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Coaxial multi-output steering engine and output method

A multi-output and steering gear technology, applied in the field of coaxial multi-output steering gear and coaxial multi-output, can solve problems such as inability to sense angle changes, complex structure, and large interference effects, so as to improve stability and reliability, Simplified overall structure design and compact space layout

Pending Publication Date: 2021-06-11
王宁 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the steering gear used for robots on the market is generally single-axis and single-output. In this way, in the design of the robot, for the drive of multiple joints, it needs to be realized by cascading multiple steering gears, which increases the product size and structure. It is complicated, and at the same time, it also makes the product assembly consistency poor, and the integration performance is low. What is more prominent is that after multiple steering gears are cascaded, the mechanical limit is large, mechanical singularities are easy to occur, the terminal power loss is large, and the stability of the driving structure is obvious. Decline, which seriously affects the experience of using the product
[0004] And application publication number is the Chinese invention patent application of CN111750040A, although it discloses a kind of coaxial multi-output deceleration driving device, but because its application fields are not the same, it is mainly used in airplane and ship, does not require precise control of position. high
And from its manual and attached figure 1 , 2 It can be seen that due to the limitations of its overall structural design, the inductor of the feedback component is installed on the bracket, and the induction magnet is correspondingly installed on the wheel surface of the output shaft wheel body, so that only when the induction magnet passes the inductor can the The signal is obtained, that is, only the signal of the number of turns can be sensed, and when it is more or less than a full turn, the precise angle change cannot be sensed, and thus precise position control cannot be achieved
It can be seen that the coaxial multi-output deceleration drive device cannot be directly applied to the steering gear because it cannot achieve precise position control, and cannot realize the multi-joint drive of the robot.
[0005] At the same time, for the coaxial multi-output deceleration drive device, due to the lack of overall structural design, there are many components superimposed on the output shaft, including all feedback components, resulting in an increase in the axial height of the output shaft and a larger dimension in the height direction of the product. Moreover, when the components are assembled, inspected and disassembled, because they are all assembled on the output shaft, they interfere with each other greatly.

Method used

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  • Coaxial multi-output steering engine and output method

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Embodiment 1

[0071] The present invention provides a coaxial multi-output steering gear. It should be noted that: the multi-output described in this application can be understood as at least two outputs, which is different from the single-axis single-output steering gear in the prior art; the coaxial can be It is understood that the centerlines of the output shafts are on the same axis. In this embodiment, as attached Figure 1-8 As shown, what is disclosed is the coaxial dual output steering gear in an embodiment of the coaxial dual output steering gear.

[0072] In order to construct the coaxial dual-output steering gear in this embodiment, it includes a first drive deceleration mechanism 10, a second drive deceleration mechanism 20, a transmission shaft 30, a first output shaft 40, a second output shaft 50, a control board 60, a first A feedback component and a second feedback component.

[0073] Wherein, the first drive reduction mechanism 10 includes a first drive motor 11 and a fir...

Embodiment 2

[0091] On the basis of embodiment one, refer to the attached Figure 1-8 , in order to realize the integrated installation of the steering gear, the steering gear also includes a rectangular housing 90, which is equivalent to the installation carrier of each component. In this embodiment, the housing 90 includes an upper housing 91, a middle housing 92, and a lower housing 93 that are fitted and connected, and the upper housing 91, the middle housing 92, and the lower housing 93 are assembled by long screws located at four corners. connected into one.

[0092] Wherein the upper casing 91 is provided with a through hole (not shown) for the coaxial first output shaft 40 and the second output shaft 50 to protrude for external connection, and the peripheral part of the outer wall of the through hole is provided with a mechanical assembly reference mark 94 . The mechanical assembly reference mark 94 may be one of a cross scale mark and a circular scale ring mark arranged along th...

Embodiment 3

[0099] Different from Embodiments 1 and 2, in this embodiment, refer to the attached Figure 9 , the first feedback assembly includes a first magnet 100 and a first magnetic sensor 101 , the first magnet 100 is installed at the center of the bottom end surface of the first output shaft 40 , and the first magnetic sensor 101 is correspondingly installed on the control board 60 . In order to realize the installation of the first magnetic sensor 101 , the control board 60 has an installation position directly below the center of the bottom end surface of the first output shaft 40 for installing the first magnetic sensor 101 . Therefore, when the first output shaft 40 rotates, the first magnetic sensor 101 can always obtain the rotation information, especially the rotation angle information, of the first magnet 100 located at the center of the bottom end surface of the first output shaft 40 .

[0100] After the first magnetic sensor 101 is electrically connected to the control boa...

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Abstract

The coaxial multi-output steering engine comprises a first driving speed reducing mechanism and at least one second driving speed reducing mechanism, wherein the first driving speed reducing mechanism is in transmission connection with a first output shaft, the second driving speed reducing mechanism is in transmission connection with a transmission shaft, the transmission shaft is in transmission connection with a second output shaft, the second output shaft and the first output shaft are coaxially arranged; a control panel which is electrically connected with the first driving speed reducing mechanism and the second driving speed reducing mechanism; a first feedback assembly which is electrically connected with the control panel and used for obtaining rotation information of the first output shaft; a second feedback assembly which is electrically connected with the control panel and used for obtaining rotation information of the second output shaft; the first feedback assembly is totally or partially arranged on the first output shaft; the second feedback assembly is totally or partially installed on the transmission shaft. According to the steering engine, coaxial multi-output can be achieved, and accurate position control can be achieved.

Description

technical field [0001] The invention belongs to the technical field of steering gear, and in particular relates to a coaxial multi-output steering gear particularly suitable for robot multi-joint drive and a method for using the steering gear to perform coaxial multi-output. Background technique [0002] Servos are widely used in many projects with precise position control, especially in the multi-joint drive of robots, where the servos have become a key drive component. [0003] At present, the steering gear used for robots on the market is generally single-axis and single-output. In this way, in the design of the robot, for the drive of multiple joints, it needs to be realized by cascading multiple steering gears, which increases the product size and structure. It is complicated, and at the same time, it also makes the product assembly consistency poor, and the integration performance is low. What is more prominent is that after multiple steering gears are cascaded, the me...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/12
CPCB25J9/102B25J9/12
Inventor 王宁占文生
Owner 王宁
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