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Reliable joint control-driven component and control method thereof

A driving component and reliable technology, applied in the field of reliable joint control driving components and their control, to achieve the effects of large torque, low vibration and high precision

Inactive Publication Date: 2011-04-06
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is no related technology to apply redundant driving mechanism to high reliability joint control driving device so far

Method used

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  • Reliable joint control-driven component and control method thereof
  • Reliable joint control-driven component and control method thereof
  • Reliable joint control-driven component and control method thereof

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Experimental program
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Embodiment Construction

[0077] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0078]The present invention proposes a reliability joint control driving assembly and a control method thereof. The reliability joint control driving assembly includes a redundant driving device and a control device; the redundant driving device includes a driving motor A2, a driving motor B23, Motor frame 1, housing 15 and planetary reducer 22, such as figure 1 shown. One side of the motor frame 1 is a stepped surface, and the upper bearing position, the middle bearing position and the lower bearing position are arranged from top to bottom; the upper part of the other side of the motor frame 1 has two parallel bosses, which are connected in parallel The driving motor A2 and the driving motor B23 provide power input for the redundant driving device; the lower part of the boss side of the motor frame 1 is a flange, and the planetary reducer 22 is fixed on the flange ...

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Abstract

The invention provides a reliable joint control-driven component and a control method thereof. The reliable joint control-driven component is composed of a redundancy driving device and a control device, wherein the redundancy driving device comprises a drive motor A, a drive motor B, a gear train, a motor frame, a shell and a planetary gearbox; and the control device is composed of a casing, a central control unit, a power module, a wire connecting terminal, a motor driver and a power adapter. In the reliable joint control-driven component, a gear train structure with a torque limiter is integrated with the planetary gearbox, and a mode of increasing a redundancy driver is used; therefore, the component of the invention is a novel joint redundancy driving component which has a backup function and the advantages of low power consumption, high torque, high accuracy, good mechanical property, low vibration and the like.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to a reliability joint control drive assembly and a control method thereof. Background technique [0002] With the advancement of technology, more and more mechanical devices are used in fields such as aerospace, medical and nuclear industries. In the space environment, if the kinematic joint fails, the entire mechanical device may not be able to complete the task, and the operator is difficult to access, the consequences are very serious. The joint motion of the mechanical device is realized by the work of the joint driver, so it is of great significance to improve the reliability of the joint driver. [0003] According to the mechanical design theory, the degrees of freedom of the mechanism should be equal to the number of drives. For single-joint mechanisms, such as the drive assembly developed by RUAG in Switzerland for adjusting the angle of the solar wing sail ...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J19/00B25J13/00H02K7/10H02K7/116H02P6/04H02P6/16
Inventor 丁希仑李欣徐坤孙鹏飞
Owner BEIHANG UNIV
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