WO2013176299A1

WO2013176299A1 - Calibration jig and an actuator assembly including the same, and a calibration method of the actuator assembly

Info

Publication number: WO2013176299A1
Application number: PCT/KR2012/004002
Authority: WO
Inventors: 김병수; 장욱
Original assignee: (주)로보티즈
Priority date: 2012-05-21
Filing date: 2012-05-21
Publication date: 2013-11-28
Also published as: KR101333257B1

Abstract

According to an embodiment of the present invention, an actuator assembly includes: a housing having an insert body and an insertion hole formed in the front side of the insert body; a horn gear mounted through the insertion hole; a rotational shaft arranged inside the housing so as to rotate along with the horn gear; a magnet mounted on the rotational shaft so as to rotate along with the rotational shaft; an encoder installed inside the housing so as to be separated from the magnet for detecting a magnetic field generated according to a rotation of the magnet; and a calibration jig mountable to the front side of the insert body having a reception part for fixedly receiving the insert body and a fixing hole formed through one side corresponding to the front side, wherein the calibration jig has an internal gear formed in the internal periphery of the fixing hole so as to engage the horn gear.

Description

Calibration jig and actuator assembly including the same, and method of calibrating actuator assembly

The present invention relates to a calibration jig, an actuator assembly including the same, and a method of calibrating the actuator assembly, and more particularly, to a calibration jig capable of calibrating a position of a horn gear, an actuator assembly including the same, and a method of calibrating an actuator assembly. It is about.

The servomotor can be precisely controlled in position and speed through the controller. Position information according to the rotation of the servomotor is detected by the encoder and transmitted to the controller, the controller controls the position and speed of the servomotor to the target value based on the position information.

The robot is operated by a plurality of actuators, which provide power through a servomotor. The encoder of servo motor can be divided into contact encoder and non-contact encoder. In the contact encoder, the encoder is directly installed on the gear shaft. In the non-contact encoder, the encoder is spaced apart from the magnet while the magnet is installed on the gear shaft.

Therefore, the contact encoder can be easily maintained by replacing the gear and the rotating shaft as long as there is no problem with the encoder. On the other hand, non-contact encoders involve the replacement of the magnet with the gears and the axis of rotation, and since the magnets each have their own magnetic properties, it is necessary to recalibrate the magnet and the encoder.

At this time, a separate mechanism for setting the position of the rotation axis (or magnet) and to secure the magnetic field data according to the magnet is required. However, it is difficult for a general user, not an expert, to have such a mechanical device. Therefore, there is a need for a method capable of performing calibration by setting a position of a rotating shaft.

It is an object of the present invention to provide a calibration jig, an actuator assembly including the same, and a method of calibrating the actuator assembly, which can easily determine the position of the rotating shaft.

Another object of the present invention is to provide a calibration jig, an actuator assembly including the same, and a method of calibrating the actuator assembly.

Still other objects of the present invention will become more apparent from the following detailed description and the accompanying drawings.

According to one embodiment of the invention, the actuator assembly, the housing having an insert body and the insertion hole formed in the front of the insert body; A horn gear installed through the insertion hole; A rotating shaft installed inside the housing and rotating together with the horn gear; A magnet installed on the rotating shaft to rotate together with the rotating shaft; An encoder installed inside the housing and spaced apart from the magnet, the encoder detecting a magnetic field according to the rotation of the magnet; And a calibration jig, which is mountable on the front surface of the insert body and has a receiving portion inserted into the insert body and fixed to the insert body and a fixing hole formed through a surface corresponding to the front surface, wherein the calibration jig is fixed. An inner gear is formed on the inner circumferential surface of the hole and fastened to the horn gear when mounted.

The insert body has first and second support surfaces perpendicular to the front surface, the first and second support surfaces are parallel to each other, and the calibration jig is contact-fixed to the first and second support surfaces, respectively, when mounted. It may have a first and second support bar.

The insert body may have a curved first and second guide surfaces connecting the front surface and the first support surface, and the front surface and the second support surface, respectively.

The calibration jig may protrude from an opposite surface of the one surface to be disposed perpendicular to the first and second support bars and have first and second handle bars parallel to each other.

The calibration jig may have an extension arm protruding outward from one of the first and second support bars, and the extension arm may have an inner gear that can be fastened to the horn gear.

The calibration jig may have a plurality of scales arranged to form a predetermined equiangular circumference of the fixing hole, and the horn gear may have a reference mark indicating one of the scales when mounting the calibration jig. .

According to an embodiment of the present invention, a calibration jig mounted on the front of the insert body of the housing and fixing the horn gear exposed through the insertion hole formed in the front of the insert body is accommodated in which the insert body is inserted and fixed. It has a fixing hole formed through the portion and one surface corresponding to the front surface, the inner gear is fastened to the horn gear when mounted on the inner peripheral surface of the fixing hole is formed.

According to an embodiment of the present invention, a method for calibrating an actuator assembly comprising a rotary shaft rotating together with a horn gear, a magnet connected to the rotary shaft, and an encoder for detecting a magnetic field according to the rotation of the magnet, the insert body of the housing A rotation angle setting step of fixing the horn gear exposed through the insertion hole formed in the front side at a predetermined rotation angle; And a data storage step of detecting a magnetic field of a magnet connected to the horn gear and rotating with the horn gear to store magnetic field data for the rotation angle, wherein the rotation angle setting step comprises: a reference table formed on the horn gear Rotating the horn gear to point to any one of a plurality of scales formed around a fixing hole of a dietary calibration jig; And mounting the calibration jig on the front of the insert body, inserting and fixing the insert body to the receiving portion of the calibration jig, and fastening and fixing the horn gear to the inner gear formed on the inner circumferential surface of the fixing hole, and the reference table. Determining which formula indicates which one of the scales, and if the reference mark does not point to any of the scales, rotating the horn gear again.

According to an embodiment of the present invention, a method for calibrating an actuator assembly including a rotary shaft rotating together with a horn gear, a magnet connected to the rotary shaft, and an encoder for detecting a magnetic field according to the rotation of the magnet, the insert body of the housing A rotation angle setting step of fixing the horn gear exposed through the insertion hole formed in the front side at a predetermined rotation angle; And a data storage step of detecting a magnetic field of a magnet connected to the horn gear and rotating with the horn gear to store magnetic field data for the rotation angle, wherein the rotation angle setting step comprises: a reference table formed on the horn gear Rotating the horn gear to point to any one of a plurality of scales formed around a fixing hole of a dietary calibration jig; And mounting the calibration jig on the front of the insert body, inserting and fixing the insert body to the receiving portion of the calibration jig, and fastening and fixing the horn gear to the inner gear formed on the inner circumferential surface of the fixing hole, and the reference table. Determining which formula indicates which one of the scales, and if the reference mark does not point to any of the scales, rotating the horn gear again.

1 is a perspective view schematically showing an actuator according to an embodiment of the present invention.

FIG. 2 is a diagram schematically illustrating the hon gear and the magnet rotating together with the hon gear shown in FIG. 1, and an encoder detecting a magnetic field of the magnet.

3 is a perspective view schematically illustrating a calibration jig according to an embodiment of the present invention.

4 is a perspective view illustrating a state in which the rotation angle of the horn gear is fixed by attaching the calibration jig illustrated in FIG. 3 to the actuator illustrated in FIG. 1.

FIG. 5 is a block diagram illustrating a process of storing magnetic field data about a rotation angle through the encoder illustrated in FIG. 2.

6 is a flowchart schematically illustrating a calibration method according to an embodiment of the present invention.

7 to 10 are views showing a state in which the horn gear shown in FIG. 1 is fixed at first to fourth rotation angles.

11 is a perspective view schematically showing a calibration jig according to another embodiment of the present invention.

FIG. 12 is a diagram illustrating a state in which the rotation angle of the horn gear is set using the calibration jig illustrated in FIG. 11.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to FIGS. 1 to 10. Embodiments of the invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described below. These embodiments are provided to explain in detail the present invention to those skilled in the art. Accordingly, the shape of each element shown in the drawings may be exaggerated to emphasize a more clear description.

1 is a perspective view schematically showing an actuator according to an embodiment of the present invention. As shown in FIG. 1, the actuator includes a housing 10, which includes a flange 16 formed at a front side and a rear side thereof, and an insert body 12 protruding toward the front side from the flange 16, respectively. Have The flange 16 has a plurality of fastening holes, and the housing 10 may be fastened to other parts through fasteners passing through the fastening holes.

The insert body 12 has a rectangular parallelepiped shape such as a plate having a constant thickness. The insert body 12 has first and

second support surfaces

17a and 17b and first and

second guide surfaces

19a and 19b. The first and

second support surfaces

17a and 17b are parallel to each other in a substantially perpendicular state to the front surface and are located on both side surfaces of the front surface. The first and

second guide surfaces

19a and 19b are curved, the first guide surface 19a connects the front surface and the first support surface 17a, and the second guide surface 19b is the front surface and the second. The supporting surface 17b is connected.

The insertion hole 14 is formed through the insert body 12, and the horn gear 20 described later is exposed to the outside of the housing 10 through the insertion hole 14. The horn gear 20 provides power to other parts through a gear fastening method.

FIG. 2 is a view schematically showing the hon gear and the magnet rotating together with the hon gear shown in FIG. 1, and an encoder for detecting the magnetic field of the magnet, and the configuration shown in FIG. 2 is the housing 10 shown in FIG. 1. Although installed inside the, as described above, the horn gear 20 is exposed to the outside of the housing 10 through the insertion hole (14).

As shown in FIG. 2, the drive gear 34 is rotated by the motor 36, and the drive gear 34 provides power to the driven gear 24 through the reduction gear 32. The reduction gear 32 is connected to a separate transmission shaft (not shown), and the driven gear 24 is connected to the rotation shaft 22 to rotate together with the rotation shaft 22. The horn gear 20 is connected to the rotation shaft 22, and the magnet 26 is connected to the rotation shaft 22. Accordingly, the horn gear 20 and the magnet 26 rotate together when the rotary shaft 22 rotates, and the encoder 30 is spaced apart from the magnet 26 to detect a magnetic field according to the rotation of the magnet 26. The controller, which will be described later, determines the position of the rotating shaft 22 (or the horn gear 20) based on the magnetic field data to drive the rotating shaft 22 (or the horn gear 20) through the motor 36, and precalibrates Through the position of the rotation axis 22 (or the horn gear 20) according to the magnetic field data is stored in the memory.

On the other hand, when the horn gear 20 is damaged, it is necessary to replace the rotating shaft 22 and the magnet 26 together with the horn gear 20. Since the magnets 26 have their own unique magnetic properties, the magnetic field data previously stored in the memory at the time of replacement of the magnets 26 is not useful at all, and need to be updated through a separate calibration operation.

3 is a perspective view schematically illustrating a calibration jig according to an embodiment of the present invention, and FIG. 4 is a view illustrating a state in which the rotation jig of the horn gear is fixed by mounting the calibration jig illustrated in FIG. 3 to the actuator illustrated in FIG. 1. Perspective view.

As shown in FIG. 4, the calibration jig 40 is mounted on the front surface of the housing 10 to guide the rotation angle of the horn gear 20 and simultaneously fix the rotation angle of the horn gear 20. As shown in FIG. 3, the calibration jig 40 has first and second support bars 42 and 44 protruding rearward from the front part 41, and the front part 41 and the first and first parts. 2 has a receiving portion 47 surrounded by support bars (42, 44). The receptacle 47 has a width substantially the same as that of the insert body 12 of the housing 10. When the calibration jig 40 is mounted on the housing 10, the insert body 12 of the housing 10 is accommodated. It is housed in the part 47 and the calibration jig 40 is fixed to the housing 10. More specifically, when the calibration jig 40 is pushed against the housing 10, the first support bar 42 slides along the first guide surface 19a to contact the first support surface 17a. The second support bar 44 slides along the second guide surface 19b to be in contact with the second support surface 17b.

The calibration jig 40 has a fixing hole 43 that penetrates the front portion 41, and an internal gear is formed on the inner circumferential surface of the fixing hole 43. When the calibration jig 40 is mounted to the housing 10, the horn gear 20 is fastened to the inner gear, and the horn gear 20 is the calibration jig with the calibration jig 40 fixed to the housing 10. It is fixed to 40. The

scales

45a, 45b, 45c, and 45d are arranged to form a conformal angle (for example, 90 degrees) around the fixing hole 43, and as described below, the horn gear 20 (or the reference mark) Guide the angle of rotation.

Meanwhile, the calibration jig 40 has first and second handle bars 46 and 48 that are generally perpendicular to the first and second support bars 42 and 44. The first and

second handlebars

46 and 48 protrude from the front part 41, and when the calibration jig 40 is mounted in the housing 10, the first and

second handlebars

46 and 48 are formed of the first and

second handlebars

46 and 48. The rear side is spaced apart from the front side of the insert body 12 (shown in FIG. 4). Therefore, when the user installs or detaches the calibration jig 40 to the housing 10, the user can easily attach and detach the first and second handle bars 46 and 48 with a finger.

FIG. 5 is a block diagram illustrating a process of storing magnetic field data about a rotation angle through the encoder illustrated in FIG. 2, and FIG. 6 is a flowchart schematically illustrating a calibration method according to an exemplary embodiment of the present invention. 7 to 10 are views showing a state in which the horn gear shown in FIG. 1 is fixed at first to fourth rotation angles. Hereinafter, the calibration process will be described with reference to FIGS. 5 to 10.

First, the user sets the rotation angles of the horn gear 20 and the controller 60, respectively (S10). As shown in Fig. 7, the reference mark formed on the front surface of the horn gear 20 coincides with the first scale 45a (e.g., rotation angle = 0 °). After forcibly rotating the horn gear 20, the calibration jig 40 is mounted on the housing 10 to check whether the reference mark coincides with the first scale 45a, and the reference mark is aligned with the first scale 45a. If it does not match, the horn gear 20 is rotated again. The user may rotate the horn gear 20 while referring to the first scale 45a of the calibration jig 40 mounted to the housing 10, and when the reference mark coincides with the first scale 45a, the calibration jig Calibration may be performed in a state where the horn gear 20 is fixed through the inner gear formed in the fixing hole 43 of the 40. Moreover, the rotation angle is set to 0 degree in the control part 60.

Thereafter, the magnetic field of the magnet 26 is detected through the encoder 30, and the detected magnetic field data is transmitted to the controller 60. The controller 60 stores the magnetic field data for the rotation angle 0 ° in the memory 70 (S20).

Again, rotation angles of the horn gear 20 and the control unit 60 are set, respectively (S10). As shown in FIG. 8, the reference mark formed on the front surface of the horn gear 20 coincides with the second scale 45b (eg, rotation angle = 90 °), and the rotation angle is set to 90 in the controller 60. Set to °. Thereafter, the magnetic field of the magnet 26 is detected through the encoder 30, and the detected magnetic field data is transmitted to the controller 60. The controller 60 stores the magnetic field data for the rotation angle of 90 ° in the memory 70 (S20).

Similarly, rotation angles of the horn gear 20 and the control unit 60 are respectively set (S10). 9 and 10, the reference marks formed on the front surface of the horn gear 20 coincide with the third or

fourth scales

45c and 45d (eg, rotation angle = 180 ° or 270 °). The rotation angle is set to 180 ° or 270 ° in the control unit 60. Thereafter, the magnetic field of the magnet 26 is detected through the encoder 30, and the detected magnetic field data is transmitted to the controller 60. The controller 60 stores the magnetic field data for the rotation angle of 180 ° or 270 ° in the memory 70 (S20).

Through the calibration process as described above, the magnetic field data according to the rotation angle of the replaced magnet 26 can be updated, the control unit 60 through the encoder 30 when the horn gear 20 is driven, the horn gear 20 By precisely detecting the position of φ), the speed of the horn gear 20 can be calculated, and the motor 36 can be controlled to match the target value.

Although the present invention has been described in detail with reference to preferred embodiments, other forms of embodiments are possible. Therefore, the spirit and scope of the claims set forth below are not limited to the preferred embodiments.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to FIGS. 11 and 12. Embodiments of the invention may be modified in various forms, the scope of the invention should not be construed as limited to the embodiments described below. These embodiments are provided to explain in detail the present invention to those skilled in the art. Accordingly, the shape of each element shown in the drawings may be exaggerated to emphasize a more clear description.

11 is a perspective view schematically showing a calibration jig according to another embodiment of the present invention. FIG. 12 is a diagram illustrating a state in which the rotation angle of the horn gear is set using the calibration jig illustrated in FIG. 11.

As shown in FIG. 11, the calibration jig 40 may have an extension arm 49 having a flat plate shape, and the extension arm 49 may protrude outward from the second support bar 44. The extension arm 49 has an inner gear 49a, and the inner gear 49a can be fastened to the horn gear 20.

As described above, in the process of forcibly rotating the horn gear 20 to set the rotation angle of the horn gear 20, the user can easily rotate the horn gear 20 using the extension arm 49. have. That is, as shown in FIG. 12, the user fastens the inner gear 49a to the horn gear 20 and holds the calibration jig 40 while holding the first and

second handlebars

46 and 48. By rotating, the horn gear 20 can be rotated.

The present invention can be applied to various calibrations.

Claims

A housing having an insert body and an insertion hole formed in a front surface of the insert body;

A horn gear installed through the insertion hole;

A rotating shaft installed inside the housing and rotating together with the horn gear;

A magnet installed on the rotating shaft to rotate together with the rotating shaft;

An encoder installed inside the housing and spaced apart from the magnet, the encoder detecting a magnetic field according to the rotation of the magnet; And

Includes a calibration jig that can be mounted to the front surface of the insert body, and having a receiving portion inserted into the insert body and fixed through the surface corresponding to the front surface when the insert body is mounted,

The calibration jig is formed on the inner circumferential surface of the fixing hole actuator assembly, characterized in that the inner gear is fastened to the horn gear when the mounting.
The method of claim 1,

The insert body has first and second support surfaces perpendicular to the front surface, and the first and second support surfaces are parallel to each other,

And the calibration jig has first and second support bars that are in contact with and fixed to the first and second support surfaces, respectively, when mounted.
The method of claim 2,

The insert body has an actuator assembly having curved front and first guide surfaces and curved first and second guide surfaces respectively connecting the front surface and the second support surface.
The method of claim 2,

And the calibration jig protrudes from an opposite surface of the one surface and has first and second handle bars disposed perpendicular to the first and second support bars and parallel to each other.
The method of claim 2,

The calibration jig has an extension arm protruding outward from any one of the first and second support bars,

And the extension arm has an inner gear that can be fastened to the horn gear.
The method according to any one of claims 1 to 4,

The calibration jig has a plurality of scales arranged to form a predetermined conformal circumference of the fixing hole,

The horn gear is formed on one surface of the actuator assembly, characterized in that having a reference mark indicating any one of the graduations when the mounting of the calibration jig.
In the calibration jig mounted on the front of the insert body of the housing for fixing the horn gear exposed through the insertion hole formed in the front of the insert body,

When the insert body is inserted has a receiving portion that can be fixed and inserted through one surface corresponding to the front surface,

Calibration jig, characterized in that the inner gear is fastened to the horn gear when the mounting hole is mounted on the inner peripheral surface.
A method of calibrating an actuator assembly comprising a rotating shaft rotating with a horn gear, a magnet connected to the rotating shaft, and an encoder detecting a magnetic field according to the rotation of the magnet.

A rotation angle setting step of fixing the horn gear exposed through the insertion hole formed in the front of the insert body of the housing at a predetermined rotation angle; And

And a data storage step of detecting a magnetic field of a magnet connected to the horn gear and rotating with the horn gear to store magnetic field data for the rotation angle.

The rotation angle setting step,

Rotating the horn gear such that a reference mark formed on the horn gear indicates any one of a plurality of scales formed around the fixing hole of the calibration jig; And

The calibration jig is mounted on the front surface of the insert body, and the insert body is inserted and fixed to the accommodation portion of the calibration jig, and the horn gear is fastened to the inner gear formed on the inner circumferential surface of the fixing hole, and the reference mark is Determining which one of the scales, and if the reference mark does not point to any of the scales, rotating the horn gear again.