators. A driving unit mounted to the housing unit; And a gear train interlocked with the output shaft and having a position gear portion engaged with the position drive shaft of the position driver and a rigid gear portion engaged with the rigid drive shaft of the rigid driver. The double actuator unit includes the position driver encoder; A signal processor which receives a measurement signal from the rigid driver encoder and converts the measured signal into a processable signal, a comparison calculator that calculates and compares a target torque based on the signal from the signal processor, and calculates a target torque, A storage unit for storing an initial value and storing a target torque calculated from the comparison operation unit, communicating with the comparison operation unit and the storage unit, and operating the position driver and the rigid driver according to a comparison operation result of the comparison operation unit. A control unit for generating and transmitting a signal Provided is a double actuator device.

In addition, according to another aspect of the present invention, a position driver for position control of the output shaft discharged through the housing portion, a rigid driver for rigidity control and a position driver encoder for measuring the rotation state of each of the position driver and the rigid driver And a driver having a rigid driver encoder. And a gear train interlocked with the output shaft, the gear train having a position gear portion engaged with the position drive shaft of the position driver and a rigid gear portion engaged with the rigid drive shaft of the rigid driver. An initialization step of providing a double actuator device having a calculation unit, a storage unit, and a control unit; Applying a position driving control signal by the controller to a position driving control signal by using the initial value stored in the storage unit and a target output shaft rotation angle of the output shaft; A rigid drive shaft rotation angle sensing step of detecting, by the rigid driver encoder, the rigid drive shaft rotation angle of the rigid driver; A rigid driver control step of controlling the rigid driver according to the rigid drive shaft rotation angle; And an output shaft rotation angle comparison determining step of comparing the rotation angle of the output shaft with the target output shaft rotation angle from the position driver encoder signal.

In the method of controlling the double actuator device, the step of controlling the rigid driver comprises: comparing the rigid drive shaft rotational angle with a preset rigid drive shaft rotational angle; Comparing the rigid drive shaft angular velocity with a preset rigid drive shaft angular velocity when the rigid drive shaft rotation angle is different from the preset rigid drive shaft rotation angle; Calculating an estimated torque applied to the rigid drive shaft from the rigid driver rigidity coefficient stored in the storage unit and the rigid drive shaft rotation angle when the rigid drive shaft angular velocity is equal to or less than the preset rigid drive shaft angular velocity; Comparing the estimated torque with a preset target torque; When the difference between the estimated torque and the preset target torque is equal to or less than a preset error, a rigid drive control signal applied to the rigid driver is calculated from the rigid driver rigidity coefficient and the rigid drive shaft rotation angle and applied to the rigid driver. step; Returning to the stiffness drive shaft rotation angle sensing step, and when the difference between the estimated torque and the preset target torque is greater than a preset error, the stiffness from the stiffness driver stiffness coefficient and the stiffness drive shaft rotation angle. The method may further include correcting the rigid driver stiffness coefficient before calculating the rigid drive control signal applied to the driver.

The method may further include: calculating a new stiffness driver stiffness coefficient from the stiffness driver stiffness coefficient and safety coefficient stored in the storage unit and the stiffness of the stiff drive shaft rotation angle when the stiffness of the stiff drive shaft is greater than the preset stiffness of the drive shaft; Calculating a rigid drive control signal applied to the rigid driver from the new rigid driver rigidity coefficient and the rigid drive shaft rotation angle; And returning to the rigid drive shaft rotation angle sensing step.

In the method of controlling the double actuator device, when the rotation angle of the output shaft is not the same as the target output shaft rotation angle, by measuring the rotation angle of the output shaft, after calculating a new position drive control signal of the position driver, It may be returned to the step of applying the position drive control signal.

Hereinafter, a double actuator unit according to the present invention, a double actuator device having the same, and a control method thereof will be described with reference to the drawings.

FIG. 1 shows a double actuator unit 10 according to an embodiment of the present invention, FIG. 2 shows a schematic exploded perspective view of the double actuator unit 10 of FIG. 1, and FIG. 3 shows FIG. 1. A schematic cross sectional view of a double actuator unit 10 is shown, and FIG. 4 shows a schematic exploded perspective view of some components of the double actuator unit 10. The double actuator unit 10 includes a housing part 100, a drive part 200, and a gear train 300.

The housing unit 100 includes a housing case 110 and a housing cover 120, and the housing cover 120 seals one open surface of the housing case 110. The housing cover 120 mounted on one surface of the housing case 110 is provided with a gear train output shaft through hole 121 for discharging the output shaft 11 of the gear train for transmitting power generated from the driving unit described below. The driving unit 200 and the gear train 300 which are described below are disposed in the housing unit 100. Further provided with a separate fastening means, such as a bolt for fastening the housing case 110 and the housing cover 120, or provided with a protruding protrusion and protruding protrusion receiving portion to be protruded on any one side of the housing case and the housing cover, etc. Various configurations are possible. In addition, the housing 100 is configured to include a housing case 110 and a housing cover 120 of two removable structures, but the housing 100 according to the present invention is not limited thereto.

The driver 200 includes a position driver 210 and a rigid driver 230, and the position driver 210 and the rigid driver 230 are disposed in the housing part 100. That is, one surface of the housing case 110 of the housing part 100 is provided with a position driver mounting part 111 for mounting the position driver 210 and a rigid driver mounting part 112 for mounting the rigid driver 230. The position driver 210 and the rigid driver 230 are disposed at the position driver mounting part 111 and the rigid driver mounting part 112, respectively. Each position driver 210 and the rigid driver 230 is implemented as a rotary motor having a position drive shaft 211 (see FIG. 2) and a rigid drive shaft 231 (see FIG. 2), the position drive shaft 211 being a housing case. The position driving shaft through hole 113 of the 110 is disposed and the rigid drive shaft 231 is disposed through the rigid drive shaft through hole 114 of the housing case 110. In this embodiment, the position driver 210 and the rigid driver 230 are fixedly mounted to the housing case 110 of the housing part 100. The position driver 210 and the rigid driver 230 may be an AC motor, or may be configured as a DC or BLDC motor and the like, and may have various configurations in a range of generating power of a required specification.

The driver 200 further includes a position driver encoder 220 and a rigid driver encoder 240. The position driver encoder 220 detects (detects) a rotation angle of the position drive shaft 211 of the position driver 210, and The rigid driver encoder 240 detects (detects) a rotation angle of the rigid drive shaft 231 of the rigid driver 220. The position driver encoder 220 and the rigid driver encoder 240 provided in the double actuator unit 10 of the present invention may be implemented as a conventional rotationally increased encoder as a position sensor. Although not clearly shown here, the rotation angle signal detected from the position driver encoder 220 and the rigid driver encoder 240 is transmitted to a signal processor to be described later along the signal line.

The gear train 300 is disposed in a space formed by the housing case 110 and the housing cover 120 of the housing part 100, and is connected to the driving part 200 and output shaft 11 discharged from the housing part 100. ) Transmits the power generated from the driving unit 200 to the output shaft (11). By properly selecting the internal gear ratio of the gear train 300, the gear train 300 performs a function as a reducer such that the rotation speed of the output shaft 11 is smaller than the rotation speed of the drive unit 200.

The gear train 300 includes a position gear unit 301 connected to the position driver and a rigid gear unit 303 connected to the rigid driver. 2 to 4 show a double actuator unit 10 having a position gear portion 301 implemented as a planetary gear arrangement. The position gear unit 301 includes a sun gear 310, a planetary gear 320, an internal ring gear 340, an external ring gear 330, a carrier 360, and the like.

The sun gear 310 is directly connected to the position driving shaft 211 of the position driver 210, and as the position driving shaft 211 of the position driver 210 rotates, the sun gear 310 also rotates on the coaxial line with the position driver 210. . The external ring gear 330 is disposed coaxially with the position drive shaft 211 and the sun gear 310. The teeth are arranged on the outer circumference of the external ring gear 330 and the external ring gear through hole 332 is provided at the center thereof. On both sides of the external ring gear 330, an external ring gear extension 331 extending in the rotation axis direction of the external ring gear 330 is disposed. The internal ring gear 340 is formed on the inner circumference and is arranged coaxially with the sun gear 310 to be fixedly mounted so as not to achieve a relative rotational movement with each other through an interference fit to the external ring gear through hole 332. Can be. Here, the external ring gear 330 and the internal ring gear 340 are configured as separate components, but may take a structure formed integrally.

Two or more planetary gears 320 are arranged to be external to the sun gear 310 and internally to the internal ring gear 340. Here, the planetary gear 320 is illustrated as being provided with three, but the number of the planetary gears 320 is not limited thereto. The carrier 360 includes a carrier shaft 363 disposed coaxially with the sun gear 310, and the planetary gear 320 is rotatably mounted to the carrier 360. That is, the carrier 360 includes a carrier plate 361 and a carrier shaft 363, which is mounted on the rotation center of the carrier plate 361 with one surface of the carrier plate 361. The number of the pin mounting holes 362 is formed in the carrier plate 361 and the number of the planetary gears 320 provided therein, and the planetary gear pins 321 are the pin mounting holes 362 and the planetary gear 320 of the carrier plate 361. ), The planetary gear 320 is disposed on the carrier plate 361 so as to be rotatable.

The first fixing plate 351 and the second fixing plate 353 are mounted at ends of the external ring gear extension 331 which are formed to extend from one surface of the external ring gear 330, respectively. In the space formed by the second fixing plate 353 and the external ring gear 330, the carrier plate 361, the planetary gear 320, the internal ring gear 340, and the like are disposed. The first fixing plate 351 is provided with a first fixing plate through hole 352 to allow the carrier shaft 363 to penetrate, and the second fixing plate 353 is formed of the position drive shaft 211 and the sun gear 310. A second fixing plate through hole 354 is provided to allow penetration. Carrier shaft bearings 365 for supporting the carrier shaft 363 disposed through the first fixing plate 351 and smoothing the rotation before and after the first fixing plate 351 in the axial direction of the carrier shaft 363. ) May be further provided. In addition, the position shift of the planetary gear 320 disposed in the space formed by the external ring gear through hole 332 of the first fixing plate 351, the second fixing plate 353, and the external ring gear 330 may be removed. The planetary gear snap ring 323 may be further provided at one side of each planetary gear 320 to prevent rotation and revolution of the planetary gear 320 smoothly, and the outer ring of the outer ring gear 330 may be provided. An internal ring gear washer 341 may be further provided to allow smooth movement of the internal ring gear 340 and the planetary gear 320 inserted into the gear through hole 332.

The outer ring gear bearing 333 is disposed on the outer circumference of the outer ring gear extension 331 extending from the outer ring gear 330, and the outer ring gear bearing 333 is positioned outside the outer ring gear bearing 333. An external ring gear washer 335 for smoothly rotating the gear portion may be further disposed.

On the other hand, the rigid gear portion is connected to the rigid drive shaft 231 of the rigid driver 230. The rigid gear part 303 is comprised with a spur gear, and the rigid gear part 303 as a spur gear is circumscribed with the external ring gear 330. Here, the rigid gear unit 303 is composed of a single spur gear, but the rigid gear unit of the present invention is not limited thereto, such as when the gear ratio is adjusted or when the position position of the position driver and the rigid driver is spaced apart, and thus additional gears are required. It may be composed of a plurality of gears according to the design specifications.

The gear train 300 including the position gear unit 301 and the rigid gear unit 303 includes a gear train mounting unit 115 formed in the housing case 110 of the housing unit 100 and a gear formed in the housing cover 120. It is mounted to the train mounting part 125 (refer FIG. 3).

The carrier shaft 363 may be coaxial with the output shaft. In this embodiment, the carrier shaft 363 and the output shaft 11 are configured with the same axis. That is, the carrier shaft 363 of the carrier 360 is discharged through the output shaft through hole 121 formed in the housing cover 120, and is driven by the carrier shaft 363 to a rotating link (not shown) such as a robot arm. To pass. However, the present invention is not limited to such a configuration. For example, the housing part 100 includes a separate output shaft disposed through the output shaft through hole 121, and the output shaft and the carrier shaft 363 are disposed on parallel axes to each other to form the housing part 100. Various modifications are possible, such as being able to take a structure that meshes with and interlock with each other via a rotation gear disposed therein.

According to the present invention, the double actuator device 1 including the double actuator unit described above includes a double actuator unit 10, a signal processing unit 20, a control unit 30, and a comparison operation unit (as shown in FIG. 5). 40 and a storage unit 50. The signal processor 20 receives an electrical signal from the position driver encoder 220 and the rigid driver encoder 240 for detecting rotation angles of the position driver 210 and the rigid driver 230 of the double actuator unit 10. The controller transmits the position control signal and the rigid drive control signal transmitted from the controller 30 to the position driver 210 and the rigid driver 230, respectively.

The controller 30 is in electrical communication with the signal processor 20 and the storage unit 50, and transmits the signal processed rotation angle signals of the position driver and the rigid driver measured by the signal processor 20 to the comparison operator 40. The position comparison unit 210 and the rigidity driver 230 of the double actuator unit 10 are transferred to the signal processing unit 20 by comparing the values calculated and compared with the comparison operation unit 40 and the preset values stored in the storage unit 50. Pass control signals to

)를 사전 설정된 값과 비교하고 강성 구동기(230)에 대한 추정 토크(Te) 및 강성 구동기 강성 계수(KSM)을 연산한다. The comparison operation unit 40 is in electrical communication with the control unit 30 and the rotation angle (θs) of the rigid drive shaft and the rigid drive shaft rotation angle velocity (

) Is compared with a preset value and the estimated torque Te for the rigid driver 230 and the rigid driver stiffness coefficient KSM are calculated.

The storage unit 50 stores initial values for the position driver 210 and the rigid driver 230. That is, the storage unit 50 includes various coefficients and initial setting values for the position driver 210 and the rigid driver 230, and when the comparison operation unit 40 needs to withdraw the corresponding values during the comparison or calculation, the controller The data of the pre-stored value according to the signal of 30 is transmitted to the comparison operation unit 40 according to the signal of the control unit 30, and the value calculated from the comparison operation unit 40 is stored according to the signal of the control unit 30. .

Hereinafter, the mechanical operation of the double actuator unit and the double actuator device according to an embodiment of the present invention will be described with reference to FIGS. 6 to 10.

FIG. 6 is a schematic view illustrating the operating state of the double actuator unit 10 according to an embodiment of the present invention, in particular, the free movement state in a free space, where the carrier plate 361 is illustrated in a triangle. This is for ease of description and the carrier plate of the present invention is not limited to the illustrated shape.

The position actuator and the rigid driver of the double actuator unit 10 are connected through a gear train. A plurality of planetary gears 320 are disposed around the sun gear 310 connected to the position drive shaft of the position driver, and the planetary gears 320 An external ring gear 340 which is inscribed with the planetary gear 320 is disposed outside, and an external ring gear 330 is disposed outside the internal ring gear 340. Here, although the internal ring gear 340 and the external ring gear 330 are illustrated as one for clarity of description, the present invention is not limited thereto. The rigid gear part 303 is disposed outside the external ring gear 330 so as to be external to the external ring gear 330. The rigid gear part 303 is connected to the rigid driver through the rigid drive shaft.

A constant torque may be applied to the rigid gear part 303 so that the rigid gear part 303 has a predetermined rigidity. That is, when the position drive control signal is applied to the position driver 210 through the signal processor 20 from the controller 30 (see FIG. 5) and the position driver 210 operates according to the position drive control signal, the position drive shaft ( The sun gear 310 connected to 211 rotates together with the position drive shaft 211. In FIG. 6, the sun gear 310 is shown to rotate counterclockwise as an example. When the sun gear 310 rotates, the planetary gear 320 circumscribed with the sun gear 310 is transmitted to the rotational force of the sun gear 310 so that the planetary gear 320 rotates in a clockwise direction and meshes with the planetary gear 320. Rotational force is also transmitted to the internal ring gear 340 and the external ring gear 330. At this time, when the small angular displacement occurs in the external ring gear 330, the small angular displacement also occurs in the rigid drive shaft 231, and when the rigid drive shaft 231 rotates by the small angular displacement, the rigid driver encoder 240 detects this. And transmits a signal to the signal processor 20 and the controller 30.

Then, the controller 30 communicates with the comparator 40 and the storage unit 50 to transmit a rigid drive control signal that provides torque corresponding to the rigidity required for the rigid driver 230, and the rigid driver 230. ) Operates according to the rigid drive control signal, whereby rotation of the rigid drive shaft 231 is prevented. Accordingly, the rigid gear portion 303 of the gear train 300 operates as a fixed spur gear as shown symbolically, and is an external ring gear of the position gear portion 301 which is external to the rigid gear portion 303. Rotation of the 330 and the internal ring gear 340 is limited. Since the rotation of the external ring gear 330 and the internal ring gear 340 is limited, the internal ring gear 340 and the internal gear 320 inscribed together perform an orbital movement in a counterclockwise direction, and the plurality of planetary gears are also provided. The carrier 360, which is pivotally connected to the center of the 320, rotates counterclockwise together with the revolution of the planetary gear 320.

Therefore, the rotation of the position drive shaft 211 of the position driver 210 is transmitted to the output shaft 11 which is connected to the carrier shaft 363 of the carrier 360 or coaxially configured and connected to the output shaft 11 ( 7, etc.), position control is performed to a desired position.

Meanwhile, in FIG. 7, when the output link 3 connected to the output shaft 11 is rotated by the operation of the position driver 210, the external object R exists in the rotation region of the output link 3, thereby outputting the output link 3. ) And the mechanical state of the double actuator unit 10 for the case where contact takes place between the external object R, i.e., in the case of contact motion with the external environment and / or the external object. 8 to 10 show the signal processing unit 20 from the control unit 30 to move on the line II-II while the output link 3 connected to the output shaft 11 is located on the line I-I in FIG. When the position drive control signal is transmitted to the position driver 210 (see FIG. 2) through, the operating state of the gear train 300 is shown.

As shown in FIG. 8, when the position driving control signal is transmitted from the control unit 30 to the position driver 210 (see FIG. 2) via the signal processing unit 20, the position driver 210 is driven according to the position driving control signal. Driven to rotate the position drive shaft 211 such that the actual rotation angle θa of the position drive shaft 211 of the position driver 210 matches the desired predetermined angle θPA, which is the position drive control shown in FIG. Same as mechanical operation in the process.

When the output link 3 that is rotated by the operation of the position driver 210 is located at the line III-III, the rotation of the output link 3 is caused by the external object R located in the rotation region of the output link 3. Limited. That is, the rotation of the output shaft 11 connected to the output link 3 is also limited and the rotation of the carrier shaft 363 connected to and / or coaxial with the output shaft 11 is limited, so that the revolution of the planetary gear 320 is limited. do. Thus, the planetary gear 320 rotates based on the center point connected to the carrier 360 in place. For example, when the sun gear 310 rotates counterclockwise as shown in the figure, the planetary gear 320 rotates clockwise in place without revolving.

The torque input through the position driver 210 is transmitted to the internal ring gear 340 and the external ring gear 330 which are inscribed with the planetary gear 320 via the sun gear 310 and the planetary gear 320, which are external rings. It is transmitted to the rigid gear part 303 as a spur gear external to the gear 330. When the angular displacement, that is, the rigid drive shaft rotation angle θs, occurs in the rigid gear unit 303, the controller 30 may be configured as the rigid driver 230 according to the operating state of the double actuator unit 10 determined by the controller 30. Rigid control is performed by applying an appropriate control signal.

Hereinafter, a control process for the above embodiments will be described.

FIG. 11 shows a control flowchart of a control method of a double actuator device having a double actuator unit according to the present invention, and FIG. 12 shows a more detailed control flow in step S130 in FIG. A flowchart is shown.

In FIG. 11, an initialization step for the double actuator unit 10 according to the present invention is performed (S100). Here, the initialization step (S100) is a double actuator device having a double actuator unit 10, the signal processing unit 20, the control unit 30, the comparison operation unit 40 and the storage unit 50 described in the above embodiment ( 1) and storing preset values and initial values for various coefficients for the double actuator unit 10 in the storage 50 of the double actuator device 1. The initial value and / or the preset value include a motor constant, a rigid driver initial stiffness coefficient, a setting error for comparing a difference value with a preset target torque and estimated torque, and the like.

Then, the controller 30 applies the position drive control signal to the position driver 210 of the double actuator unit 10. The position driving control signal applied to the position driver 210 may be implemented as a voltage signal, which may be expressed as follows. The initial position driving control signal applied to the position driver 210 may be stored in the storage unit 50. You can use the default values previously stored in.

Herein, an integer such as n = 1, 2, ..., Kv is a motor constant in consideration of the motor characteristics and gear ratio between the output shaft and the position drive shaft, V is a position drive control signal applied to the position driver, θa is the actual output shaft The rotation angle, ω _D is the target output shaft speed, ω _a is the change in the actual output shaft rotation angle at the same unit time as the sampling time, ie the actual output shaft rotation speed, and V0 is the initial position drive control signal. The target output shaft rotation angle θPA and the target output shaft speed ω _D are given at the same time, and the target output shaft rotation angle θPA is the actual rotation angle of the output shaft (or output link) reaching a predetermined desired value in step S140 described below. It can be used for position control.

The actual output shaft rotation angle [theta] a is updated at every sampling time from which the actual output shaft speed [omega] _a is calculated. In order for the actual output shaft rotation angle speed ω _a to follow the target output shaft speed ω _D , the position drive control signal V as a control signal is obtained by comparing the target output shaft speed ω _D with the actual output shaft speed ω _a . It is calculated from the difference and applied to the position driver. When the position driver 210 is driven by the position drive control signal applied from the controller 30 to the position driver 210 finally, the double actuator unit 10 undergoes a mechanical conversion process as described above. In the present embodiment, in the generation of the position drive control signal for controlling the position driver, the case where both the speed control and the position control are considered is described, but this is only one embodiment of the present invention and the position driver of the double actuator of the present invention. The control method is not limited to this.

Then, the rigid driver encoder 240 detects and detects the rigid drive shaft rotational angle θs of the rigid drive shaft 211 (S120), and the rigid driver control is executed in accordance with the detected value of the rigid drive shaft rotational angle θs. It becomes (S130).

After the rigid driver control step S130 is executed, the controller 30 causes the comparison operation unit 40 to compare the actual output shaft rotation angle θa with the target output shaft rotation angle θPA (S140).

When the actual output shaft rotation angle θa is the same as the target output shaft rotation angle θPA, the controller 30 determines that the output link 3 has moved to the desired target rotation position and ends the control process. On the other hand, when the actual output shaft rotation angle θa and the target output shaft rotation angle θPA are different, the rotation angle of the position driving shaft is detected using the position driver encoder 230 connected to the position driver 210 and thereby the position driving shaft and The actual output shaft rotation angle θa is derived in consideration of the gear ratio between the output shafts (S150).

Using the measured / calculated actual output shaft rotation angle θa and the target output shaft rotation angle θPA stored in the storage unit 50, the control unit 30 causes the comparison operation unit 40 to calculate a new position driver control signal ( S160). The calculation process of the position driver control signal is the same as described above. The control flow returns to step S110, and the newly calculated position driver control signal is transmitted and applied to the position driver 310 (S110).

Meanwhile, FIG. 12 shows a more detailed flow of the rigid driver control S130. The sensed rigid drive shaft rotation angle θs is compared with the rigid drive shaft rotation angle preset by the comparison operation unit 40. In this embodiment, the preset rigid drive shaft rotation angle is set to 0 (S1310).

)와 사전 설정 강성 구동축 각속도(

)를 비교한다(S1320). 강성 구동축 각속도(

)와 사전 설정 강성 구동축 각속도(

)를 비교한 결과, 강성 구동축 각속도(

)가 사전 설정 강성 구동축 각속도(

) 이하인 경우, 제어부(30)는 비교 연산부(40)로 하여금 강성 구동기(210)에 가해지는 추정 토크를 연산하도록 하는데(S1330), 추정 토크는 다음과 같은 식에 따라 연산된다. When the rigid drive shaft rotation angle θs is equal to the preset rigid drive shaft rotation angle, the controller 30 ends the rigid driver control step S1310. On the other hand, when the rigid drive shaft rotation angle θs is not the same as the preset rigid drive shaft rotation angle, the rigid drive shaft angular velocity (

) And preset rigid drive shaft angular velocity (

) Is compared (S1320). Rigid drive shaft angular velocity (

) And preset rigid drive shaft angular velocity (

As a result, the rigid drive shaft angular velocity (

) Is the preset rigid drive shaft angular velocity (

), The control unit 30 causes the comparison operation unit 40 to calculate the estimated torque applied to the rigid driver 210 (S1330), and the estimated torque is calculated according to the following equation.

Here, Te represents the estimated torque applied to the rigid driver 210, KSM (n) represents the stiffness coefficient of the rigid driver, the stiffness coefficient (KSM (n)) of the rigid driver can have a variety of different values depending on n In the initial state, the KSM (0) may use a value previously stored in the storage unit 50.

에 있는가를 판단한다(S1340). Thereafter, the controller 30 causes the comparison operation unit 40 to compare the calculated estimated torque Te with the preset target torque Tt previously stored in the storage unit 50, and the controller 30 compares the result of the comparison. The difference between the preset target torque Tt and the estimated torque Te is within the range of the preset error γ

It is determined whether the (S1340).

Then, when the absolute value of the difference between the preset target torque Tt and the estimated torque Te is less than or equal to the preset error γ, the control unit 30 causes the comparison operation unit 40 to send the storage unit 50 to the storage unit 50. Using the stored rigid driver rigidity coefficient (KSM) and the rigid drive shaft rotation angle (θs) to calculate the rigid drive control signal applied to the rigid driver 230 and to apply it to the rigid driver 230 side (S1350), as a current signal The calculation of the implemented rigid drive control signal is performed by the following equation.

The calculated rigid drive control signal i is transmitted to the rigid driver 230 through the signal processor 20.

After the calculation and application of the rigid drive control signal are made, the control flow returns to the above-described rigid drive shaft detection step S120, whereby the controller 30 passes the rigid drive shaft from the rigid driver encoder 240 through the signal processor 20. The rotation angle θs is sensed and transmitted to the storage unit 50 and the comparison operation unit 40.

On the other hand, when the absolute value of the difference between the preset target torque Tt and the estimated torque Te is greater than the preset error γ in step S1340, the control unit 30 causes the comparison operation unit 40 to cause the stiffness driver. To correct the stiffness coefficient (S1360), the correction of the stiffness driver stiffness coefficient can be made by the following equation.

Here, α is a stiffness coefficient correction constant, and an appropriate value may be selected according to the design specification. After the stiffness driver stiffness coefficient is corrected, the control flow moves to step S1350 to calculate the stiffness driver control signal using the newly corrected stiffness driver stiffness coefficient, the rigid drive shaft rotation angle and various coefficients, and returns to the rigid drive shaft rotation angle detection step. .

)와 사전 설정 강성 구동축 각속도(

)를 비교한 결과, 강성 구동축 각속도(

)가 사전 설정 강성 구동축 각속도(

)보다 큰 경우, 강성 구동기 강성 계수를 보정한다(S1370). 즉, 제어부(30)는 이 경우를 출력 링크와 외부 물체 간의 원치 않는 충돌로 간주하고 외부 물체, 출력 링크 및 더블 액츄에이터 유닛의 손상을 방지하기 위하여 강성 구동기(230)에 인가되는 강성 제어 신호에 의한 작동하는 강성 구동기에 의한 강성을 현저하게 저하 내지는 제거하는 것이 필요하다고 판단하고 강성 구동기의 강성을 저하시키기 위해 강성 구동기 긴급 강성 계수(

)를 연산하는데, 강성 구동기 긴급 강성 계수(

)는 다음과 같은 식과 같이 연산될 수 있다. On the other hand, in step S1320 the rigid drive shaft angular velocity (

) And preset rigid drive shaft angular velocity (

As a result, the rigid drive shaft angular velocity (

) Is the preset rigid drive shaft angular velocity (

If greater than), the stiffness driver stiffness coefficient is corrected (S1370). That is, the controller 30 regards this case as an undesired collision between the output link and the external object and by the rigid control signal applied to the rigid driver 230 to prevent damage to the external object, the output link and the double actuator unit. Determining that it is necessary to significantly reduce or eliminate the stiffness by the operating stiffness driver, the stiffness driver emergency stiffness coefficient (

), The stiffness driver emergency stiffness factor (

) Can be calculated as

Here, βvel is an emergency stiffness correction coefficient that is pre-stored in the storage unit 50 and may be appropriately selected according to design specifications.

)는 새로운 강성 구동기 강성 계수(KSM)로 설정된 후(S1380), 제어 흐름은 단계 S1350으로 이동하여 강성 구동기 제어 신호를 연산하고 이를 강성 구동기에 인가한다. Calculated Stiffness Driver Emergency Stiffness Coefficient (

) Is set to the new stiffness driver stiffness coefficient KSM (S1380), the control flow moves to step S1350 to calculate the stiffness driver control signal and applies it to the stiffness driver.

By implementing the position control through the position driver and the rigid control through the rigid driver through the above-described control process, the desired position movement and torque of the output link through the output shaft can be achieved.

On the other hand, in the above embodiments, the rigid drive 230 is a rigid gear unit 303 of the gear train 300 (see Fig. 2), the sun gear 310, the inner / outer ring gear (330, 340), planetary gear While interlocking through the position gear unit 301 implemented by a planetary gear device such as the 320 and the carrier 360, and is fixedly mounted to the housing case 110 of the housing unit in the same manner as the position driver 210, The double actuator unit according to the invention is not limited thereto. That is, as shown in FIG. 13, the position driver 210 is fixedly mounted to the housing case 110 of the double actuator unit 10a of the modified form as described above, and the position driver encoder ( 220 is mounted and the position gear unit 301a connected to the position drive shaft 211 of the position driver 210 is constituted by a spur gear.

A rigid driver mounting bearing 305 is disposed between the housing case 110 and the rigid driver 230 of the housing part 100 (refer to FIG. 2), and the rigid driver 230 is rotated through the rigid driver mounting bearing 305. It is possible to be mounted to the housing case 110. That is, the rigid driver 230 is mounted to the housing case 110 to be rotatable around the line IV-IV. The rigid drive shaft 231 of the rigid driver 230 is mounted with a rigid gear portion 303 as a spur gear, and both the rigid gear portion 303 and the position gear portion 301a are arranged to circumscribe the spur gear. The rigid drive shaft 231 extends beyond the rigid gear portion 303, and the extended rigid drive shaft 231 is configured to be coaxial with the output shaft 11. Therefore, the rotational force of the rigid drive shaft 231 as the output shaft 11 is transmitted directly to the output link 3 (see FIG. 7). Here, although the rigid drive shaft 231 and the output shaft 11 is shown to be implemented coaxial, the present invention is not limited thereto. That is, when the output shaft and the rigid drive shaft are not disposed on the same axis and are to be spaced apart or when the gear ratio is to be converted, the rigid drive shaft 231 and the output shaft (231) are provided through separate rotating gears that are rotatably disposed inside the housing case. 11) various modifications are possible, such as taking a structure to interlock.

On the other hand, the double actuator unit according to the present invention may further comprise a configuration for intermittent rotation of the rigid gear portion. FIG. 14 shows a schematic structure of a double actuator unit further including a gear clutch, and the same reference numerals are assigned to the same components as those of the above-described embodiment.

The gear clutch unit 150 includes a clutch solenoid 151, a clutch rack 152, and clutch rack guides 153a and 153b. The clutch solenoid 151 is turned on / off according to an electrical signal from the controller 30 (refer to FIG. 5). The clutch rack 152 is a rigid gear part 303 by the clutch solenoid 151 that is turned on / off. Move in the direction away from or in contact with. The clutch guides 153a and 153b are disposed on one side of the housing case 110 so that the clutch rack 152 that moves according to the operation signal of the clutch solenoid 151 can be stably made.

When the clutch rack 152 moves to the rigid gear part 303 according to the operation of the clutch solenoid 151, the rigid gear part 303 of the tooth gear and the spur gear type formed on one side of the clutch rack 152 is formed. The teeth formed on the outer circumference can maximize the rotational stop of the rigid gear portion 303, ultimately maximizing the output torque of the output link 3 (see FIG. 7).

In addition, the gear clutch unit according to the present invention may be provided with various modifications. That is, as shown in FIG. 15, the position driver 210 connected to the position driver encoder 220 of the double actuator unit 10 and the rigid driver 230 connected to the rigid driver encoder 240 may include a housing case 110. Fixedly mounted on the double actuator unit 10 further includes a gear clutch 400. The gear clutch unit 400 includes a clutch motor 410, a clutch screw 420, a clutch gear 430, and a clutch gear guide 433. The clutch motor 410 has one end fixed to the housing case 110. Is mounted, the clutch motor 410 is in electrical communication with the control unit 30 is controlled by the control unit 30 or not. The clutch screw 420 has threads formed on an outer circumferential surface thereof, and one end of the clutch screw 420 is rotatably connected to a screw hinge 421 fixedly mounted to the housing case 110, thereby allowing the clutch screw 420 to be rotated. ) Is rotatable with respect to the housing case 110. The other end of the clutch screw 420 is connected to the motor shaft of the clutch motor 410, the motor shaft of the clutch screw 420 and the clutch motor 410 may take a direct structure, as shown in FIG. It may take a structure that is connected through the coupling 413 of. The clutch gear guide 433 is fixedly mounted to the housing case 110, and the clutch gear guide 433 is disposed to penetrate the clutch gear 430 through a through hole formed in the clutch gear 430, and thus the clutch gear 430. The clutch gear guide 433 may guide the clutch gear 430 by taking a structure that moves along the clutch gear guide 433. Therefore, according to the gear clutch operation signal applied by the controller 30, the clutch screw 420 connected to the shaft 411 of the clutch motor 410 rotates and the clutch screw 420 rotates the clutch motor 410. The clutch gear 430, which rotates together with the thread of the clutch screw 420, moves in the longitudinal direction of the clutch screw 420, and the rigid gear portion as the tooth gear and the spur gear formed at the end of the clutch gear 430 ( As the teeth formed on the outside of the 303 are engaged and rotation of the rigid drive shaft is prevented, the output torque of the output link 3 (refer to FIG. 7) due to maximization of the rigidity of the rigid driver can be maximized.

In addition, the gear clutch unit according to the present invention may have another modification as shown in FIG. The gear clutch unit 500 includes a clutch motor 510, a clutch screw 520, and a clutch gear 530, wherein the clutch motor 510, the clutch screw 520, and the screw hinge 521 are the clutches described above. Since the motor 410 and the clutch screw 420 and the screw hinge 421 are the same, a description thereof will be omitted.

The clutch gear 530 is rotatably mounted at one end to the housing case 110 through a hinge and the like, and the clutch gear 530 has a rigid gear tooth 533 at one side and a clutch gear tooth 535 at the other end. The rigid gear teeth 533 can engage the teeth of the rigid gear portion 303 and the clutch gear teeth 535 engage the threads of the clutch screw 520. The clutch motor 510 operates according to the control signal transmitted from the controller 30, and the clutch screw 520 connected through the coupling 513 and the like rotate with the motor shaft of the clutch motor 510. As the clutch screw 520 rotates, the clutch gear 530 meshed with the thread of the clutch screw 520 rotates about the hinge 531, and ultimately, the rigid gear teeth formed on the outer side of the clutch gear 530 are rotated. An interruption may be made between the 535 and the teeth of the rigid gear portion 303.

17 shows another modification of the gear clutch portion according to the present invention. The gear clutch unit 600 includes a clutch motor (not shown), a clutch cam 620, a clutch gear 630, and a clutch gear elastic member 640. The clutch motor (not shown) operates according to a control signal from the control unit 30. The clutch cam 620 is mounted on the motor shaft of the clutch motor, and the clutch cam center together with the motor shaft of the clutch motor as the clutch motor operates. The clutch cam 620 also rotates about the axis 623. The outer circumference of the clutch cam 620 is formed with a cam-shaped cam surface 6210. One end of the clutch gear 630 is mounted to the housing case 110 so as to be rotatable through the hinge 631, and the other end is a clutch gear through hole. A clutch gear tooth 635 is connected to the clutch gear elastic member 640 through one side 633 and is able to engage with the teeth of the rigid gear part 303. The other end of the clutch gear elastic member 640 is provided with a housing case. The clutch cam 620 also rotates when the clutch motor (not shown) rotates according to the control signal from the controller 30, and the clutch gear abuts against the cam surface 621 of the clutch cam 620. 630 is rotated about the hinge 631 along the cam surface 621 in a state where a constant elastic force by the clutch gear elastic member 640 is provided, the clutch gear teeth 635 and the rigid gear portion 303 Rotation of the rigid gear part 303 It is limited.

The above embodiments are intended to illustrate the present invention, but the present invention is not limited thereto. That is, the output shaft may have a structure in which the output shaft is engaged with the position gear portion and / or the rigid gear portion through a rotation gear mounted rotatably to the housing case. The present invention implements position control and rigid control of the output shaft of the present invention. Various modifications are provided in the range including a drive unit including a position driver and a rigid driver, and a gear train which transmits power to the output shaft and includes a position gear unit and a rigid gear unit and meshes with the position gear unit and the rigid gear unit to interlock with each other. It is possible.

The double actuator unit according to the present invention having the configuration as described above, an apparatus having the same, and a control method thereof have the following effects.

Firstly, the present invention provides a double actuator unit that implements position control and stiffness control of an output shaft by using a simple driver and an encoder as a conventional position sensor without requiring an expensive force / torque sensor, thereby providing desired position control and rigidity. The manufacturing cost of the actuator for implementing the control can be significantly reduced.

Secondly, the present invention provides a double actuator unit having a gear train in which a position gear portion of a planetary gear device type is arranged that can remarkably increase the deceleration range to maximize the load load and enable stable operation, thereby improving operation performance. Can be significantly increased.

Third, the present invention provides a simple logic control method of a double actuator unit and a double actuator device having the same, thereby maximizing the operational response of the device and ultimately increasing the productivity in the production system in which the unit and the device are used. have.

Fourth, the method of controlling the double actuator device according to the present invention further includes the step of determining the angular velocity of the output link, so that physical damage or human injury caused by the collision between the external object and the device in the operating range in which the double actuator device according to the present invention is used. It can also prevent.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Claims (4)

A housing part; A position driver for position control of the output shaft discharged through the housing part, a rigid driver for rigidity control, a position driver encoder and a rigid driver encoder for measuring rotation angles of the position driver and the rigid driver, respectively, and the housing A drive unit mounted to the unit; And A double actuator unit having a position gear portion connected to the position drive shaft of the position driver and a rigid gear portion connected to the rigid drive shaft of the rigid driver and circumscribed with the position gear portion, the gear train providing power to the output shaft. . The method of claim 1, Double actuator unit, characterized in that further provided with a rigid gear clutch for intermittent rotation of the rigid gear portion. A housing part; And a position driver for position control of the output shaft discharged through the housing part, a rigid driver for rigidity control, a position driver encoder and a rigid driver encoder for measuring the rotation state of each of the position driver and the rigid driver. A drive unit mounted to the unit; And a gear train interlocked with the output shaft and having a position gear portion engaged with the position drive shaft of the position driver and a rigid gear portion engaged with the rigid drive shaft of the rigid driver. A signal processor for receiving a measurement signal from the position driver encoder and the rigid driver encoder and converting the measured signal into a processable signal; A comparison operation unit which calculates and compares and calculates a target torque based on the signal from the signal processing unit; A storage unit which stores initial values for the position driver and the rigid driver, and stores a target torque calculated from the comparison operation unit; And a control unit communicating with the comparison operation unit and the storage unit and configured to generate and transmit an operation signal of the position driver and the rigid driver according to a comparison operation result of the comparison operation unit. A driver including a position driver for position control of the output shaft discharged through the housing part, a rigid driver for rigidity control, a position driver encoder and a rigid driver encoder for measuring a rotation state of each of the position driver and the rigid driver; And a gear train interlocked with the output shaft, the gear train having a position gear portion engaged with the position drive shaft of the position driver and a rigid gear portion engaged with the rigid drive shaft of the rigid driver. An initialization step of providing a double actuator device having a calculation unit, a storage unit, and a control unit; Applying a position driving control signal by the controller to a position driving control signal by using the initial value stored in the storage unit and a target output shaft rotation angle of the output shaft; A rigid drive shaft rotation angle sensing step of detecting, by the rigid driver encoder, the rigid drive shaft rotation angle of the rigid driver; A rigid driver control step of controlling the rigid driver according to the rigid drive shaft rotation angle; And an output shaft rotation angle comparison determination step of comparing the rotation angle of the output shaft with the target output shaft rotation angle based on the position driver encoder signal. 2.

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