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

Abstract

The application 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: designing a torque curve distribution of the clutch steering engine, wherein the torque curve comprises 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, determining 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; designing a steering engine transmission ratio meeting a speed requirement of the clutch steering engine; and under the condition of meeting the speed requirement, respectively designing a range of the conversion clutch torque, a range of the protection clutch torque and a range of the gear damage torque. Compared with the prior art, the application has the beneficial effects that gear set safety and reliability, quick response and torque instantaneous burst functions are taken into account, user application requirements are effectively met, and manufacturing costs are greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of clutch servo motor technology, specifically relating to a clutch servo motor gear ratio transmission torque design method, electronic equipment, and storage medium. Background Technology

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

[0003] To meet the needs of different application scenarios, existing servo motors not only cannot be made larger, but also need to have a faster response speed, greater torque, and the gear set must not be damaged, while the cost must be reduced. It can be seen that the design requirements are becoming increasingly difficult. Summary of the Invention

[0004] The purpose of this invention is to provide a design method for the gear ratio transmission torque of a clutch servo. This method addresses the different torque distributions encountered by clutch servos during application by designing four key torque curves: gear ratio transmission conversion torque, stall torque, gear set clutch protection torque, and gear failure torque. This achieves two major functions: gear set failure protection and gear ratio transmission conversion. The combination of these two functions effectively meets the diverse needs of clutch servos in harsh environments, solving the two major problems of easy gear damage and incompatibility between high speed and high torque in clutch servos during product application. This addresses at least one of the technical problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0006] This invention provides a method for designing the gear ratio transmission torque of a clutch servo motor, comprising the following steps:

[0007] Step S1: Design the torque curve distribution of the clutch servo motor. The torque curve includes 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: Based on the torque curve distribution, determine the clutch transition torque point A, the clutch protection torque point B, the gear failure torque point C, and the minimum clutch transition torque point D;

[0009] Step S3: Design the servo gear ratio that meets the speed requirements of the clutch servo;

[0010] Step S4: Under the condition of meeting the speed requirements, design the range of clutch switching torque, the range of clutch protection torque, and the range of gear damage torque respectively.

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

[0012] Optionally, in step S4, the specific range of the designed clutch torque switching includes:

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

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

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

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

[0017] The range of gear failure torque is designed above the torque value corresponding to the gear failure 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, and the right end face of the sun clutch is separably engaged with the ring gear clutch. The ring gear clutch includes an internal gear ring, and the planetary gears mesh with the internal gear ring. When the clutch spring is in a clutched state, the sun clutch disengages from the ring gear clutch, while the sun clutch engages with the planetary gears, thereby achieving 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 processor-executable instructions, wherein the processor executes the processor-executable instructions to execute the clutch servo gear ratio transmission torque design method.

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

[0025] 1. To address the varying torque distributions encountered during the application of clutch servos, four key torque curves were designed: gear ratio transmission conversion torque, stall torque, gear set clutch protection torque, and gear failure torque. This achieves two major functions: gear set failure protection and gear ratio transmission conversion for clutch servos. The combination of these two functions effectively meets the diverse needs of clutch servos in harsh environments and solves the two major problems of easy gear damage and incompatibility between high speed and high torque in clutch servos during product application.

[0026] 2. It combines the safety and reliability of the gear set with the functions of rapid response and instant torque burst, effectively meeting the user's application needs while greatly reducing manufacturing costs.

[0027] 3. When the required output speed is 150 rpm or above and the product shape is limited, the stall torque can be increased by 5% to 50% by using the method provided by this invention. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. 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 effort, wherein:

[0029] Figure 1 This is a schematic diagram of the clutch servo motor provided in an embodiment of the present invention;

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

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

[0032] Figure 4 This is the second schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present invention. Detailed Implementation

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] This invention provides a method for designing the gear ratio transmission torque of a clutch servo motor, comprising the following steps:

[0035] Step S1: Design the torque curve distribution of the clutch servo motor. The torque curve includes 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: Based on the torque curve distribution, determine the clutch transition torque point A, the clutch protection torque point B, the gear failure torque point C, and the minimum clutch transition torque point D;

[0037] Step S3: Design the servo gear ratio that meets the speed requirements of the clutch servo;

[0038] Step S4: Under the condition of meeting the speed requirements, design the range of clutch switching torque, the range of clutch protection torque, and the range of gear damage torque respectively.

[0039] In step S1, by designing the torque curve distribution, the clutch servo motor can be intuitively reflected in the reasonable distribution of gear ratio conversion and clutch protection in the system, which facilitates engineers in designing reasonable and efficient systems.

[0040] Furthermore, combined 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 face of the sun clutch 2, and the right end face of the sun clutch 2 is separably engaged with the ring gear clutch 3.

[0042] It should be further explained that the solar clutch and the ring gear clutch are connected by a planar tooth, a wear-resistant disc, or a magnet.

[0043] The ring gear clutch 3 includes an internal gear ring, and the planetary gear 4 meshes with the internal gear ring.

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

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

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

[0047] The specific range of protection against clutch torque includes:

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

[0049] The specific range of the design gear failure torque includes:

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

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

[0052] Please see Figure 2 As shown in the torque curve distribution diagram, the horizontal axis represents the signal increment sequence, and the vertical axis represents speed and torque, respectively. The line sloping downwards to the right represents the servo speed; the torque value corresponding to the clutch engagement torque point A is 16 kgf.cm, and the line containing point A represents the stall torque curve; the torque value corresponding to the protective clutch torque point B is 20 kgf.cm, and the line containing point B represents the protective clutch torque curve; the torque value corresponding to the gear failure torque point C is 25 kgf.cm, and the line containing point C represents the gear failure torque curve; the torque value corresponding to the minimum clutch engagement torque point D is 12 kgf.cm, and the line containing point D represents the clutch engagement torque curve. The range of the clutch engagement torque is 10–16 kgf.cm; the range of the protective clutch torque is 16–20 kgf.cm; and the range of the gear failure torque is 25–30 kgf.cm. The torque designed using the above parameters can be increased by 5%–50% compared to similar servos, thus possessing the two major characteristics of high speed and high torque.

[0053] like Figure 3 As shown, this embodiment of the invention also provides an electronic device 600, which includes a processor 601, a memory 602, and a program or instructions stored in the memory 602 and executable on the processor 601. When the program or instructions are executed by the processor 601, they implement the various processes of the above-described 3DGS-based panoramic reconstruction method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

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

[0055] Figure 4 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of the present invention.

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

[0057] Those skilled in the art will understand that the electronic device 700 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 710 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 4 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0058] It should be understood that, in this embodiment of the invention, the input unit 704 may include a graphics processing unit (GPU) 7041 and a microphone 7042. The GPU 7041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 706 may include a display panel 7061, which 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 a touch detection device and a touch controller. Other input devices 7072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail 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 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understandable that the aforementioned modem processor may not be integrated into the processor 710.

[0059] This invention also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described 3DGS-based panoramic reconstruction method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

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

[0061] This invention also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described 3DGS-based panoramic reconstruction method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0062] It should be understood that the chip mentioned in the embodiments of the present invention may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0063] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0065] This invention also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described 3DGS-based panoramic reconstruction method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0066] It should be understood that the chip mentioned in the embodiments of the present invention may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0067] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0068] Furthermore, 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, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than 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 have been described above. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for designing the gear ratio transmission torque of a clutch servo motor, characterized in that, Includes the following steps: Step S1: Design the torque curve distribution of the clutch servo motor. The torque curve includes 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, based on the torque curve distribution, determine the clutch engagement torque point A, the clutch protection torque point B, the gear failure torque point C, and the minimum clutch engagement torque point D; where: The clutch shift torque point A is the intersection of the stall torque curve and the maximum clutch shift torque; The protective clutch torque point B is the intersection of the protective clutch torque curve and the maximum stall torque; The gear failure torque point C is the intersection of the gear failure torque curve and the maximum protective clutch torque; The minimum clutch engagement torque point D is the intersection of the no-load speed curve and the clutch engagement torque. Step S3: Design the servo gear ratio that meets the speed requirements of the clutch servo; Step S4: Under the condition of meeting the speed requirements, design the range of the clutch switching torque, the range of the clutch protection torque, and the range of the gear failure torque, respectively, wherein: The design range of the clutch switching torque specifically includes: designing a range of clutch switching torque between the torque value corresponding to the minimum clutch switching torque point D and the torque value corresponding to the protective clutch switching torque point B; The design of the range of protective clutch torque specifically includes: designing a range of protective clutch torque between the torque value corresponding to the protective clutch torque point B and the torque value corresponding to the gear failure torque point C; The range of designed gear failure torque specifically includes the range of designed gear failure torque above the torque value corresponding to the gear failure torque point C.

2. 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 separably engaged with the ring gear clutch. The ring gear clutch includes an internal gear ring, and the planetary gears mesh with the internal gear ring. When the clutch spring is in a clutch state under force, the sun clutch disengages from the ring gear clutch, while the sun clutch engages with the planetary gears, thereby realizing the transmission ratio conversion.

3. 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 claim 1 or 2.

4. A storage medium, characterized in that, It stores processor-executable instructions, and when the processor executes the processor-executable instructions, it performs the clutch servo gear ratio transmission torque design method as described in claim 1 or 2.

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