A small robot joint steering gear transmission error input terminal data acquisition control circuit

A technology for robot joints and transmission errors, applied in motor control, single motor speed/torque control, electromechanical devices, etc., can solve the problem of inability to accurately obtain the position information of the input terminal, to ensure safe and reliable work, and improve position positioning accuracy. , the effect of high-speed and stable transmission

Active Publication Date: 2021-11-05
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the position information of the input end cannot be accurately obtained when measuring the transmission error of the steering gear. When measuring the transmission error of the steering gear, in order to overcome the defect that certain types of steering gears cannot accurately reflect the position information of the input end, the present invention Provide a data acquisition system that is versatile, easy to disassemble, does not destroy the original mechanism of the steering gear, and can accurately obtain the position information of the input end of the steering gear

Method used

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  • A small robot joint steering gear transmission error input terminal data acquisition control circuit
  • A small robot joint steering gear transmission error input terminal data acquisition control circuit
  • A small robot joint steering gear transmission error input terminal data acquisition control circuit

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] Such as figure 1 As shown, a small robot joint steering gear transmission error input data acquisition control system, including power conversion module (1), MCU operation control module (2), high-speed CAN communication module (3), motor drive output module (4) , Hall, magnetic encoding signal input module (5), DC brushless motor module (6).

[0030]The DC 12V voltage is connected to the power conversion module (1) after the fuse is fused and restored, and the DC 5V voltage is output. The DC 5V voltage passes through the DC-DC low-voltage conversion chip and then outputs a 3.3V voltage. The output voltage is the MCU operation control module (2) Power supply, the magnetic encoder module (6) at the tail of the DC brushless motor supplies power, the simulation download interface supplies power, and the input DC 12V voltage supplies power to the motor drive output...

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Abstract

The invention discloses a small robot joint steering gear transmission error input end data acquisition control circuit. The steering gear transmission error input end data acquisition circuit of the present invention includes a power conversion module (1), an MCU operation control module (2), a high-speed CAN A communication module (3), a motor drive output module (4), a Hall, a magnetic encoding signal input module (5) and a DC brushless motor module (6). The invention proposes to install permanent magnets and miniature magnetic encoding chips in the narrow space at the end of the DC brushless motor rotor, and designs a DC brushless motor rotor position detection circuit. The magnetic encoder outputs the position information of the rotor to the MCU controller to obtain the rudder The position information of the input end of the steering gear is used to measure the transmission error. The transmission error has guiding significance for the iterative design of the gearbox reducer of the steering gear, and improves the positioning accuracy of the steering gear.

Description

technical field [0001] The invention relates to a data acquisition control circuit of a transmission error input end of a small robot steering gear, in particular to a control circuit of a small DC brushless motor in a small robot joint steering gear and an acquisition circuit of rotor angle information. Background technique [0002] The robot joint steering gear includes three key parts: controller, motor, and reducer. The reducer of the small joint steering gear is mainly the gearbox reducer. The positioning accuracy of the steering gear plays a vital role in the overall performance of the robot. The transmission error of the steering gear can directly reflect the positioning accuracy of the steering gear, and has a guiding role in the iterative design of the internal gearbox reducer. When testing the transmission error of the robot joint steering gear, it is necessary to obtain accurate angle information between the input end and the output end of the steering gear. The ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/16H02P6/08H02K11/215B25J19/00
CPCB25J19/00H02P6/08H02P6/16H02P2203/03H02K11/215
Inventor 石照耀张攀林家春于渤程慧明
Owner BEIJING UNIV OF TECH
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