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Method for controlling steering engine

A technology for controlling rudders and steering gears. It is applied in the direction of program control of manipulators, manipulators, and manufacturing tools. It can solve problems such as inconvenient programming, inability to maintain the shape of steering gear robots, and inconvenient programming of steering gear robots. It achieves the goal of convenient action programming. Effect

Active Publication Date: 2018-04-10
谜米机器人自动化(上海)有限公司
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  • Summary
  • Abstract
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AI Technical Summary

Problems solved by technology

Steering robot cannot maintain shape due to lack of output torque
In this way, it is very inconvenient to program the steering robot in the teaching mode. Usually, multiple people need to cooperate at the same time to "barely" complete an action programming of the multi-steering robot.
The more servos the robot has, the more inconvenient the programming

Method used

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Experimental program
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Effect test

Embodiment Construction

[0039] The term "steering gear" used herein should be understood as a device including at least the following structures: motor, angular position sensor, control unit; in most cases, the steering gear also includes a reduction gear set; in robot applications, the steering gear The above structure is usually packaged inside the housing, exposing the output shaft. Wherein, the motor, the angular position sensor, and the control unit constitute the necessary servo system of the steering gear to control the rotation angle and the rotation speed of the steering gear output shaft.

[0040] The steering gear provided by the present invention is mainly used for household or toy robots, and the motor in the steering gear is usually a DC motor. Various types of DC motors, such as brushed motors or brushless motors, and motors with various excitation methods, are applicable to the present invention.

[0041] The term "angular position sensor" used herein should be understood as any devi...

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Abstract

The invention provides a method for controlling a steering engine. The steering engine has a teaching mode. The method comprises the following steps that in the teaching mode, when an external momentis applied to an output shaft of the steering engine, the output shaft of the steering engine keeps set torque output and rotates in a direction of the external moment if the external moment exceeds aset output torque of the steering engine, then when the external moment is reduced not to exceed the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and keeps at a current position, and meanwhile, external equipment is allowed to acquire current position information of the output shaft of the steering engine in real time. The method has the beneficial effect that movement programming of a steering engine robot is more convenient.

Description

technical field [0001] The invention relates to an electromechanical device, in particular to a method for controlling a steering gear. Background technique [0002] The steering gear is a servo motor with angular position servo, which is suitable for the control system that needs to change the angle continuously and keep it. Steering gear has been widely used in robots. [0003] There are generally two ways to program the action of the steering gear robot: the first way is the offline programming mode. The programmer programs the rotation angle and rotation time of each steering gear in the robot in an external control device, such as a computer or a mobile phone. , and finally the robot executes sequentially according to the pre-programmed action sequence; the second method is the teaching mode, where the programmer manually operates the robot and rotates each steering gear so that the robot is in a state after the execution of a certain action, and then the output of eac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/22
CPCB25J9/1656B25J9/1694
Inventor 何斌何杭军
Owner 谜米机器人自动化(上海)有限公司
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