CN205231925U - Small -size sharp actuating mechanism who possesses position feedback and velocity feedback function - Google Patents
Small -size sharp actuating mechanism who possesses position feedback and velocity feedback function Download PDFInfo
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- CN205231925U CN205231925U CN201520996573.4U CN201520996573U CN205231925U CN 205231925 U CN205231925 U CN 205231925U CN 201520996573 U CN201520996573 U CN 201520996573U CN 205231925 U CN205231925 U CN 205231925U
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Abstract
The utility model discloses a small -size sharp actuating mechanism who possesses position feedback and velocity feedback function, including casing, power module and external interface component, it still includes infrared distance measuring sensor, dc motor, motor drive, rack and pinion part, controller, dc motor, rack and pinion part, infrared distance measuring sensor device are in the casing, dc motor, rack and pinion part, infrared distance measuring sensor are connected with the controller. The sharp actuating mechanism of this kind of structure can reach and set for the position according to settlement speed, is an integration, the small -size couple of two -way actuating mechanism of reaction type straight line, but the wide application realizes the linear motion function in the industry such as robot, automatic electrical apparatus and the product for civilian use.
Description
Technical field
The utility model relates to rectilinear motion control technology field, is specifically related to a kind of small linear actuator possessing position feedback and velocity feedback function.
Background technology
Straight-line motion mechanism has a wide range of applications and demand in industry and consumer electronic product.How can the measurement of absolute straight line running position and point-to-point speed and feedback be dissolved in straight-line motion mechanism, be the focus of research always, solve this problem, just can effectively solve precision and efficiency, enhance product performance.
At present, common straight-line motion mechanism (also claiming " linear electric motors ") mainly contains through leading screw mode and rack-and-pinion mode two kinds.Great advantage in view of rack-and-pinion mode is to use general-purpose machine, thus the scope of application is wider, cost performance is better, the straight-line motion mechanism of rack-and-pinion mode can be widely used in, in the industry such as robot, automatic electric appliance and the product for civilian use, realizing rectilinear motion function.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of small linear actuator possessing position feedback and velocity feedback function, comprise housing, power module, infrared distance sensor, DC motor, motor driver, rack-and-pinion parts, controller and external interface parts, the straight line executing mechanism of this structure can according to setting speed, reaching desired location, is a kind of integration, the two-way actuator of small capacity double reaction type straight line.
To achieve these goals, the utility model adopts following technical scheme.
A kind of small linear actuator possessing position feedback and velocity feedback function, comprise housing, power module and external interface parts, it also comprises infrared distance sensor, DC motor, motor driver, rack-and-pinion parts, controller, DC motor, rack-and-pinion parts, infrared distance sensor are installed in housing, and DC motor, rack-and-pinion parts, infrared distance sensor are connected with controller.
Preferably, the biside plate of described housing is provided with rach slot.
In above-mentioned arbitrary technical scheme preferably, described rach slot is long U-type groove.
In above-mentioned arbitrary technical scheme preferably, the end of described housing is provided with fixture.
In above-mentioned arbitrary technical scheme preferably, described DC motor connects motor driver, the PWM output interface of motor driver connection control device.
In above-mentioned arbitrary technical scheme preferably, the output of described DC motor connects rack-and-pinion parts, and gear fixing device is on the output shaft of DC motor and engaged with the tooth bar of identical modulus by this gear by housing.
In above-mentioned arbitrary technical scheme preferably, described DC motor is built-in with direct current machine encoder, for measuring and calculating the point-to-point speed of tooth bar.
In above-mentioned arbitrary technical scheme preferably, described external interface parts comprise 12V direct current input interface, 5V direct current output interface and serial communication interface.
In above-mentioned arbitrary technical scheme preferably, described 12V direct current input interface and 5V direct current output interface are arranged at power module, power module connects motor driver by 12V direct current input interface, and power module connects infrared distance sensor, direct current machine encoder and controller by 5V direct current output interface.
In above-mentioned arbitrary technical scheme preferably, described serial communication interface is arranged at the output of controller, is used for carrying out data cube computation with host controller or main control unit.
In above-mentioned arbitrary technical scheme preferably, described motor driver comprises H bridge driver part and PWM voltage regulation part, the PWM output interface of PWM voltage regulation part connection control device, the change of the pwm signal regulating and controlling direct voltage of controller also transfers to DC motor by H bridge driver part.
In above-mentioned arbitrary technical scheme preferably, the gear of described rack-and-pinion parts adopts the steel gear of 0.5 modulus, 22 numbers of teeth.
In above-mentioned arbitrary technical scheme preferably, the tooth bar of described rack-and-pinion parts adopts the steel tooth bar of 0.5 modulus, 10cm length.
In above-mentioned arbitrary technical scheme preferably, the input end of analog signal of the output connection control device of described infrared distance sensor.
In above-mentioned arbitrary technical scheme preferably, described infrared distance sensor adopts GP2Y0A51SK0F type infrared distance sensor.
In above-mentioned arbitrary technical scheme preferably, described controller adopts the miniature control board of Arduino-ProMini.
In above-mentioned arbitrary technical scheme preferably, described DC motor adopts Faulhaber1516SR type micro speed reducing DC motor.
The small linear actuator possessing position feedback and velocity feedback function of the present utility model, comprise housing, power module, infrared distance sensor, DC motor, motor driver, rack-and-pinion parts, controller and external interface parts, DC motor, rack-and-pinion parts, infrared distance sensor are installed in housing, and DC motor, rack-and-pinion parts, infrared distance sensor are connected with controller.The straight line executing mechanism of this structure of the present utility model according to setting speed, can reach desired location, is a kind of integration, the two-way actuator of small capacity double reaction type straight line.The small linear actuator possessing position feedback and velocity feedback function of the present utility model belongs to electromechanical integrated product, can be widely used in, in the industry such as robot, automatic electric appliance and the product for civilian use, realizing rectilinear motion function.
Accompanying drawing explanation
Fig. 1 is according to the mechanism principle block diagram possessing a preferred embodiment of the small linear actuator of position feedback and velocity feedback function of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated, below describe only exemplarily and explain, any pro forma restriction is not done to the utility model.
As shown in Figure 1, the small linear actuator possessing position feedback and velocity feedback function comprises housing, power module, infrared distance sensor, DC motor, motor driver, rack-and-pinion parts, controller, and external interface parts.DC motor, rack-and-pinion parts, infrared distance sensor are installed in housing, and DC motor, rack-and-pinion parts, infrared distance sensor are connected with controller.The biside plate of housing is provided with rach slot, and described rach slot is long U-type groove; The end of housing is provided with fixture.DC motor connects motor driver, the PWM output interface of motor driver connection control device; The output of DC motor connects rack-and-pinion parts, and gear fixing device is on the output shaft of DC motor and engaged with the tooth bar of identical modulus by this gear by housing; DC motor is built-in with direct current machine encoder, for measuring and calculating the point-to-point speed of tooth bar.External interface parts comprise 12V direct current input interface, 5V direct current output interface and serial communication interface; 12V direct current input interface and 5V direct current output interface are arranged at power module, power module connects motor driver by 12V direct current input interface, and power module connects infrared distance sensor, direct current machine encoder and controller by 5V direct current output interface; Serial communication interface is arranged at the output of controller, is used for carrying out data cube computation with host controller or main control unit.Motor driver comprises H bridge driver part and PWM voltage regulation part, the PWM output interface of PWM voltage regulation part connection control device, and the change of the pwm signal regulating and controlling direct voltage of controller also transfers to DC motor by H bridge driver part.The gear of rack-and-pinion parts adopts the steel gear of 0.5 modulus, 22 numbers of teeth, and tooth bar adopts the steel tooth bar of 0.5 modulus, 10cm length.The input end of analog signal of the output connection control device of infrared distance sensor.
This small linear actuator possessing position feedback and velocity feedback function is made up of shell, infrared distance sensor, rack-and-pinion parts, DC motor and motor driver, controller, power supply, external interface parts, infrared distance sensor adopts GP2Y0A51SK0F type infrared distance sensor, and controller adopts the miniature control board of Arduino-ProMini.DC motor is the motion production part of mechanism, and be fixed on by gear on the output shaft of this motor, by housing and engaged with the tooth bar of identical modulus by this gear, the tongue on tooth bar is embedded in the respective slot of housing, reaches fixation; Rotating and reverse of DC motor converts moving up and down of tooth bar to, completes the rectilinear motion function circular motion of DC motor being converted to tooth bar thus.By changing the number of teeth of gear, can the maximum linear movement velocity of changing mechanism and straight line moment (the gear number of teeth is more, maximum linear speed is lower, straight line moment is then larger), decide to perform the maximum reciprocating stroke of motion (the tooth bar number of teeth is more, then rectilinear path is larger) by the number of teeth changing tooth bar.Infrared distance sensor is fixed on the bottom of tooth bar, and reads to be worth by this transducer the absolute straight running position calculating tooth bar.The inside of DC motor, with encoder, can be measured and calculate the point-to-point speed of tooth bar, reaching position feedback and velocity feedback function thus.DC motor is connected to motor driver, and the control signal of motor driver and the measuring-signal of infrared distance sensor are connected to mechanics controller, and the controller of mechanism accepts the Long-distance Control of other equipment by serial communication interface.Mechanism can also realize the Long-distance Control of required mode by serial ports modular converters such as collocation Ethernet, WiFi, bluetooth and zigbee.DC motor adopts Faulhaber1516SR type micro speed reducing direct current machine, built-in 512 line relative position photoelectric encoders, and its total length is 35mm, and motor diameter is 15mm, output shaft diameter 3mm; Possessing the speed capability of peak value 500 turns during 12V direct current supply, motor speed can be regulated by changing supply power voltage.The motor driver of mechanism is grouped into by H bridge drive part and PWM pressure-regulating portion, controller is connected with driver PWM pressure regulation part by pwm signal, this pressure regulation part realizes the change of direct voltage 0-12v according to the 0-100% duty ratio of controller pwm signal, and is used for exporting to feeding electric motors and speed governing by H bridge drive part.A switching value pin of the controller of mechanism connects the commutation control end of H bridge, and when controller exports high level, when H bridge is supplied to motor rotating forward driving, controller output low level, H bridge is supplied to motor reversal signal.The rotating of DC motor determines the motion of the above-below direction of tooth bar.The rotating speed of DC motor is converted into the linear running speed of tooth bar.What the controller of mechanism adopted is the miniature control board of Arduino-ProMini, this control board is connected with infrared distance measurement by AD thief hatch (10 precision) and gathers it and outputs signal absolute linear position in order to measure tooth bar, this control board to be connected with direct current machine encoder output interface by AD thief hatch samples that it exports the speed of service in order to measure motor thus converses the linear running speed of tooth bar, this control board exports and is connected with the PWM mouth of motor driver the rotating speed controlling DC motor by PWM mouth, the above-below direction that this control board is connected for realizing tooth bar by a switching value pin and the motor commutation interface of motor driver part moves.What the infrared distance sensor of mechanism was selected is Sharp GP2Y0A51SK0F type infrared distance sensor, finding range is 2-15cm, support that the direct current of the highest 4.5-5.5V is powered outward, output signal as DC simulation signal, the analog input end that output signal is connected to controller is sampled.The rack-and-pinion parts of mechanism, its gear is fixed on the output shaft of direct current machine, adopt 0.5 modulus, 22 number of teeth steel gears, the gear of same other numbers of teeth of modulus of the 20-40 number of teeth of supporting to change the outfit changes the outfit; Under motor same rotational speed, the gear number of teeth is less, and the point-to-point speed of tooth bar is less, but output torque is larger.The rack-and-pinion parts of mechanism, put into the rach slot of housing by tooth bar, adopt 0.5 modulus, the steel tooth bar of 10cm length, the tooth bar of same other length of modulus of 5-20cm length of supporting to change the outfit changes the outfit; The length of tooth bar, determines the maximum length of rectilinear path.
The housing of this small linear actuator is used for DC motor, gear and tooth bar to fix.Shell end has mounting flange that can be fixed to other, that be similar to the objects such as mechanical arm, may be used for stable being connected in other mechanisms.The biside plate of housing there is the capable groove of long u, the position of engagement of regulating tooth wheel and rack can be come according to gear size.
About power module and the external interface parts of this small linear actuator, the input of power module is 12V direct current (peak value 2A), and 12V direct current supply motor driver is driven DC motor by power module; 12V input dc power is converted to the supply of 5V direct current infrared distance measurement, direct current machine encoder and controller; 12V input dc power is converted to the external power output interface of 5V direct current as mechanism.The external interface parts of whole mechanism have three: 12V direct current input port, 5V direct current output interface and serial communication interface.Serial communication interface is used for carrying out data cube computation with host controller or main control unit, can accept thus to control and the linear position that arrives of feedback sample and speed data.In addition, by 5V external power supply and serial communication interface, the communication expansion module based on serial communication of other types can be connected, as: Ethernet, WiFi, bluetooth, Zigbee etc., the communication and the far-end that realize other types control.
The above is only be described preferred implementation of the present utility model; not that scope of the present utility model is limited; under the prerequisite not departing from the utility model design spirit; the various distortion that the common engineers and technicians in this area make the technical solution of the utility model and improvement, all should fall in protection range that claims of the present utility model determine.
Claims (17)
1. one kind possesses the small linear actuator of position feedback and velocity feedback function, comprise housing, power module and external interface parts, it is characterized in that: it also comprises infrared distance sensor, DC motor, motor driver, rack-and-pinion parts, controller, described DC motor, rack-and-pinion parts, infrared distance sensor are installed in housing, and described DC motor, rack-and-pinion parts, infrared distance sensor are connected with controller.
2. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 1, it is characterized in that: the biside plate of described housing is provided with rach slot.
3. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 2, it is characterized in that: described rach slot is long U-type groove.
4. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 1 or 2, it is characterized in that: the end of described housing is provided with fixture.
5. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 1, it is characterized in that: described DC motor connects motor driver, the PWM output interface of motor driver connection control device.
6. possesses the small linear actuator of position feedback and velocity feedback function as claimed in claim 1, it is characterized in that: the output of described DC motor connects rack-and-pinion parts, gear fixing device is on the output shaft of DC motor and engaged with the tooth bar of identical modulus by this gear by housing.
7. the small linear actuator possessing position feedback and velocity feedback function according to any one of claim 1,5,6, is characterized in that: described DC motor is built-in with direct current machine encoder, for measuring and calculating the point-to-point speed of tooth bar.
8. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 7, it is characterized in that: described external interface parts comprise 12V direct current input interface, 5V direct current output interface and serial communication interface.
9. possesses the small linear actuator of position feedback and velocity feedback function as claimed in claim 8, it is characterized in that: described 12V direct current input interface and 5V direct current output interface are arranged at power module, power module connects motor driver by 12V direct current input interface, and power module connects infrared distance sensor, direct current machine encoder and controller by 5V direct current output interface.
10. possess the small linear actuator of position feedback and velocity feedback function as claimed in claim 8, it is characterized in that: described serial communication interface is arranged at the output of controller, be used for carrying out data cube computation with host controller or main control unit.
The 11. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, it is characterized in that: described motor driver comprises H bridge driver part and PWM voltage regulation part, the PWM output interface of PWM voltage regulation part connection control device, the change of the pwm signal regulating and controlling direct voltage of controller also transfers to DC motor by H bridge driver part.
The 12. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, is characterized in that: the gear of described rack-and-pinion parts adopts the steel gear of 0.5 modulus, 22 numbers of teeth.
The 13. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, is characterized in that: the tooth bar of described rack-and-pinion parts adopts the steel tooth bar of 0.5 modulus, 10cm length.
The 14. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, is characterized in that: the input end of analog signal of the output connection control device of described infrared distance sensor.
15. small linear actuators possessing position feedback and velocity feedback function as described in claim 1 or 14, is characterized in that: described infrared distance sensor adopts GP2Y0A51SK0F type infrared distance sensor.
The 16. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, is characterized in that: described controller adopts the miniature control board of Arduino-ProMini.
The 17. small linear actuators possessing position feedback and velocity feedback function as claimed in claim 1, is characterized in that: described DC motor adopts Faulhaber1516SR type micro speed reducing DC motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996573.4U CN205231925U (en) | 2015-12-07 | 2015-12-07 | Small -size sharp actuating mechanism who possesses position feedback and velocity feedback function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996573.4U CN205231925U (en) | 2015-12-07 | 2015-12-07 | Small -size sharp actuating mechanism who possesses position feedback and velocity feedback function |
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| Publication Number | Publication Date |
|---|---|
| CN205231925U true CN205231925U (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520996573.4U Active CN205231925U (en) | 2015-12-07 | 2015-12-07 | Small -size sharp actuating mechanism who possesses position feedback and velocity feedback function |
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| Country | Link |
|---|---|
| CN (1) | CN205231925U (en) |
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- 2015-12-07 CN CN201520996573.4U patent/CN205231925U/en active Active
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