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Different-side double-shaft double-clutch feedback control servo mechanism

A technology of feedback control and servo mechanism, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of insufficient reliability guarantee, lack of separation of drive and detection, and low drive accuracy

Inactive Publication Date: 2015-07-01
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Due to the development of science and technology, more and more small robots are gradually being widely used in various dangerous, complicated and inaccessible environments. People need to perform a certain task through the movement or action of the robot, which requires the use of the joint drive device of the robot. As a joint drive device for small robots, it is required to have a mature technology, reliable performance, high driving precision, and torque. Large, fast response, small size servo device, this device generally adopts closed-loop control and can feed back the angle of robot joint movement to the control system, so that the operator can better understand and control the robot to perform tasks, but small The driving device of the robot is too large, the driving accuracy is not high, the function is single, the integration level is not high, and it does not have the function of separating the driving and detection, so that the reliability cannot be fully guaranteed

Method used

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  • Different-side double-shaft double-clutch feedback control servo mechanism
  • Different-side double-shaft double-clutch feedback control servo mechanism
  • Different-side double-shaft double-clutch feedback control servo mechanism

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Experimental program
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Effect test

specific Embodiment approach 1

[0008] Specific implementation mode one: as image 3 and Figure 4 As shown, the opposite-side dual-axis dual-clutch feedback control servo mechanism includes a clutch part 40, and the clutch part 40 is composed of a clutch friction plate 41, a friction plate slide bar 42, a return tension spring 43, a clutch cover 44, and a gear 45. It is composed of the shaft 46, the friction plate sliding rod 42 is fixedly connected with the shaft 46, the two clutch friction plates 41 are inserted into the two ends of the friction plate sliding bar 42 respectively, and the return tension spring 43 is connected between the two clutch friction plates 41, and the clutch The cover 44 is inserted into one end of the shaft 46, the clutch cover 44 is in sliding contact with the shaft 46, the gear 45 is affixed to the other end of the shaft 46, and the clutch cover 44 is provided with a transmission gear. Action implementation process: the motor 10 drives the gear 45 to rotate, and the friction pl...

specific Embodiment approach 2

[0009] Specific implementation mode two: as figure 1 , figure 2 and Figure 4 As shown, the opposite-side dual-axis dual-clutch feedback control servo mechanism includes a top cover 1, output shafts A, B, gears 2, 3, 8, clutch components 40, potentiometer 7, base 9, motor 10 and bottom Cover 11. The output shaft A is affixed to the gear 2, the output shaft A coincides with the rotation axis of the gear 2, the gear 2 is affixed to the rotation axis of the first potentiometer 7, and the axis of the gear 2 is aligned with the first potentiometer 7. The shaft center of a potentiometer 7 coincides, the first potentiometer 7 is fixed in the hole seat C of the base 9, the gear 2 is meshed with the clutch cover 44 of the first clutch part 40, and the output shaft B and the The gear 3 is affixed, the output shaft B coincides with the rotational axis of the gear 3, the gear 3 is affixed with the rotational axis of the second potentiometer 7, and the axis of the gear 3 coincides with...

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Abstract

The invention discloses a different-side double-shaft double-clutch feedback control servo mechanism, and relates to a driving device of a small robot. In order to solve the problems of excessive volume, low driving precision, single function, low integration degree and no possession of driving and detecting separation function in a traditional driving device of the small robot, the invention provides a servo device with double-shaft homodromous output and double-potentiometer detection to form a control mode of closed loop control of a driving motor and an output shaft and closed loop control of the output shaft and a control system, so that the control system can perform precise force feedback control for the joint motion of the robot. The servo mechanism has such advantages as reliable performance, high driving precision, high torsion, quick response, small volume, high integration degree and capability of returning the rotating position of the output shaft to the control system.

Description

technical field [0001] The invention relates to a small robot servo device capable of outputting torque with flexible dual shafts and feeding back the rotational position of the output shafts to a control system. Background technique [0002] Due to the development of science and technology, more and more small robots are gradually being widely used in various dangerous, complex, and human-inaccessible environments. People need to perform a specific task through the movement or action of the robot. , which requires the use of the joint drive device of the robot. As a joint drive device for small robots, it is required to be a servo device with mature technology, reliable performance, high driving precision, large torque, fast response, and small size. Closed-loop control is adopted and the angle of robot joint motion can be fed back to the control system, so that the operator can better understand and control the robot to perform tasks. However, the driving devices of small ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18
Inventor 苏茂
Owner 苏茂