• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Pointing device formed by at least one train of epicyclic gears, having a first input shaft (1) connected to a first bevel gear (5), and a second input shaft (2) coaxial with the first and connected to a second conical gear (6). It also has a moving box (7) between the input shafts (1, 2), which has inside the first and second bevel gears (5, 6) and additionally a third and fourth bevel gear (8, 9) that rotate freely around a moving axis (10) perpendicular to the input shafts (1, 2), engaging the third and fourth bevel gears (8, 9) with the first and second bevel gears (5, 6). The device has an output element (3) rigidly fixed to the moving box (7). The input shafts (1, 2) are configured to rotate in a single direction continuously during pointing. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2677694A1
    申请号:ES201730134
    申请日:2017-02-06
    公开日:2018-08-06
    发明作者:Ángel Gaspar GONZÁLEZ RODRÍGUEZ；Antonio GONZÁLEZ RODRÍGUEZ；Fernando José Castillo García；Andrés SAN-MILLÁN RODRÍGUEZ
    申请人:Universidad de Castilla La Mancha；Universidad de Jaen；
    IPC主号:
    专利说明:

    5
    10
    fifteen
    twenty
    25
    30
    35
    POINTING DEVICE
    DESCRIPTION
    Field of the Invention
    The present invention belongs to the technical field of pointing and positioning, specifically to the fine aiming of actuators and sensors for robotics and other applications that require high precision, and more specifically to the fine aiming of actuators and sensors that must be moved both high and low. speeds. The invention relates in particular to a pointing device which is formed by an epicyclic gear train, with two coaxial input shafts driven by two motors and a set of conical gears that transmit the movement of the input shafts to an element of output to which the element on which the pointing is made is attached. The input shafts are configured to rotate in a single direction continuously during pointing.
    Background of the invention
    At present there are countless devices and systems of pointing and positioning, dedicated to the control and movement of all types of actuators and sensors, especially in the field of robotics. Examples of these elements that have to be targeted by a fine adjustment can be cameras, different types of mobile sensors, carriers of laser emitters, etc.
    All these devices and current pointing systems present problems in their start and stop or when they are tried to control at speeds much smaller than the optimum speeds for which their motorization has been designed, thus providing less torque in these conditions outside of design. These problems come mainly because these aiming systems need to be moved at high speed, but also at low speed, or because they need to be continuously starting and stopping. In addition, these actuator means of these pointing systems provide precision errors caused by the
    5
    10
    fifteen
    twenty
    25
    30
    35
    inherent clearance of couplings and gears when there is a change in the direction of movement. Therefore it is very complicated to get a fine adjustment.
    To try to solve this problem at present, the degrees of freedom and its motorizations are doubled, so that they act redundantly. In this way, a large power motor can be used to move the assembly in general, and also a second slower motor and generally with a low load capacity, to achieve fine adjustment. This type of action can be observed in the aiming of precision cameras, in which a first motor of greater capacity will move the set, and additionally there are redundant motorizations that make a fine adjustment.
    These systems usually present numerous problems, since the engines intended for fine adjustment tend to have a low range of working angles and also provide very limited torques. In addition, even these motors have low linear operating ranges for low speeds that greatly hinder their control. Another problem is when if instead of wanting to point or position a camera you want to point a much heavier object, such as a canon or a large antenna. In this case, the aiming would be much more complicated, and even the fine-tuning motor might not provide the necessary torque to move that heavy object.
    It was therefore desirable a device that would provide a fine aiming and with sufficient capacity avoiding the inconveniences existing in the previous state of the art pointing systems.
    Description of the invention
    The present invention solves the problems existing in the state of the art by means of a pointing device made by at least one epicyclic gear train.
    The epicyclic gear train has a first input shaft driven by a first motor and rigidly connected to a first conical gear, and a second input shaft coaxial with the first input shaft, driven by a second motor and
    5
    10
    fifteen
    twenty
    25
    30
    35
    rigidly connected to a second conical gear. The epicyclic gear train additionally has a mobile box arranged between the first input shaft and the second input shaft. Inside the mobile box are arranged the first conical gear and the second conical gear mentioned above, together with a third conical gear and a fourth conical gear, which rotate freely around a mobile shaft arranged inside the mobile box , which is perpendicular to the input axes. By this arrangement the third conical gear and the fourth conical gear engage with the first conical gear and with the second conical gear.
    An output element is rigidly fixed to the mobile box, so that the movement of the input shafts driven by the motors is transmitted by the conical gears to said output element fixed to the mobile box.
    In the epicyclic gear train of the present invention the first motor drives the first input shaft in such a way that it rotates in a single direction continuously during its drive, and likewise the second motor drives the second input shaft in such a way that this rotates in a single direction continuously during operation.
    Thus, the present invention consists in using epicycloidal gears for obtaining a precise positioning or pointing device. By means of the device of the present invention, the problems of the mechanisms existing in the state of the art are avoided, which basically consist of precision errors caused by the clearance of the couplings in the transmissions when there is a change in the direction of movement, and a worse behavior at very low speeds of the system to be positioned. This is achieved by the two input shafts that rotate continuously in a single direction and at speeds close to the nominal, which avoids the problems mentioned above.
    In this way, the speed, and therefore the position of the output element will depend on the speed difference between the input axes.
    According to a particular embodiment of the invention, the first motor and the second motor are geared motors.
    5
    10
    fifteen
    twenty
    25
    30
    35
    Brief description of the drawings
    Next, to facilitate the understanding of the invention, by way of illustration but not limitation, an embodiment of the invention will be described that refers to a series of figures.
    Figure 1 is a schematic view of the epicyclic gear train of the pointing device of the present invention.
    Figure 2 is a perspective view of the epicyclic gear train of the pointing device of Figure 1.
    In these figures reference is made to a set of elements that are:
     one.  first input shaft
     2.  second input shaft
     3.  first engine
     Four.  second engine
     5.  first conical gear
     6.  second conical gear
     7.  mobile box
     8.  third conical gear
     9.  fourth conical gear
     10.  mobile axis
     eleven.  chassis
     12.  output element
    Detailed Description of the Invention
    The object of the present invention is a pointing device.
    As can be seen in the figures, the pointing device has at least one epicyclic gear train, which in turn has a first input shaft 1, which is driven by a first motor 3 and is rigidly connected to a first conical gear 5, and a second input shaft 2, which is coaxial with
    5
    10
    fifteen
    twenty
    25
    30
    35
    The first input shaft 1 is driven by a second motor 4, and is rigidly connected to a second conical gear 6.
    As the figures show, additionally the gear train has a mobile box 7 which is arranged between the first input shaft 1 and the second input shaft 2, inside which the first and second conical gears 5.6 mentioned above are arranged. , together with a third conical gear 8 and a fourth conical gear 9, which rotate freely around a mobile axis 10 perpendicular to the first and second input shafts 1,2. By this arrangement the third conical gear 8 and the fourth conical gear 9 engage with the first conical gear 5 and with the second conical gear 6.
    The epicyclic gear train also has an output element 12 that is rigidly fixed to the mobile box 7, on which the element to be positioned or pointed is arranged. In this way, the movement of the input shafts 1,2 driven by the motors 3,4 is transmitted by the conical gears 5,6,8,9 to the output element 12 fixed to the mobile box 7, achieving the movement of is.
    In the present invention the epicyclic gear train is configured so that the first input shaft 1 rotates in a single direction continuously during its drive and the second input shaft 2 also rotates in a single direction continuously during its drive.
    Thus, to generate the movement, the device requires the two motorized 1.2 input axes, these 1.2 input axes having a similar torque and speed. Thus, the movement of the device could be controlled by varying the speed of both input axes 1,2, or by keeping one of the motors constant, by means of a flywheel for example, and only varying the speed of the other motor.
    The device is fixed rigidly to the place where it is installed (for example the ground, or a vehicle) by means of a chassis 11.
    The epicyclic gear train is governed by the Willis equation, which for the case shown in Figures 1 and 2 takes the form:
    5
    10
    fifteen
    twenty
    25
    30
    35
    W'4 W ^ 2 “W, ri2 Wg
    Where:
    W4 is the speed of the second motor 4
    W3 is the speed of the first engine 3
    W12 is the speed of the output element 12.
    To keep the static output element, that is wi2 = 0, one solution would obviously be to keep the 3.4 motors static, that is: W4 = W3 = 0, but there is also another solution that would be to turn both motors with speeds at opposite directions but of the same module, for example W4 = 300 rad / s and W3 = -300 rad / s. In this case, it would be convenient if these angular speeds of rotation were at the center of the optimum operating range of the motors, and where their control was easier. In this way, the output element 12 will also remain static.
    Therefore, to maintain the static output element 12, it is necessary that the conical gears 5,6,8,9 mounted on the mobile shaft 10 rotate without the mobile shaft 10 doing so, for which the motors 3,4 have of having speeds of the same module and opposite sign. If a motor is delayed or slightly ahead of the other, the mobile shaft 10 will rotate slowly to accommodate that imbalance, and that rotation will be used to give movement to the output element 12.
    In this way, the utility of the invention will be manifested if it is desired to initiate a movement with a very low speed. For example, if with a single AC motor designed to work in the range of 300 rad / s, it is desired to start a movement at 1 rad / s, problems of control and operation arise, since the frequency inverters do not they can control movements at such a low frequency, and the entire system will be operating in a situation very different from that of optimal operation.
    However, by means of the device of the present invention with two 3,4 engines, operation and control will be obtained in the following way: on the basis that
    5
    10
    fifteen
    twenty
    25
    30
    3.4 engines are turning at 300 rad / s only a slight algebraic increase in both 3.4 engines will have to be made, so that the speed of one of the engines will pass from 300 rad / s to 301 rad / s , while the other pass from -300 rad / s to -299 rad / s, feasible and simple operation since the 3.4 engines will be in their range of more linear operation and easier controllability. This algebraic increase implies an increase in magnitude of the positive velocity, and a decrease in magnitude for the negative velocity. Assuming that the speeds W4 and W3 are equal in magnitude and of the opposite sign, and that they increase algebraically by a certain amount Aw, the Willis equation would be for this case:
    (w4 + Aur) - = (h'12) - (wr3 -I- Anr) => Aw-r = w12
    That is, to achieve a positive movement at wio = 1 rad / s, the difference between the speed modules of both input motors 3.4 must be 2 rad / s. The same result could be achieved by keeping one of the engines at -300 rad / s, and raising the other to 302 rad / s.
    To achieve a small output speed Ws that makes the system easily controllable, a conventional system with an input motor with nominal speed of wn = 300 rad / s coupled to a conventional 300: 1 ratio reducer will lead to serious problems, first at startup, this is always difficult to control by the construction of the engine itself, or by the passage of a static coefficient of friction to a dynamic one.
    Another problem with conventional systems is that the gearbox would greatly limit the range of maximum speeds of the output element. If it is assumed, for example, that the maximum operating speed is twice the nominal speed, the solution of the 300: 1 gearbox leaves it at 2 rad / s the maximum speed of the output element. This reduced value would be insufficient for many applications such as the pointing of different cameras.
    These problems do not arise with the epicyclic gear train of the present invention with two input engines 3,4, with which the maximum speed of the
    The output element would be the same as that of the individual 3.4 input motors, and to obtain it they will only have to be turned in the same direction.
    According to a particular embodiment of the invention, the first motor 3 and the 5 second motor 4 may be gearmotors, which are better adapted to the conditions of maximum speed and torque necessary for the application to be considered. The use of gearmotors in the input motors 3,4 is free from the disadvantages of the traditional use of gearmotors in conventional motor systems. Indeed, the typical use of gearmotors leads to a loss of
    10 precision and repeatability when the direction of rotation is changed, due to the play between gears and the accommodation in the torque angle of the synchronous motors. In the particular embodiment of the present invention of use of gearmotors in the input motors 3,4, the direction of rotation of said motors 3,4 is always the same in precision positions, whereby said inaccuracy disappears.
    fifteen
    Once the invention is clearly described, it is noted that the particular embodiments described above are subject to modifications in detail as long as they do not alter the fundamental principle and the essence of the invention.
    权利要求:
    Claims (2)
    [1]
    5
    10
    fifteen
    twenty
    25
    30

    1. Aiming device, characterized in that
    - comprises at least one epicyclic gear train, which in turn comprises
    - a first input shaft (1) driven by a first motor (3) and connected rigidly to a first conical gear (5),
    - a second input shaft (2) coaxial with the first input shaft (1), driven by a second motor (4) and rigidly connected to a second conical gear (6),
    - a mobile box (7) arranged between the first input shaft (1) and the second input shaft (2), inside which are arranged
    - the first conical gear (5) and the second conical gear (6),
    - and a third conical gear (8) and a fourth conical gear (9) that rotate freely around a movable axis (10) perpendicular to the first input shaft (1) and the second input shaft (2),
    gearing the third conical gear (8) and the fourth conical gear (9) with the first conical gear (5) and with the second conical gear (6),
    - and an output element (3) rigidly attached to the mobile box (7),
    such that the movement of the input shafts (1,2) driven by the motors (3,4) is transmitted by the conical gears (5,6,8,9) to the output element (3) fixed to the mobile box (7),
    - and why the epicyclic gear train is configured so that the first input shaft (1) rotates in a single direction continuously during its drive and the second input shaft (2) rotates in a single direction continuously during its drive.
    [2]
    2. A pointing device, according to claim 1, characterized in that the first motor (3) and the second motor (4) consist of geared motors.
    类似技术:
    公开号 | 公开日 | 专利标题
    ES2289501T3|2008-02-01|FOUR RAMAS DIFFERENTIAL TRANSMISSION SYSTEMS.
    JP2014145479A|2014-08-14|Speed reducer
    ES2560811T3|2016-02-22|Transmission system
    GB2277562A|1994-11-02|Transmission whose ratio is changed by changing the rotational direction of the input to the transmission
    ES2684822T3|2018-10-04|Test bench and method to test gearboxes
    JP2009297793A|2009-12-24|Parallel mechanism
    EP1890055A4|2009-10-21|Power transmission device, and display device and display panel pedestal that have the power transmission device
    JP6486904B2|2019-03-20|Abduction cycloid gear train
    US20180172112A1|2018-06-21|Epicyclic gear train
    ES2677694A1|2018-08-06|POINT OF DEVICE |
    ES2337812T5|2013-12-27|Telescope mount
    JP2011094658A|2011-05-12|Direct advance/rotation mechanism
    KR101820620B1|2018-01-19|Rotation drive device
    JP5205504B2|2013-06-05|Parallel mechanism
    JP4743874B2|2011-08-10|Electric rotary actuator
    WO2012107621A1|2012-08-16|Positioning device for parabolic trough collectors and parabolic trough collector incorporating said positioning device
    CN213206467U|2021-05-14|Regulation formula mechanical transmission supporting seat
    KR20130094076A|2013-08-23|Pitch drive apparatus and wind turbine generator having the same
    US5474504A|1995-12-12|Asymmetric planetary gear variable speed transmission
    EP2410207B1|2013-03-13|Automatic multi-speed gear system
    KR20170071055A|2017-06-23|Harmonic drive having improved back drivabilituy, driving module comprising the harmonic drive and method for controlling the driving module
    KR20130029164A|2013-03-22|Driving universial joint for solar tracker
    US20180023668A1|2018-01-25|Panel driving device and heliostat
    JP6568381B2|2019-08-28|Gear mechanism and hand mechanism that can extract power from multiple directions
    ES1154635U|2016-04-18|Gear transmission with clearance suppression |
    同族专利:
    公开号 | 公开日
    ES2677694B2|2019-02-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0195393A2|1985-03-19|1986-09-24|Naotake Mohri|Differential actuator|
    US4762016A|1987-03-27|1988-08-09|The Regents Of The University Of California|Robotic manipulator having three degrees of freedom|
    US5875685A|1997-03-31|1999-03-02|Hughes Electronics Corporation|Multi-axis positioner with base-mounted actuators|
    EP2740970A1|2011-08-04|2014-06-11|Kabushiki Kaisha Yaskawa Denki|Composite drive device and robot|
    EP2759743A1|2013-01-28|2014-07-30|Eunseok Yoon|Speed reducer|
    法律状态:
    2018-08-06| BA2A| Patent application published|Ref document number: 2677694 Country of ref document: ES Kind code of ref document: A1 Effective date: 20180806 |
    2019-02-06| FG2A| Definitive protection|Ref document number: 2677694 Country of ref document: ES Kind code of ref document: B2 Effective date: 20190206 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201730134A|ES2677694B2|2017-02-06|2017-02-06|POSITIONING DEVICE|ES201730134A| ES2677694B2|2017-02-06|2017-02-06|POSITIONING DEVICE|
    [返回顶部]