CN209562325U - A kind of helm gear - Google Patents
A kind of helm gear Download PDFInfo
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- CN209562325U CN209562325U CN201822129371.6U CN201822129371U CN209562325U CN 209562325 U CN209562325 U CN 209562325U CN 201822129371 U CN201822129371 U CN 201822129371U CN 209562325 U CN209562325 U CN 209562325U
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- gear
- encoder
- location information
- helm
- gear set
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- 241000380131 Ammophila arenaria Species 0.000 title claims abstract description 33
- 230000005611 electricity Effects 0.000 claims description 2
- 208000010138 Diastema Diseases 0.000 abstract description 7
- 210000000475 diastema Anatomy 0.000 abstract description 7
- 230000008859 change Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The utility model relates to steering engine technical fields, provide a kind of helm gear, first encoder obtains the location information of gear set output when steering engine powers on, the location information of second encoder acquisition motor shaft, control module receives the first location information and the second location information, and according to the first location information, the second location information and preset gear set output shaft and motor shaft position relational expression determine motor calibrating position information, so that steering engine can to avoid by multiple gear sets rotation after output shaft as reference position, reduce the error of gear set diastema generation.
Description
Technical field
This application involves steering engine technical field more particularly to a kind of helm gears.
Background technique
Steering engine as a kind of control action, change nyctitropic important component, largely be applied to field of industrial machinery in, In
To in the operation control of steering engine, the gear set output shaft usually in steering engine is monitored the operation angle to confirm steering engine, i.e.,
After motor operation, drive gear set rotation, by driving the rotation of gear set output shaft after the transmission of several gear sets, gear set is defeated
Sensor on shaft is monitored rotational angle, and the angle of rotation is then uploaded to host computer.
However, because usually there is gap in the connection between gear set, so that being generated after the transmission of several gear sets
There are relatively large deviations for diastema, the position for causing steering engine sensor to detect and theoretical mechanical location.
Utility model content
The embodiment of the present application provides a kind of helm gear, it is intended to solve usually there is seam due to the connection between gear set
Gap, so as to cause diastema, the position for causing steering engine sensor to detect and theoretical machinery is generated after the transmission of several gear sets
There is relatively large deviation in position.
The embodiment of the present application provides a kind of helm gear, including gear set, gear set output shaft, motor and motor
Axis, the helm gear further include:
For obtaining the first encoder of first location information, the first location information includes that the steering engine powers on when institute
The angular positional value of gear set output shaft is stated, first encoder and the gear set export axis connection；
For obtaining the second encoder of second location information, the second location information includes the real-time of the motor shaft
Incremental counter value, the second encoder and the motor axis connection；And
For receiving the first location information and the second location information, and according to the first location information, institute
State the control module that second location information determines motor calibrating position information, the control module respectively with first encoder
And the second encoder connection.
Optionally, the motor shaft is equipped with the driving gear for driving the gear set rotation, the driving gear
It is connect with the electric machine shaft driving.
Optionally, the gear set includes:
First gear, the first gear and the driving gear are sequentially connected；And
Second gear, the second gear and the first gear are sequentially connected.
Optionally, the gear set output shaft and the second gear are sequentially connected.
Optionally, the driving gear and the first gear are twill gear.
Optionally, the control module includes the first printed circuit board and the second printed circuit board；
The gear set output shaft and first encoder are electrically connected, and first encoder is set to first print
Printed circuit board；
The motor shaft and the second encoder are electrically connected, and the second encoder is set to second printed circuit
Plate.
Optionally, the second encoder is incremental encoder.
Optionally, the helm gear further include:
For detecting the first sensor of the position of the gear set output shaft, and to first encoder output first
Location information, the first sensor and the gear set output shaft are electrically connected.
Optionally, the first sensor is angular transducer.
Optionally, the helm gear further include:
Second confidence is exported for detecting the second sensor of the position of the motor shaft, and to the second encoder
Breath, the second sensor and the motor shaft are electrically connected.
In a kind of helm gear provided by the embodiment of the utility model, the first encoder obtains gear when steering engine powers on
The location information of group output, second encoder obtain the location information of motor shaft, and control module receives the first location information
With the second location information, and motor calibration bits confidence is determined according to the first location information, the second location information
Breath, to reach the update in electric motor starting to motor calibrating position information, so that steering engine can be to avoid by multiple
Output shaft after gear set rotation reduces the error of gear set diastema generation as reference position.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present application, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram for the helm gear that one embodiment of the application provides；
Fig. 2 is the structural schematic diagram for the helm gear that another embodiment of the application provides；
Fig. 3 is the structural schematic diagram for the helm gear that another embodiment of the application provides；
Fig. 4 is the structural schematic diagram for the helm gear that another embodiment of the application provides；
Fig. 5 and Fig. 6 is the structural schematic diagram for the helm gear that another embodiment of the application provides.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are explicitly described, it is clear that described embodiment is the application one
The embodiment divided, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present application.
The description and claims of this application and term " includes " and their any deformations in above-mentioned attached drawing, meaning
Figure, which is to cover, non-exclusive includes.Such as process, method or system comprising a series of steps or units, product or equipment do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include the other step or units intrinsic for these process, methods, product or equipment.In addition, term " first ", " second " and
" third " etc. is for distinguishing different objects, not for description particular order.
Fig. 1 is the structural schematic diagram for the helm gear that one embodiment of the application provides.Present embodiments provide one kind
Steering engine, including gear set 10, gear set output shaft 20, motor 30 and motor shaft 40, the steering engine further include:
For obtaining the first encoder 50 of first location information, the first location information powers on when institute for the steering engine
The location information of gear set output shaft 20 is stated, first encoder 50 is connect with the gear set output shaft 20；
For obtaining the second encoder 60 of second location information, the second location information is the position of the motor shaft 40
Confidence breath, the second encoder 60 are connect with the motor shaft 40；And
For receiving the first location information and the second location information, and according to the first location information, institute
The control module 70 that second location information determines motor calibrating position information is stated, the control module 70 is compiled with described first respectively
Code device 50 and the second encoder 60 connect.
In one embodiment, the motor shaft is equipped with the driving gear for driving the gear set rotation, described
Driving gear is connect with the electric machine shaft driving.
In one embodiment, the gear set 10 includes:
First gear, the first gear and the driving gear are sequentially connected；And
Second gear, the second gear and the first gear are sequentially connected.
In one embodiment, the gear set output shaft and the second gear are sequentially connected.
In one embodiment, the driving gear and the first gear are twill gear.
In one embodiment, control module 70 include the first printed circuit board (Printed Circuit Board,
) and the second printed circuit board PCB；
The gear set output shaft and first encoder are electrically connected, and first encoder is set to first print
Printed circuit board；
The motor shaft and the second encoder are electrically connected, and the second encoder is set to second printed circuit
Plate.
Fig. 5 and Fig. 6 is the structural schematic diagram for the helm gear that another embodiment of the utility model provides.Such as Fig. 5 and
Shown in Fig. 6, first sensor 51 is set on the first pcb board 11, and second sensor 61 is set on the second pcb board 31, wherein gear
Group output shaft 20 is oppositely arranged with first sensor 51, and motor shaft 40 is oppositely arranged with second sensor 61, and control module 70 is set
In on the 2nd PCB31, the change in location of the gear set output shaft 20 sensed is converted to first position letter by first sensor 51
Breath is sent to the first encoder 50, and the change in location of the motor shaft 40 sensed is converted to second confidence by second sensor 61
Breath is sent to second encoder 60, and control module 70 receives the first location information and second encoder of the first encoder 50 output
The second location information of 60 outputs, to determine motor calibrating position information.
In the present embodiment, to the position of gear set output shaft 20, the position when the first encoder 50 record steering engine powers on
It can be the angle position of gear set output shaft 20, after steering engine powers on, second encoder 60 carries out the position of motor shaft 40
Record, which can be angle position, and after steering engine powers on, motor 30 starts, and motor shaft 40 is driven to rotate, 40 turns of motor shaft
Gear set 10 is driven to be rotated when dynamic, gear set 10 finally drives the rotation of gear set output shaft.
In one embodiment, the position of the position of gear set output shaft 20 and motor shaft 40 when being powered on by recording steering engine
It sets, and the position of gear set output shaft 20 and the position of motor shaft 40 is passed through to the position of the pre-set gear set output shaft of user
It sets the relational expression between the position of motor shaft 40 and determines motor calibrating position value, thus by obtaining motor calibrating position value pair
The position of motor 30 is calibrated, that is, is determined the relational expression between the position of gear set output shaft and the position of motor shaft 40, led to
Cross to motor 30 calibrate, can the rotational angle directly to motor shaft 40 controlled to control the rotation of gear set output shaft 20
Angle avoids steering engine after the power-up, and the rotation conduction of motor 30 is into gear set output shaft rotation process since connection gap generates
Diastema error.
In one embodiment, control module 70 can be central processing unit (Central Processing Unit,
CPU), it can also be other general processors, digital signal processor (Digital Signal Processor, DSP), dedicated
Integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array
(Field-Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor are patrolled
Collect device, discrete hardware components etc..General processor can be microprocessor or the processor be also possible to it is any conventional
Processor etc..
In one embodiment, 30 calibrating position of motor when motor calibrating position information can power on for steering engine, the electricity
30 calibrating position of machine can be used as the base position of motor 30 after the calibration, no longer change, the position as gear set output shaft
The constant in the relational expression between the position of motor shaft 40 is set, motor 30 is calibrated again after next steering engine powers on
Generate new motor calibrating position information.
In one embodiment, after control module 70 receives the target position information that host computer is sent, according to the target position
Confidence ceases and by between the position of gear set output shaft determined by motor calibrating position information and the position of motor shaft 40
Relational expression determine the target position to be achieved of motor shaft 40, then control motor shaft 40 move to target position, the target
Position can be the incremental angle position of motor shaft 40, i.e. control module 70 can pass through the incremental angle position of acquisition motor shaft 40
It sets control motor shaft 40 to rotate preset incremental angle motor shaft 40 is made to turn to target position, which can
To be calculated by the relational expression between the position of said gear group output shaft and the position of motor shaft 40.
In one embodiment, the second encoder 60 is incremental encoder.Incremental encoder can be transported according to rotation
Movable property gives birth to signal, and graduated manner is that each pulse carries out incremental computations.Specifically, incremental encoder can be utilized directly
Photoelectric conversion exports three groups of square-wave pulse A, B and Z phases, and 90 degree of two group pulse phase difference of A, B to judge direction of rotation, passes through Z
Mutually to determine benchmarking.
In one embodiment, control module 70 receives the first location information and the second location information, and root
Motor calibrating position value is determined according to the first location information, the second location information,
Specifically, the first location information and the second location information is raw by preset motor calibration relation formula
At motor calibrating position value, the preset motor calibration relation formula are as follows:
A0=A2*K+A1；
Wherein, A0 is the real-time incremental positional value of motor shaft, and A2 is the angular positional value of gear set output shaft, and K is steering engine
Gear reduction ratio, A1 are motor calibrating position value.
Specifically, first sensor 51 incudes gear set output shaft when steering engine powers on, and it is defeated to generate gear set
The position signal of shaft 20 is sent to the first encoder 50, and the first encoder 50 records the angular positional value of gear set output shaft
A2, second encoder 60 record the real-time incremental positional value A0 of motor shaft, rudder by receiving the inductive signal of second sensor 61
Machine gear reduction ratio K can be obtained according to specific gear set, and A2 and A0 are substituted into preset motor calibration relation formula, can be with
Motor calibrating position value is calculated.
In one embodiment, it is defeated no longer to receive the first encoder 50 after determining 30 calibrating position of motor for control module 70
First location information out receives the first location information and the of the first encoder 50 output when next steering engine powers on
The second location information of two encoders 60 output generates the motor calibrating position information calibrated to steering engine position.
Fig. 2 is the structural schematic diagram for the helm gear that another embodiment of the utility model provides, as shown in Fig. 2, In
In one embodiment, the steering engine further include:
First sensor 51, for detecting the position of the gear set output shaft 20, and it is defeated to first encoder 50
First location information out, the first sensor 51 are electrically connected with the gear set output shaft 20.
In one embodiment, gear set output shaft 20 has magnetism, and first sensor 51 is set on a pcb board, wherein
First sensor 51 and gear set output shaft 20 are electrically connected, and magnetic conversion occurs during rotation for gear set output shaft 20,
First sensor 51 receives corresponding inductive signal, thus by magnetic field induction to the real time position of gear set output shaft 20 into
Row detection.
In one embodiment, the first sensor 51 is angular transducer.Angular transducer in the present embodiment is used
In detection angles.
In one embodiment, the gear set output shaft that angular transducer senses often turns over 1/16 circle, angular transducer
It is primary with regard to counting, when rotating in one direction, count increase, rotation direction change when, count reduce, wherein count with
The initial position of angular transducer is related, and by initializing to angular transducer, count value is arranged to 0.
Fig. 3 is the structural schematic diagram for the helm gear that another embodiment of the utility model provides.As shown in figure 3, angle
It spends sensor to be set on a pcb board, wherein the magnet that angular transducer is arranged with gear set output shaft 20 is oppositely arranged, and works as tooth
When wheel group output shaft 20 rotates, magnet movement is driven, to generate magnetic field change, angular transducer is incuded, angle passes
The angle change sensed is converted to electric signal and is sent to the first encoder 50 by sensor.
Referring to fig. 2, in one embodiment, the steering engine further include:
Second sensor 61 exports second for detecting the position of the motor shaft 40, and to the second encoder 60
Location information, the second sensor 61 are electrically connected with the motor shaft 40.
In the present embodiment, second sensor 61 is oppositely arranged with motor shaft 40, wherein motor shaft 40 is magnetic by having
Material preparation generates changes of magnetic field when motor shaft 40 rotates, so that second sensor 61 receives corresponding induction letter
Number, to generate second location information, which includes the second position signal for indicating the position of motor shaft.
In one embodiment, second sensor 61 is angular transducer.Angular transducer in the present embodiment is for examining
Measuring angle.
In one embodiment, the gear set output shaft that angular transducer senses often turns over 1/16 circle, angular transducer
It is primary with regard to counting, when rotating in one direction, count increase, rotation direction change when, count reduce, wherein count with
The initial position of angular transducer is related, and by initializing to angular transducer, count value is arranged to 0.
In one embodiment, second sensor 61 is set on a pcb board, wherein second sensor 61 and motor shaft 40
It is electrically connected, magnetic conversion occurs during rotation for motor shaft 40, and second sensor 61 is incuded, to be felt by magnetic field
The real time position of gear set output shaft 20 should be detected, and the changes of magnetic field of induction is converted into electric signal and is sent to second
Encoder 60.
Fig. 4 is the structural schematic diagram for the helm gear that another embodiment of the utility model provides.As shown in figure 4, angle
It spends sensor to be set on a pcb board, wherein the magnet that angular transducer is arranged with motor shaft 40 is oppositely arranged, when motor shaft 40
When rotation, magnet movement is driven, to generate magnetic field change, angular transducer is incuded, angular transducer will sense
Angle change be converted to electric signal and be sent to second encoder 60.
In a kind of helm gear provided by the embodiment of the utility model, the first encoder obtains gear when steering engine powers on
The location information of group output, second encoder obtain the location information of motor shaft, and control module receives the first location information
It is and defeated according to the first location information, the second location information and preset gear set with the second location information
Shaft and motor shaft position relational expression determine motor calibrating position information, to reach in electric motor starting to motor calibration bits confidence
The update of breath, control module be also used to receive host computer transmission target position information, and according to the target position information with
And the motor calibrating position information controls the motor shaft and moves to target position, so that steering engine can be to avoid passing through
Output shaft after multiple gear set rotations reduces the error of gear set diastema generation, solves due to tooth as reference position
Usually there is gap in the connection between wheel group, so as to cause diastema is generated after the transmission of several gear sets, lead to steering engine sensor
There is relatively large deviation in the position and theoretical mechanical location detected.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The foregoing is merely the alternative embodiments of the application, not to limit the application, all essences in the application
Made any modifications, equivalent replacements, and improvements etc., should be included within the scope of protection of this application within mind and principle.
Claims (10)
1. a kind of helm gear, including gear set, gear set output shaft, motor and motor shaft, which is characterized in that the steering engine
Device further include:
For obtaining the first encoder of first location information, the first location information includes the tooth when steering engine powers on
The angular positional value of wheel group output shaft, first encoder and the gear set export axis connection；
For obtaining the second encoder of second location information, the second location information includes the real-time incremental of the motor shaft
Positional value, the second encoder and the motor axis connection；And
For receiving the first location information and the second location information, and according to the first location information, described
Two location informations determine the control module of motor calibrating position information, the control module respectively with first encoder and
The second encoder connection.
2. helm gear as described in claim 1, which is characterized in that the motor shaft is equipped with for driving the gear set
The driving gear of rotation, the driving gear are connect with the electric machine shaft driving.
3. helm gear as claimed in claim 2, which is characterized in that the gear set includes:
First gear, the first gear and the driving gear are sequentially connected；And
Second gear, the second gear and the first gear are sequentially connected.
4. helm gear as claimed in claim 3, which is characterized in that the gear set output shaft and the second gear are driven
Connection.
5. helm gear as claimed in claim 3, which is characterized in that the driving gear and the first gear are twill
Gear.
6. helm gear as described in claim 1, which is characterized in that the control module includes the first printed circuit board and the
Two printed circuit boards；
The gear set output shaft and first encoder are electrically connected, and first encoder is set to the first printing electricity
Road plate；
The motor shaft and the second encoder are electrically connected, and the second encoder is set to second printed circuit board.
7. helm gear as described in claim 1, which is characterized in that the second encoder is incremental encoder.
8. helm gear as described in claim 1, which is characterized in that the helm gear further include:
For detecting the first sensor of the position of the gear set output shaft, and to first encoder output first position
Information, the first sensor and the gear set output shaft are electrically connected.
9. helm gear as claimed in claim 8, which is characterized in that the first sensor is angular transducer.
10. helm gear as described in claim 1, which is characterized in that the helm gear further include:
Second location information is exported for detecting the second sensor of the position of the motor shaft, and to the second encoder,
The second sensor and the motor shaft are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822129371.6U CN209562325U (en) | 2018-12-18 | 2018-12-18 | A kind of helm gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822129371.6U CN209562325U (en) | 2018-12-18 | 2018-12-18 | A kind of helm gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209562325U true CN209562325U (en) | 2019-10-29 |
Family
ID=68302705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822129371.6U Active CN209562325U (en) | 2018-12-18 | 2018-12-18 | A kind of helm gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209562325U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN113008131A (en) * | 2021-04-02 | 2021-06-22 | 深圳市集堃科技有限公司 | Motor position detection system and motor |
-
2018
- 2018-12-18 CN CN201822129371.6U patent/CN209562325U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN113008131A (en) * | 2021-04-02 | 2021-06-22 | 深圳市集堃科技有限公司 | Motor position detection system and motor |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20231212 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |