CN108544486A - A kind of multi-spindle machining hand with reluctance servo motor - Google Patents
A kind of multi-spindle machining hand with reluctance servo motor Download PDFInfo
- Publication number
- CN108544486A CN108544486A CN201810276746.3A CN201810276746A CN108544486A CN 108544486 A CN108544486 A CN 108544486A CN 201810276746 A CN201810276746 A CN 201810276746A CN 108544486 A CN108544486 A CN 108544486A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- reluctance servo
- mechanical arm
- rotating roller
- reluctance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of multi-spindle machining hands with reluctance servo motor, it includes hollow pedestal, base top center offers a circular groove, lower bearing is provided on circular groove, a rotating roller is vertically connected in lower bearing, the bottom of rotating roller is located in pedestal, extend base top at the top of rotating roller, a reluctance servo motor is provided in pedestal, reluctance servo motor connects rotating roller and rotating roller is driven to rotate, a rotating cylinder is provided in rotating roller, rotating cylinder can be rotated with rotating roller, rotating cylinder top is provided with mechanical arm, the front end of mechanical arm is provided with mechanical grip；Reluctance servo motor is manipulated using control system.The present invention is acted using Multi-shaft mechanical arm, has many advantages, such as flexible movements, captures efficiency；The manipulator of the present invention is controlled using reluctance servo motor, and reluctance servo motor is manipulated using control system, and control system greatly improves the speed of control system, keeps the work of manipulator more sensitive.
Description
Technical field
The present invention relates to a kind of manipulator, specially a kind of multi-spindle machining hand with reluctance servo motor.
Background technology
Manipulator industrially acts on various fields, has a wide range of applications, and can be flowed in all trades and professions
Grabbing workpiece uses on waterline；Manipulator is controlled usually using servo motor or air pump；Earliest servo-control system
Mode mainly is phoresied using electro-hydraulic position, although this mode is simple, technological requirement is high, maintenance cost is high, noise is big
And the flexibility of control is also bad, therefore replaced by DC servo control system in the 1960s, DC servo control
The shortcomings that system processed has the advantages such as simple in structure, speed-regulating range width, stability height, but it also is difficult to overcome, such as direct current
The fever of servo motor rotor winding is big, will produce electric spark using mechanical commutation, it is difficult to be operated in inflammable, explosive yard
It closes, complicated, manufacture is difficult, of high cost etc..AC servo control system mainly has induction asynchronous machine and switch magnetic at present
Hinder motor AC servo-control system two major classes.Incude the manufacture of asynchronous servo motor be easy, price it is low, need not make special must tie up
Shield, is generally used the Novel Controls such as vector controlled, Direct Torque Control, it is easy to realize wide scope in control method
Speed governing.But its rotor heat dissipation is relatively difficult, and resistance is influenced by temperature larger, seriously affects field orientation and built number
The accuracy of model is learned, the raising of servo-control system performance is limited.
Invention content
In order to overcome the above problem, the present invention to provide a kind of multi-spindle machining hand with reluctance servo motor.
The technical solution of the present invention is to provide a kind of multi-spindle machining hands with reluctance servo motor comprising hollow bottom
Seat, it is characterised in that：The base top center offers a circular groove, and lower bearing, the lower bearing are provided on the circular groove
It is inside vertically connected with a rotating roller, the bottom of the rotating roller is located in the pedestal, extends institute at the top of the rotating roller
Base top is stated, a reluctance servo motor is provided in the pedestal, the reluctance servo motor connects the rotating roller and drives
The dynamic rotating roller rotates, and is provided with a rotating cylinder in the rotating roller, the rotating cylinder can be rotated with the rotating roller, institute
It states rotating cylinder top and is provided with mechanical arm, the front end of the mechanical arm is provided with mechanical grip；The reluctance servo motor uses
Control system is manipulated, and the control system includes microprocessor, and the microprocessor uses biplate complex programmable logic
Combination of devices connects main winding to form high-speed figure control structure for completing combinatorial logic unit function, the microprocessor
Power inverter connects magnetic levitation switch magnetic resistance by main winding PWM controls isolation and driving, the main winding power inverter
Servo motor；The Complex Programmable Logic Devices connects suspending windings power inverter, passes through suspending windings PWM control drivings
And protection, the suspending windings power inverter connect the magnetic levitation switch reluctance servo motor.
Further, the microprocessor is made of high-speed dsp chip.
Further, the magnetic levitation switch reluctance servo motor detects the microprocessor using rotor-position.
Further, the magnetic levitation switch reluctance servo motor is using complex programmable logic described in suspension displacement detecting
Device.
Further, the main winding power inverter is detected using main winding and bus current.
Further, the suspending windings power inverter uses suspending windings current detecting.
Further, the mechanical arm includes the first mechanical arm and second mechanical arm being connected with each other, first machinery
Arm connects the rotating cylinder and can be with the rotating cylinder or so reciprocally swinging.
Further, the second mechanical arm can be swung up and down with the first mechanical arm, the second mechanical arm
Front end connects the mechanical grip.
The beneficial effects of the invention are as follows：A kind of multi-spindle machining hand getting multiaxis machine with reluctance servo motor of the present invention
Tool arm is acted, and has many advantages, such as flexible movements, captures efficiency；The manipulator of the present invention is controlled using reluctance servo motor
System, reluctance servo motor are manipulated using control system, and control system, as microprocessor, is used using high-speed dsp chip
Complex programmable logic gate array（CPLD）It completes combinatorial logic unit function, constitutes digital composite control system, carry significantly
The speed of high control system.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the schematic diagram of the function of the control system of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Specific embodiment is closed, the present invention is further explained.
As depicted in figs. 1 and 2, a kind of multi-spindle machining hand with reluctance servo motor of the invention comprising hollow
Pedestal 1,1 top center of pedestal offer a circular groove, and lower bearing 11 is provided on circular groove, a rotation is vertically connected in lower bearing 11
The bottom of transfer roller 2, rotating roller 2 is located in pedestal 1, and 1 top of pedestal is extended at the top of rotating roller 2, and a magnetic is provided in pedestal 1
Servo motor 3 is hindered, reluctance servo motor 3 connects rotating roller 2 and rotating roller 2 is driven to rotate, and a rotating cylinder is provided in rotating roller 2
21, rotating cylinder 21 can be rotated with rotating roller 2, and 21 top of rotating cylinder is provided with mechanical arm, and the front end of mechanical arm is provided with machinery
Clamping jaw 5；Reluctance servo motor 3 is manipulated using control system, and control system includes microprocessor, and microprocessor uses biplate
Complex Programmable Logic Devices combination is used to complete combinatorial logic unit function, microprocessor to form high-speed figure control structure
Main winding power inverter is connected, by main winding PWM controls isolation and driving, the connection magnetic suspension of main winding power inverter is opened
Close reluctance servo motor；Complex Programmable Logic Devices connects suspending windings power inverter, is driven by suspending windings PWM controls
Dynamic and protection, suspending windings power inverter connect magnetic levitation switch reluctance servo motor.
In a preferred embodiment of the present invention, microprocessor is made of high-speed dsp chip.
In a preferred embodiment of the present invention, magnetic levitation switch reluctance servo motor detects microprocessor using rotor-position
Device.
In a preferred embodiment of the present invention, magnetic levitation switch reluctance servo motor can be compiled using suspension displacement detecting complexity
Journey logical device.
In a preferred embodiment of the present invention, main winding power inverter is detected using main winding and bus current, is suspended
Winding power converter uses suspending windings current detecting；High-speed figure control structure connects system, using system protection, high speed
Digital control structure connection display and man-machine interface.
In a preferred embodiment of the present invention, mechanical arm includes the first mechanical arm 4 and second mechanical arm 41 of interconnection,
First mechanical arm 4 connects rotating cylinder 21 and can be with 21 or so reciprocally swinging of rotating cylinder.
In a preferred embodiment of the present invention, second mechanical arm 41 can be swung up and down with first mechanical arm 4, the second machinery
The front end of arm 41 connects mechanical grip 5.
A kind of multi-spindle machining hand getting with reluctance servo motor of the present invention is acted with Multi-shaft mechanical arm, is had dynamic
The advantages that work is flexible, crawl efficiency；The manipulator of the present invention is controlled using reluctance servo motor 3, and reluctance servo motor 3 is adopted
It is manipulated with control system, control system uses high-speed dsp chip as microprocessor, using complex programmable logic gate array
Row（CPLD）It completes combinatorial logic unit function, constitutes digital composite control system, greatly improve the speed of control system.
The above example only one such embodiment of the present invention, the description thereof is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of multi-spindle machining hand with reluctance servo motor comprising hollow pedestal, it is characterised in that：The pedestal top
Portion center offers a circular groove, and lower bearing is provided on the circular groove, and a rotating roller is vertically connected in the lower bearing, described
The bottom of rotating roller is located in the pedestal, extends the base top at the top of the rotating roller, is arranged in the pedestal
There are a reluctance servo motor, the reluctance servo motor to connect the rotating roller and the rotating roller is driven to rotate, the rotation
A rotating cylinder is provided on roller, the rotating cylinder can be rotated with the rotating roller, and the rotating cylinder top is provided with mechanical arm,
The front end of the mechanical arm is provided with mechanical grip；The reluctance servo motor is manipulated using control system, the control
System includes microprocessor, and the microprocessor combines to form high-speed figure control using biplate Complex Programmable Logic Devices
Structure connects main winding power inverter, is controlled by main winding PWM for completing combinatorial logic unit function, the microprocessor
System isolation and driving, the main winding power inverter connect magnetic levitation switch reluctance servo motor；The complex programmable is patrolled
It collects device and connects suspending windings power inverter, by suspending windings PWM controls driving and protection, the suspending windings power change
Parallel operation connects the magnetic levitation switch reluctance servo motor.
2. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：Micro- place
Reason device is made of high-speed dsp chip.
3. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：The magnetcisuspension
Floation switch reluctance servo motor detects the microprocessor using rotor-position.
4. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：The magnetcisuspension
Floation switch reluctance servo motor is using Complex Programmable Logic Devices described in suspension displacement detecting.
5. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：The master around
Group power inverter is detected using main winding and bus current.
6. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：The suspension
Winding power converter uses suspending windings current detecting.
7. a kind of multi-spindle machining hand with reluctance servo motor according to claim 1, it is characterised in that：The machinery
Arm includes the first mechanical arm and second mechanical arm being connected with each other, and the first mechanical arm connects the rotating cylinder and can be with institute
State rotating cylinder or so reciprocally swinging.
8. a kind of multi-spindle machining hand with reluctance servo motor according to claim 7, it is characterised in that：Described second
Mechanical arm can be swung up and down with the first mechanical arm, and the front end of the second mechanical arm connects the mechanical grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810276746.3A CN108544486A (en) | 2018-03-30 | 2018-03-30 | A kind of multi-spindle machining hand with reluctance servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810276746.3A CN108544486A (en) | 2018-03-30 | 2018-03-30 | A kind of multi-spindle machining hand with reluctance servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544486A true CN108544486A (en) | 2018-09-18 |
Family
ID=63517475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810276746.3A Pending CN108544486A (en) | 2018-03-30 | 2018-03-30 | A kind of multi-spindle machining hand with reluctance servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544486A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216137A (en) * | 2020-03-21 | 2020-06-02 | 成都智创利源科技有限公司 | Servo driving system and control method for transfer robot |
| CN111975726A (en) * | 2020-08-29 | 2020-11-24 | 温州宇岚科技有限公司 | Intelligent operation room shift unit |
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| CN203875677U (en) * | 2014-04-16 | 2014-10-15 | 包文杰 | Feeding and discharging manipulator |
| CN205734917U (en) * | 2016-05-05 | 2016-11-30 | 四川大学 | A kind of mechanical hand based on rope body pulling force transmission |
| CN206011071U (en) * | 2016-08-26 | 2017-03-15 | 广州市吉峰金属塑胶制品有限公司 | A kind of six-shaft industrial robot |
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| CN206296923U (en) * | 2016-11-09 | 2017-07-04 | 武汉海默机器人有限公司 | A kind of robot based on gyroscope control |
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-
2018
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Patent Citations (7)
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| CN203875677U (en) * | 2014-04-16 | 2014-10-15 | 包文杰 | Feeding and discharging manipulator |
| CN205734917U (en) * | 2016-05-05 | 2016-11-30 | 四川大学 | A kind of mechanical hand based on rope body pulling force transmission |
| CN206011071U (en) * | 2016-08-26 | 2017-03-15 | 广州市吉峰金属塑胶制品有限公司 | A kind of six-shaft industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216137A (en) * | 2020-03-21 | 2020-06-02 | 成都智创利源科技有限公司 | Servo driving system and control method for transfer robot |
| CN111975726A (en) * | 2020-08-29 | 2020-11-24 | 温州宇岚科技有限公司 | Intelligent operation room shift unit |
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| PB01 | Publication | ||
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Application publication date: 20180918 |