Clutch steering engine gear ratio transmission torque design method, electronic equipment and storage medium

Abstract

The invention discloses a clutch steering engine gear ratio transmission torque design method, and belongs to the technical field of clutch steering engines. The method comprises the following steps that torque curve distribution of the clutch steering engine is designed, and torque curves comprise a gear ratio transmission conversion clutch torque curve, a locked-rotor torque curve, a gear set clutch protection torque curve and a gear set failure torque curve; based on the torque curve distribution, a conversion clutch torque point A, a protection clutch torque point B, a gear damage torque point C and a minimum conversion clutch torque point D are determined; the steering engine transmission ratio meeting the speed requirement of the clutch steering engine is designed; under the condition that the speed requirement is met, the clutch torque changing range, the clutch protection torque range and the gear damage torque range are designed respectively. Compared with the prior art, the gear set has the beneficial effects that the functions of safety, reliability, quick response and torque instant explosion of the gear set are considered, the application requirement of a user is effectively met, and meanwhile the manufacturing cost is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of clutch servo, and in particular relates to a clutch servo gear ratio transmission torque design method, electronic equipment and storage medium. Background Art

[0002] Servos are widely used in various fields, such as ships, aviation, and robotics, to control attitude changes. For example, the servo on a drone can be used to control the movement of the arm relative to the fuselage to change its attitude.

[0003] In order to meet different application scenarios, the existing servos must not only be able to be smaller in size, but also have faster response speeds, greater torque, and a gear set that cannot be damaged. The cost must also be reduced. It can be seen that the design requirements are becoming increasingly difficult. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a clutch servo gear ratio transmission torque design method, which designs four key torque curves of the clutch servo gear ratio transmission conversion torque, stall torque, gear set clutch protection torque, and gear destruction torque of the gear set failure according to the different torque distribution conditions of the clutch servo during application, so as to achieve the two major functions of clutch servo gear set failure protection and gear ratio transmission conversion; the combination of the two can effectively meet the different requirements of the clutch servo gear in harsh environments, solve the two major characteristics of the clutch servo gear in product applications that the gears are easily damaged and the speed is fast and the torque is incompatible, thereby solving at least one technical problem involved in the background technology.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0006] The embodiment of the present invention provides a clutch servo gear ratio transmission torque design method, comprising the following steps:

[0007] Step S1, designing the torque curve distribution of the clutch servo, the torque curve including the gear ratio transmission conversion clutch torque curve, the stall torque curve, the gear set clutch protection torque curve and the gear set failure torque curve;

[0008] Step S2, determining a conversion clutch torque point A, a protection clutch torque point B, a gear breaking torque point C and a minimum conversion clutch torque point D based on the torque curve distribution;

[0009] Step S3, designing a steering gear transmission ratio that meets the clutch steering gear speed requirement;

[0010] Step S4, under the condition of meeting the speed requirement, respectively designing the range of the clutch torque, the range of the protective clutch torque and the range of the gear breaking torque.

[0011] Optionally, in step S2, the conversion clutch torque point A is the intersection of the stall torque curve and the maximum conversion clutch torque; the protection clutch torque point B is the intersection of the protection clutch torque curve and the maximum stall torque; the gear destruction torque point C is the intersection of the gear destruction torque curve and the maximum protection clutch torque; the minimum conversion clutch torque point D is the intersection of the no-load speed curve and the conversion clutch torque.

[0012] Optionally, in step S4, designing the range of the conversion clutch torque specifically includes:

[0013] The range of the conversion clutch torque is designed between the torque value corresponding to the conversion clutch torque point D and the torque value corresponding to the protection clutch torque point B.

[0014] Optionally, in step S4, the range of the designed protection clutch torque specifically includes:

[0015] The range of the protective clutch torque is designed between the torque value corresponding to the protective clutch torque point B and the torque value corresponding to the gear breaking torque point C.

[0016] Optionally, in step S4, the range of the designed gear breaking torque specifically includes:

[0017] The gear breaking torque range is designed above the torque value corresponding to the gear breaking torque point C.

[0018] Optionally, the clutch servo includes a clutch spring, a sun clutch, a ring gear clutch, planetary gears and a planetary carrier for mounting the planetary gears, the clutch spring abuts against the left end face of the sun clutch, the right end face of the sun clutch is detachably engaged with the ring gear clutch, the ring gear clutch includes an inner ring gear, and the planetary gears are meshed with the inner ring gear, when the clutch spring is subjected to force and is in a clutch state, the sun clutch is disengaged from the ring gear clutch, and at the same time the sun clutch is engaged with the planetary gears, thereby realizing transmission ratio conversion.

[0019] The present invention also provides an electronic device, comprising:

[0020] at least one processor;

[0021] At least one memory for storing at least one program;

[0022] When the at least one program is executed by the at least one processor, the at least one processor implements the clutch servo gear ratio transmission torque design method.

[0023] The present invention also provides a storage medium storing instructions executable by a processor, and the clutch servo gear gear ratio transmission torque design method is executed when the processor executes the instructions executable by the processor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. Aiming at the different torque distribution of clutch servos during application, four key torque curves are designed, including gear ratio transmission conversion torque, stall torque, gear set clutch protection torque, and gear destruction torque of gear set failure, to achieve the two major functions of clutch servo gear set failure protection and gear ratio transmission conversion; the combination of the two can effectively meet the different needs of clutch servos in harsh environments, and solve the two major characteristics of clutch servos in product applications: easy damage to gears and incompatibility of fast speed and high torque.

[0026] 2. It takes into account the safety and reliability of the gear set, rapid response and instantaneous torque burst function, effectively meeting user application needs while greatly reducing manufacturing costs.

[0027] 3. When the output speed is required to be 150 rpm or above and the product shape is limited, the method provided by the present invention can increase the stall torque by 5% to 50%. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0029] Figure 1 is a structural schematic diagram of a clutch servo provided by an embodiment of the present invention;

[0030] Figure 2 is a torque curve distribution diagram provided by an embodiment of the present invention;

[0031] Figure 3 This is one of the hardware structure diagrams of the electronic device provided by the embodiment of the present invention;

[0032] Figure 4 This is the second schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The present invention provides a clutch steering gear gear ratio transmission torque design method, comprising the following steps:

[0035] Step S1, designing the torque curve distribution of the clutch servo, the torque curve including the gear ratio transmission conversion clutch torque curve, the stall torque curve, the gear set clutch protection torque curve and the gear set failure torque curve;

[0036] Step S2, determining a conversion clutch torque point A, a protection clutch torque point B, a gear breaking torque point C and a minimum conversion clutch torque point D based on the torque curve distribution;

[0037] Step S3, designing a steering gear transmission ratio that meets the clutch steering gear speed requirement;

[0038] Step S4, under the condition of meeting the speed requirement, respectively designing the range of the clutch torque, the range of the protective clutch torque and the range of the gear breaking torque.

[0039] In step S1, by designing the torque curve distribution, it can be very intuitive to reflect the clutch servo in the conversion gear ratio and the reasonable distribution of the protection clutch in the system, which is convenient for engineers to design a reasonable and efficient system.

[0040] Further, combined with Figure 1 As shown, the clutch servo includes a clutch spring 1, a sun clutch 2, a ring gear clutch 3, planetary gears 4 and a planet carrier 5 for mounting the planetary gears 4.

[0041] The clutch spring 1 abuts against the left end surface of the sun clutch 2 , and the right end surface of the sun clutch 2 is detachably matched with the ring gear clutch 3 .

[0042] It should be further explained that the sun clutch and the ring gear clutch are connected via flat teeth, wear-resistant discs or magnets.

[0043] The ring gear clutch 3 includes an inner ring gear, and the planetary gears 4 mesh with the inner ring gear.

[0044] In step S2, the conversion clutch torque point A is the intersection of the stall torque curve and the maximum conversion clutch torque; the protection clutch torque point B is the intersection of the protection clutch torque curve and the maximum stall torque; the gear breaking torque point C is the intersection of the gear breaking torque curve and the maximum protection clutch torque; the minimum conversion clutch torque point D is the intersection of the no-load speed curve and the conversion clutch torque.

[0045] In step S4, the range of the designed conversion clutch torque specifically includes:

[0046] The range of the conversion clutch torque is designed between the torque value corresponding to the conversion clutch torque point D and the torque value corresponding to the protection clutch torque point B.

[0047] The range of designed protective clutch torque specifically includes:

[0048] The range of the protective clutch torque is designed between the torque value corresponding to the protective clutch torque point B and the torque value corresponding to the gear breaking torque point C.

[0049] The range of design gear breaking torque specifically includes:

[0050] The gear breaking torque range is designed above the torque value corresponding to the gear breaking torque point C.

[0051] The clutch servo gear ratio transmission torque design method provided by the present invention is described in detail below with reference to specific embodiments.

[0052] See also Figure 2 As shown, in the torque curve distribution diagram, the horizontal axis represents the signal increment number, and the vertical axis is speed and torque respectively. Among them, the line tilted to the lower right represents the servo speed; the torque value corresponding to the conversion clutch torque point A is 16kgf.cm, and the line where point A is located is the stall torque curve; the torque value corresponding to the protection clutch torque point B is 20kgf.cm, and the line where point B is located represents the protection clutch torque curve; the torque value corresponding to the gear destruction torque point C is 25kgf.cm, and the line where point C is located represents the gear destruction torque curve; the torque value corresponding to the minimum conversion clutch torque point D is 12kgf.cm, and the line where point D is located represents the conversion clutch torque curve. The range of conversion clutch torque is 10-16kgf.cm; the range of protection clutch torque is 16-20kgf.cm; the range of gear destruction torque is 25-30kgf.cm. The torque designed with the above parameters can be increased by 5%-50% compared with the same type of servos, thus having the two characteristics of fast speed and large torque.

[0053] like Figure 3 As shown, an embodiment of the present invention further provides an electronic device 600, which includes a processor 601, a memory 602, and a program or instruction stored in the memory 602 and executable on the processor 601. When the program or instruction is executed by the processor 601, each process of the above-mentioned 3DGS-based panoramic reconstruction method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0054] It should be noted that the first electronic device in the embodiment of the present invention includes the mobile electronic device and the non-mobile electronic device mentioned above.

[0055] Figure 4 The present invention is a schematic diagram of the hardware structure of an electronic device.

[0056] The electronic device 700 includes but is not limited to: a radio frequency unit 701, a network module 702, an audio output unit 703, an input unit 704, a sensor 705, a display unit 706, a user input unit 707, an interface unit 708, a memory 709, and a processor 710.

[0057] Those skilled in the art will appreciate that the electronic device 700 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 710 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 4 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0058] It should be understood that in the embodiment of the present invention, the input unit 704 may include a graphics processor (Graphics Processing Unit, GPU) 7041 and a microphone 7042, and the graphics processor 7041 processes the image data of the static image or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 706 may include a display panel 7061, and the display panel 7061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 707 includes a touch panel 7071 and other input devices 7072. The touch panel 7071 is also called a touch screen. The touch panel 7071 may include two parts: a touch detection device and a touch controller. Other input devices 7072 may include but are not limited to a physical keyboard, a function key (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here. The memory 709 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 710 can integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and applications, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 710.

[0059] An embodiment of the present invention further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned 3DGS-based panoramic reconstruction method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0060] The processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0061] An embodiment of the present invention further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned 3DGS-based panoramic reconstruction method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0062] It should be understood that the chip mentioned in the embodiment of the present invention may also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0063] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0064] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0065] An embodiment of the present invention further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned 3DGS-based panoramic reconstruction method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0066] It should be understood that the chip mentioned in the embodiment of the present invention may also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0067] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0068] In addition, it should be noted that the scope of the methods and systems in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0069] The embodiments of the present invention are described above, but the present invention is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A clutch servo gear ratio transmission torque design method, characterized in that: The steps include: Step S1, designing the torque curve distribution of the clutch servo, the torque curve including the gear ratio transmission conversion clutch torque curve, the stall torque curve, the gear set clutch protection torque curve and the gear set failure torque curve; Step S2, determining a conversion clutch torque point A, a protection clutch torque point B, a gear breaking torque point C and a minimum conversion clutch torque point D based on the torque curve distribution; Step S3, designing a steering gear transmission ratio that meets the clutch steering gear speed requirement; Step S4, under the condition of meeting the speed requirement, respectively designing the range of the clutch torque, the range of the protective clutch torque and the range of the gear breaking torque.

2. The method according to claim 1, characterized in that: In step S2, the conversion clutch torque point A is the intersection of the stall torque curve and the maximum conversion clutch torque; The protection clutch torque point B is the intersection of the protection clutch torque curve and the maximum stall torque; The gear breaking torque point C is the intersection of the gear breaking torque curve and the maximum protection clutch torque; The minimum switching clutch torque point D is the intersection of the no-load speed curve and the switching clutch torque.

3. The method according to claim 1, characterized in that In step S4, the range of the designed conversion clutch torque specifically includes: The range of the conversion clutch torque is designed between the torque value corresponding to the conversion clutch torque point D and the torque value corresponding to the protection clutch torque point B.

4. The method according to claim 3, characterized in that In step S4, the range of the designed protection clutch torque specifically includes: The range of the protective clutch torque is designed between the torque value corresponding to the protective clutch torque point B and the torque value corresponding to the gear breaking torque point C.

5. The method according to claim 4, characterized in that In step S4, the range of the gear breaking torque is designed to specifically include: The gear breaking torque range is designed above the torque value corresponding to the gear breaking torque point C.

6. The method according to claim 1, characterized in that The clutch servo includes a clutch spring, a sun clutch, a ring gear clutch, planetary gears and a planetary carrier for mounting the planetary gears. The clutch spring abuts against the left end face of the sun clutch, and the right end face of the sun clutch is detachably matched with the ring gear clutch. The ring gear clutch includes an inner ring gear, and the planetary gears are meshed with the inner ring gear. When the clutch spring is subjected to force and enters a clutch state, the sun clutch is disengaged from the ring gear clutch, and at the same time, the sun clutch is matched with the planetary gears to achieve transmission ratio conversion.

7. An electronic device, characterized in that: include: at least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the clutch servo gear ratio transmission torque design method according to any one of claims 1 to 6.

8. A storage medium, characterized in that: Processor-executable instructions are stored, and when the processor executes the processor-executable instructions, the clutch servo gear ratio transmission torque design method described in any one of claims 1-6 is executed.

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