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 induc

Method used

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  • Coaxial multi-output steering engine and output method
  • Coaxial multi-output steering engine and output method
  • Coaxial multi-output steering engine and output method

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0070] Example one

[0071] The present invention provides a coaxial multi-output steering machine, and it is to be noted that the multi-output described in this application can be understood as at least two outputs, and different from the uniaxial single output steering machine in the prior art; It is understood that the center line of each output shaft is on the same axis. In this embodiment, Figure 1-8 As shown, the coaxial dual output steering machine in one embodiment of the coaxial dual output steering machine is disclosed.

[0072] In order to construct the coaxial dual output steering gear, including the first driving speed reduction mechanism 10, the second drive reducer 20, the transfer shaft 30, the first output shaft 40, the second output shaft 50, the control panel 60, the first A feedback assembly and a second feedback component.

[0073] Wherein, the first driving speed reducer 10 includes a first driving motor 11 and a first deceleration gear assembly that is drive...

Example Embodiment

[0090] Example 2

[0091] On the basis of the first example, the reference attached Figure 1-8 For the integrated installation of the steering gear, the steering gear also includes a rectangular shaped housing 90, and the housing 90 corresponds to the mounting carrier of each component. In the present embodiment, the housing 90 includes a midplane 91, a medium housing 92, and a lower case 92, and a lower case 93, and a lower housing 93, a lower housing 93. Connect in one.

[0092] The upper housing 91 is provided with a through hole (not shown) to extend the first output shaft 40 and the second output shaft 50 of the coaxial to facilitate external, and the peripheral portion of the via outer wall is provided with mechanical assembly reference mark 94 . The mechanical assembly reference mark 94 can be one of a cross-scale marker, a circular scale loop mark, a circular scale loop marker. In this embodiment, the cross mark is preferred. After the first output shaft 40 and the second ...

Example Embodiment

[0098] Example three

[0099] Unlike Examples One and II, in this embodiment, reference attached Figure 9 The first feedback assembly includes a first magnet 100 and a first magnetic sensor 101, the first magnet 100 being mounted at the center of the first output shaft 40, the first magnetic sensor 101, corresponding to the control panel 60. In order to implement the mounting of the first magnetic sensor 101, the control panel 60 opens a mounting bit in the center of the first output shaft 40 bottom end surface to be used to mount the first magnetic sensor 101. Thus, when the first output shaft 40 is rotated, the first magnetic sensor 101 can timeably acquire the rotation information of the first magnet 100 at the center of the first output shaft 40, in particular the rotational angle information.

[0100] The first magnetic sensor 101 refers to the first drive motor 11 that is electrically connected to its electrically connected to its electrical connection by filling the acquire...

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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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