CN109962594A - Double output shaft servo motor for robot - Google Patents
Double output shaft servo motor for robot Download PDFInfo
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- CN109962594A CN109962594A CN201910369112.7A CN201910369112A CN109962594A CN 109962594 A CN109962594 A CN 109962594A CN 201910369112 A CN201910369112 A CN 201910369112A CN 109962594 A CN109962594 A CN 109962594A
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- armature winding
- stator
- robot
- servo motor
- rotor
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- 238000004804 winding Methods 0.000 claims abstract description 63
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 230000005669 field effect Effects 0.000 claims description 29
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 21
- 238000001914 filtration Methods 0.000 claims description 14
- 239000003990 capacitor Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 6
- 239000004615 ingredient Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 1
- 238000003860 storage Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241000237509 Patinopecten sp. Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 235000020637 scallop Nutrition 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A kind of double output shaft servo motor for robot, it includes pedestal and the shell matched with the periphery of pedestal to form the first cavity except pedestal and in shell, the rotor for being provided with the first stator in first cavity and being arranged in the cavity of the first stator formation, rotor is fixed on the axis for being set to rotor center, and the axis is stretched out from the both ends of shell；First stator includes the first stator core and multiple first armature winding and multiple second armature winding, multiple first pole shoes that first stator core has the radially-inwardly prominent of outer shell and is circumferentially equidistantly spaced from, multiple first armature winding and multiple second armature winding are wrapped on the first pole shoe；The rotor includes the multiple magnetic poles being circumferentially equidistantly spaced from along shell, it is characterized in that, the second cavity is formed in pedestal, the second stator is provided in the second cavity, second stator includes the second stator core and multiple third armature winding, second stator core has multiple second pole shoes for projecting radially outwardly and being circumferentially equidistantly spaced from along shell, and multiple third armature winding are wrapped on the second pole shoe.It is light-weight provided by the present invention for the double output shaft servo motor of robot, the mechanical arm of robot can be made to balance installation.
Description
Technical field
The present invention relates to a kind of double output shaft servo motors for robot, belong to technical field of motors.
Background technique
The robot provided in the prior art includes manipulator and controller, and the manipulator is connected with each other with multiple,
And it can rotate or curved mechanical arm, each mechanical arm include linkage component and articulation mechanism.It is arranged in articulation mechanism
There is servo motor, the servo motor for the robot that the prior art provides is mostly uniaxial output, for the rotation for making servo motor actuating arm
Turn, when the rotary shaft of swing arm is vertical with the axis of opposing stationary arm, servo motor is set to the side of arm, it is thus desirable to
Consider the equilibrium problem of robot.
Summary of the invention
To overcome disadvantage of the existing technology, goal of the invention of the invention is to provide a kind of dual output for robot
Axis servo motor, using the robot of the servo motor of double output shaft, balance is good, and the servo motor is light-weight.
To realize that the goal of the invention, the present invention provide a kind of double output shaft servo motor for robot comprising
Pedestal and the shell matched with the periphery of pedestal are to form the first cavity, setting in the first cavity except pedestal and in shell
The rotor for having the first stator and being arranged in the cavity of the first stator formation, rotor are fixed on the axis for being set to rotor center,
The axis is stretched out from the both ends of shell；First stator includes the first stator core and multiple first armature winding and multiple the
Two armature winding, first stator core have radially-inwardly protruding and being circumferentially equidistantly spaced from multiple along shell
First pole shoe, multiple first armature winding and multiple second armature winding are wrapped on the first pole shoe；The rotor includes along shell
Multiple magnetic poles that body is circumferentially equidistantly spaced from, form the second cavity in pedestal, and the second stator, institute are provided in the second cavity
Stating the second stator includes the second stator core and multiple third armature winding, and second stator core has the radial direction along shell
Multiple second pole shoes for protruding outward and being circumferentially equidistantly spaced from, multiple third armature winding are wrapped on the second pole shoe.
Preferably, apply the first AC energy to the first armature winding, form rotating excitation field to drive rotor to rotate；From
The second AC energy is incuded in three winding, is improved the third AC energy and be applied to the second armature winding, utilizes
The magnetomotive force that two armature winding generate slacken the first armature winding generate the raw magnetomotive high order of magnetic and/or low order magnetomotive force at
Point.
Preferably, the rotor includes being staggered in N polarity and the polar permanent magnet of S, and each permanent magnet has base
Portion and from the part that base portion extends, base portion is substantially perpendicular to the cener line of armature spindle, at least from the part that base portion extends
It is partly parallel to cener line, forms a cavity from the part that base portion extends to accommodate the second stator at least partly.
Preferably, each permanent magnet is in the form of an " L ".
Preferably, double output shaft servo motor further includes power supply circuit, and power supply circuit is included at least by will directly rectify filter filter
The voltage that the voltage that circuit generates is supplied directly to the direct-furnish circuit of the driving circuit of motor and generates straight rectification filter filter circuit
The liter circuit to boost.
Preferably, DC converting circuit includes field-effect tube Q1, field-effect tube Q2, field-effect tube Q4, inductance L1, diode
D1, diode D2 and capacitor C1, wherein the drain electrode of field-effect tube Q1 is connected to the first output end of current rectifying and wave filtering circuit 22, source
Pole is connected to the first end of inductance L1, and grid is connected to power-supply controller of electric 25, provides pulse width to it by power-supply controller of electric 25
Modulated signal or Continuity signal；The second end of inductance L1 is connected to the first end of diode D2, the second end connection of diode
Direct current energy is provided in the first end of capacitor C1, and to driving circuit (23)；The second end of capacitor C1 is connected to publicly.Field effect
Should the drain electrode of pipe Q2 be connected to the second end of inductance L1, source electrode is connected to publicly, and grid is connected to power-supply controller of electric 25, by electricity
Source controller 25 provides a pulse width modulating signal to it.
The drain electrode of field-effect tube Q4 is connected to the source electrode of field-effect tube Q1, and drain electrode is connected to the second end of diode D2, grid
Pole is connected to power-supply controller of electric 25, provides the control signal of an on-off to it by power-supply controller of electric 2.
Preferably, driving circuit includes at least frequency identification unit and phase angle adjustment unit, and frequency identification unit is according to electricity
The motor position signal that the position detection unit of motivation provides identifies magnetomotive frequency content, to provide to phase angle adjustment unit
One control signal makes phase angle adjustment unit provide the second driving current to the second armature winding being arranged on the first stator,
Make to offset the low-order harmonic for being supplied to the first armature winding due to being applied with driving current generation.
Preferably, double output shaft servo motor further includes recognition unit, according to input speed signal and torque instruction, and
The torque instruction according to speed signal calculates the rotor inertia of motor and being used to for the rigid body being mounted on motor load
The aggregate value J and viscous friction coefficient D of amount.
Preferably, double output shaft servo motor further includes control signal generation unit, is referred to according to recognition unit and position
Value is enabled to generate correction signal Ff.
Preferably, correction signal is obtained by following formula:
Ff=AJP "ref+BDPr′ef
In formula, A and B are constant, P "refFor 2 rank differential of position command value；P′refFor 1 rank differential of position command value.
Compared with prior art, the iron core of double output shaft servo motor provided by the invention does not need to be made into lamination, weight
Gently, good using the robot balance of double output shaft.
Detailed description of the invention
Fig. 1 is the composition schematic diagram provided by the present invention for the double output shaft servo motor of robot；
Fig. 2 be along Fig. 1 AB perpendicular to the schematic cross-section of servo motor axial direction；
Fig. 3 is servo motor power supply circuit provided by the invention；
Fig. 4 is the driving circuit composition block diagram of servo motor provided by the invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, it for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected, be also possible to
It is connected directly, can also can also be the connection inside two elements, for the general of this field indirectly connected through an intermediary
For logical technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is the longitudinal sectional view provided by the present invention for the double output shaft servo motor of robot.Fig. 2 is along Fig. 1
Middle AB line perpendicular to servo motor axial direction schematic cross-section, as shown in Figs. 1-2, double output shaft servo motor provided by the invention
Including pedestal 5 and the shell matched with the periphery of pedestal 56 to form the first cavity 7, the first cavity 7 in pedestal and shell 6
The rotor 8 for being inside provided with the first stator 9 and being arranged in the cavity of the first stator formation, first stator include the first stator
Iron core 13 and multiple first armature winding and multiple second armature winding, first stator core have along shell it is radial to
Interior protrusion and multiple first pole shoes being circumferentially equidistantly spaced from, multiple first armature winding and multiple second armature winding twine
It is wound on the first pole shoe；The rotor 8 is fixed on the axis 4 for being set to rotor center, and the axis 4 is stretched out from the both ends of shell 6.
First stator 9 is set to the periphery of rotor 8.6 inner surface of shell has multiple recesses, first stator core and shell
At least part of 6 inner surfaces connects.
The axially disposed through-hole having for installing armature spindle 4 of pedestal 5, through-hole are interior at least provided with two bearing 1A
And 1B, armature spindle 4 are installed on pedestal 5 by bearing 1A and 1B, rotor 8 is installed on armature spindle 4.That is, bearing 1A
The inner radial of the through-hole of the setting of pedestal 5 is set with 1B, forms the second cavity 2 in pedestal 5, is arranged in the second cavity 2
There is the second stator, second stator includes the second stator core 11 and multiple third armature winding 10, the second stator iron
Core 11 have along shell multiple second pole shoes for projecting radially outwardly and being circumferentially equidistantly spaced from, multiple third armatures around
Group 10 is wrapped on the second pole shoe.
Rotor 8 include it is multiple be staggered in N polarity and the polar permanent magnet of S, it is preferable that each permanent magnet is in " L "
Shape, with base portion and from base portion extend part.Base portion is substantially perpendicular to the cener line of armature spindle 4, from base portion
What is extended is substantially parallel to cener line.The end of pedestal 5 is mounted near the rear end of axis 4.
First stator 9 is mounted on the radial outside of rotor 8 relative to the central axis of axis 4.Therefore, the first stator 9 is arranged
Between rotor 8 and shell 6.More specifically, the first armature winding and the second armature winding are arranged near 8 outside rotor, and
The inside of first iron core latch housing 6；Third armature winding is arranged near 8 in rotor, and third iron core is fixed in pedestal 5
Cavity in.The iron core of first stator 9 is engaged and is extended to surround other internal parts of motor.First armature winding and second
Armature winding is arranged on the first iron core, and third armature winding is arranged on the second iron core, they can be by copper wire or other conductions
Filament is made.
During servo motor work, rotor 8 rotates together with axis 4.Particularly, rotor 8 is configured to fixed relative to first
Son 9 and the second stator are rotated around cener line, so that between rotor 8 is kept between the first stator 19 and the second stator respectively
Gap is to form a part of magnetic flux path.Exciting current is applied to the first armature winding so that the first stator 9 generates rotating excitation field
To which drive rotor 8 is to generate operation torque output；The rotation of rotor 8 induces electricity with the third armature winding in the second stator
Can, i.e., apply the first AC energy to the first armature winding, forms rotating excitation field to drive rotor 8 to rotate；From the tertiary winding
Incude the second AC energy, is improved second AC energy and be applied to the second armature winding on the first stator, benefit
Magnetomotive low order magnetomotive force ingredient of the first armature winding generation is slackened with the magnetomotive force that the second armature winding generates.
In the present invention, inner surface of outer cover have multiple recesses (Fig. 1-2 does not show), recess 2 along shell 6 inner surface neighbouring
It is formed in the shell of first iron core.First iron core has the continual outer surface having a common boundary with the inner surface of shell 6.Recess is outside
Air gap is provided between shell 6 and the first iron core.In an illustrated embodiment, the shape of recess is transitioned into maximum deep in parallel as scallop
Spend and have the fillet for the radius being essentially equal.Recess along shell 6 length direction (axial direction for being parallel to armature spindle)
Extend.Recess is processed in shell 6 or otherwise formed using known manufacturing technology.In an illustrated embodiment, outside
Shell 6 has substantially uniform cross-sectional area.Therefore, recess is symmetrically circumferentially spaced around inner surface.In other embodiments,
Such as shell 6 has non-uniform cross-sectional area, recess will be located at asymmetrical circumferential position along inner surface, and can have not
Same shape, the radius of depth capacity or variation including variation.It can use finite element method to answer available software
Power analysis, to determine the position of the recess 23 in shell, shape and size.
Due to the difference between the first iron core and the thermal expansion coefficient of shell 6, recess is reduced between iron core and shell 6
Contact stress.Therefore, the circumference stress in iron core (being caused by the contact stress between iron core and shell) reduces.This allows electricity
The size of machine is kept than achievable smaller size.
As shown in Fig. 2, the setting of the first stator 1, in 8 periphery of rotor, the second stator is arranged in rotor 8.Rotor 8 has peace
Rotor core on axis 4 and the permanent magnet being fixed on rotor core.The pole N permanent magnet and the pole S permanent magnet respectively have 5
It is right, add up to 10 magnetic poles.In addition, constituting a magnetic pole by a permanent magnet, but specific with permanent magnet in Fig. 2
Frame mode is unrelated.In addition, configuring permanent magnet on rotor core, also it is configured to be embedded to the inside of rotor core.
The iron core of first stator 1 has multiple first for radially-inwardly protruding and being circumferentially equidistantly spaced from along shell
Pole shoe in Fig. 2, circumferentially forms 12 pole shoes with 30 degree be spaced on the first stator core, in a pole shoe
2 windings of upper winding, i.e. the first armature winding and the second armature winding.Second stator core have along shell it is radial to
Outer protrusion and 6 the second pole shoes being circumferentially equidistantly spaced from, 6 third armature winding are wrapped on the second pole shoe.To
One armature winding applies the first AC energy, drives rotor 8 to rotate to form rotating excitation field；Second is incuded from the tertiary winding
AC energy is improved the third AC energy and is applied to the second armature winding, is generated using the second armature winding
Magnetomotive force slackens the first armature winding and generates the raw magnetomotive low order magnetomotive force ingredient of magnetic, to not have low order magnetic in the core
Logical variation, does not occur eddy current.Since the eddy current flowed through in rotor core can be reduced, eddy current can reduce
Loss.In this way, since essence eddy current can be reduced, do not need previous such lamination excitation pole iron yoke or
Divided block shape iron yoke throws caused cost or the cost caused by number of components increase by equipment so as to reduce.
Fig. 3 is the power supply circuit of the servo motor of this bright offer, as shown in figure 3, power supply circuit provided by the invention includes
AC power source 21, current rectifying and wave filtering circuit 22, DC converting circuit and switching circuit, current rectifying and wave filtering circuit 22 use existing two pole
Pipe current rectifying and wave filtering circuit is used to alternating voltage being converted to DC voltage and is supplied to DC converting circuit；The direct current turns
Circuit is changed to provide the directly provided DC voltage of current rectifying and wave filtering circuit for the driving circuit 23 to motor M or pass through boosting
DC voltage.DC converting circuit includes field-effect tube Q1, field-effect tube Q2, field-effect tube Q4, inductance L1, diode D1, two
Pole pipe D2 and capacitor C1, wherein the drain electrode of field-effect tube Q1 is connected to the first output end of current rectifying and wave filtering circuit 22, source electrode connection
In the first end of inductance L1, grid is connected to power-supply controller of electric 25, provides pulse width modulation letter to it by power-supply controller of electric 25
Number or Continuity signal.The second end of inductance L1 is connected to the first end of diode D2, and the second end of diode D2 is connected to electricity
Hold the first end of C1, and provides direct current energy to driving circuit 23.The second end of capacitor C1 is connected to publicly.Field-effect tube Q2
Drain electrode be connected to the second end of inductance L1, source electrode is connected to publicly, and grid is connected to power-supply controller of electric 25, is controlled by power supply
Device 25 provides a pulse width modulating signal to it.The drain electrode of field-effect tube Q4 is connected to the source electrode of field-effect tube Q1, drain electrode
It is connected to the second end of diode D2, grid is connected to power-supply controller of electric 25, provides an on-off to it by power-supply controller of electric 25
Control signal.In the present invention, sample circuit is set in the output end of current rectifying and wave filtering circuit 22, the sample circuit is by resistance R1
It is constituted with resistance 2, they mutually contact and be connected to the output end of whole wave filter circuit 22, during resistance R1 mutually contacts with resistance 2
Intermediate node takes out the sampled voltage of sampling current rectifying and wave filtering circuit 22.When the output voltage of current rectifying and wave filtering circuit 22 can reach driving
When the driving piezoelectric voltage of motor, power-supply controller of electric 25 provides control signal to field-effect tube Q4, turns it on, and gives field-effect tube Q1
Control signal is provided, is also turned it on, in this way, the DC voltage that current rectifying and wave filtering circuit 22 exports is supplied directly to motor M driving
Circuit 23.When the driving piezoelectric voltage of driving motor M is not achieved in the output voltage of current rectifying and wave filtering circuit 22, power-supply controller of electric 25 is given
Field-effect tube Q4 provides control signal, makes its disconnection, provides pulse-width signal, current rectifying and wave filtering circuit to field-effect tube Q1 and Q2
Driving circuit 23 is supplied to after the DC voltage of 22 outputs is boosted.
Power supply circuit provided by the invention further includes emergency stop circuit comprising MOS field effect transistor Q3 and resistance R3, wherein field-effect
The drain electrode of pipe Q3 is connected to the first end of capacitor C1 through resistance R3, and the electric energy for providing to field-effect tube Q3, source electrode is connected to
Publicly, grid is connected to power-supply controller of electric 25, by power-supply controller of electric 25 to field should pipe control signal is provided, when needing emergency stop
When, it turns it on, to make the voltage zero for being supplied to driving circuit 23.
Power supply circuit provided by the invention further includes current detecting unit 27 and motor position detection unit 28, current detecting
Unit 27 is used to detect the electric current for the first armature winding for being flowed into motor M and current signal is supplied to General controller 26, master control
Device calculates the voltage signal for being applied to driving circuit according to the current signal, and is supplied to power-supply controller of electric 25, power supply control
The voltage signal is compared by controller with the voltage signal that the current rectifying and wave filtering circuit 22 that sample circuit provides provides, according to than
The working condition of relatively result control field-effect tube.
Fig. 4 is the driving circuit composition block diagram in servo motor power supply circuit provided by the invention, as shown in figure 4, this hair
The driving circuit of bright offer includes position control unit 31, speed control unit 32, torque controlling unit 33, position detection unit
28, difference engine 35 and control constant recognition unit 36, wherein 31 input position of position control unit instructs Pref and motor M
Position signal Pfb, and to 32 output speed of speed control unit instruct Vref.Speed control unit 32 inputs the speed and refers to
The speed signal Vfb for enabling Vref and motor M is instructed to torque controlling unit 33 and 36 output torque of control constant recognition unit
Tref.Torque controlling unit 33 inputs the torque instruction Tref, to motor M output driving current Im1.Motor M is by institute
Driving current Im1 driving is stated, torque is generated, to drive rigid body to load (load).In addition, being equipped with position detection in motor M
Device 28, to fill unit 31 and 35 output motor position signal Pfb of difference engine to position control.Difference engine 35 inputs the position letter
Number Pfb, exports the speed signal Vfb to speed control unit 32 and control constant recognition unit 36.Control constant identification is single
The 36 input speed signal Vfb and torque instruction Tref of member, and according to speed signal Vfb and the torque instruction Tref
The aggregate value J and viscous friction of the rotor inertia for calculating motor M and the inertia of the rigid body being mounted on motor M load
Coefficient D.Position control unit 31 carries out position control operation so that the position signal Pfb and position command Pref mono-
It causes.Speed control unit 32 carries out speed control operation so that the speed signal Vfb is consistent with the speed command Vref.Turn
Square control unit 33 carries out direct torque operation so that the torque of motor M generation is consistent with the torque instruction Tref.Position
The position of the detection of detection unit 28 motor M.Difference engine 35 obtains the difference at regular intervals of the position signal Pfb,
Find out the speed signal Vfb.
Motor-drive circuit provided by the invention further includes signal generator 37, and the position of input position control unit refers to
Pref is enabled, is exported after generating correction signal Ff.The sum of the output signal of speed control unit 32 and correction signal Ff are torque
Instruct Tref.Preceding correction signal Ff of the invention is obtained by following formula:
Ff=AJP "ref+BDP′ref
In formula, A and B are constant, P "refFor the 2 rank differential of position command Pref；P′refIt is micro- for 1 rank of position command Pref
Point.Control constant recognition unit 36 calculates the aggregate value J and viscous friction coefficient D of inertia to control the J and D in above formula,
Further to control motor M.
In the present invention, in the present invention,
Driving circuit provided by the invention further includes frequency identification unit 38, the electricity provided according to position detection unit 28
Machine position signal identifies magnetomotive frequency content, to provide a control signal to phase angle adjustment unit 24, adjusts phase angle
Unit rectifies the induced voltage generated by third stator armature winding, filters and inversion, then fixed first to setting
The second armature winding on son provides the second driving current Im2, is supplied to the first armature winding due to being applied with driving to offset
The low-order harmonic that electric current Im1 is generated.
According to the present invention, General controller 26 includes at least central processing unit (CPU), read-only memory (ROM), random storage
Memory (RAM), host bus, interface, input unit, output unit, storage unit, driver, connectivity port and communication unit
Member.CPU serves as operation processing unit and control unit, i.e. processor.CPU is according to being stored in ROM, RAM, storage unit or removable
The various programs in recording medium are moved completely or partially to control the working condition of servo motor.ROM is stored used in CPU
Program and operational parameter.The parameter that RAM is temporarily stored for the program of CPU and is changed according to the execution of program.CPU,ROM,
RAM and interface are connected with each other via host bus, and host bus includes the internal bus of such as cpu bus.
Input unit illustratively includes mouse, keyboard, touch panel, button etc., but is not limited to these.In addition, defeated
Entering unit can be Remote control using infrared light or radio wave.Optionally, input unit can be external connection dress
It sets or client terminal device, they can execute the operation of servo motor.Input unit includes input control circuit, which is based on
The information that user is inputted by aforesaid operations component generates input signal and exports input signal generated to CPU.Pass through
Various data can be input in the storage unit of General controller and indicate servo electricity by the user of operation input unit, servo motor
Machine executes various operations.
Output unit illustratively includes display unit, and display unit is for example including liquid crystal display (LCD) unit, electroluminescent hair
Light (EL) display unit etc., output unit further includes printer etc..Storage unit can be magnetic storage device, and (such as hard disk drives
Dynamic device (HDD)), semiconductor storage, optical storage or magneto optical storage devices.Storage unit stores the journey that CPU is executed
Sequence, various data etc..
Driver serves as the reader/writer of storage medium.Driver reading removable recording medium (such as disk,
CD, magneto-optical disk or semiconductor memory) on data, and read-out data are exported to RAM.In addition, driver can
Data to be write in removable recording medium.The example of removable recording medium includes dvd media, CD medium and secure digital
(SD) storage card.Optionally, removable recording medium can be integrated circuit (IC) card or the electronics including non-contact ic chip
Device.
Connectivity port is the port for making external connection device be connected directly to CPU.The example of connectivity port includes general string
Row bus (USB) interface, the port small computer system interface (SCSI), the port RS-232C and optical audio terminal etc..When outer
When connecting connection parts are connected to connectivity port, CPU can directly acquire data from external connection device, or serve data to
External connection device.
Communication unit is wireless communication unit, be used to making CPU and server and client terminal communicated.
Have been described in detail above with reference to the accompanying drawings the present invention, but what specification was only for interpreting the claims.But this
The protection scope of invention is not limited to specification.Technology of the anyone skilled in the art in present disclosure
In range, the variation or replacement that can be readily occurred in be should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be subject to the scope of protection of the claims.
Claims (10)
1. a kind of double output shaft servo motor for robot comprising pedestal and the shell matched with the periphery of pedestal with
The first cavity is formed except pedestal and in shell, the first stator is provided in the first cavity and the formation of the first stator is set
Rotor in cavity, rotor are fixedly installed on the axis of rotor center, and the axis is stretched out from the both ends of shell；First stator
Including the first stator core and multiple first armature winding and multiple second armature winding, first stator core has along outer
Multiple first pole shoes of shell radially-inwardly protruded and be circumferentially equidistantly spaced from, multiple first armature winding and multiple second
Armature winding is wrapped on the first pole shoe；The rotor includes the multiple magnetic poles being circumferentially equidistantly spaced from along shell, and feature exists
In forming the second cavity in pedestal, be provided with the second stator in the second cavity, second stator includes the second stator iron
Core and multiple third armature winding, second stator core have projecting radially outwardly and circumferentially at equal intervals along shell
Multiple second pole shoes of arrangement, multiple third armature winding are wrapped on the second pole shoe.
2. the double output shaft servo motor according to claim 1 for robot, which is characterized in that the first armature around
Group applies the first AC energy, forms rotating excitation field to drive rotor to rotate；The second AC energy is incuded from the tertiary winding, it is right
The third AC energy is improved and is applied to the second armature winding, slackens the using the magnetomotive force that the second armature winding generates
Magnetomotive low order magnetomotive force ingredient that one armature winding generates.
3. the double output shaft servo motor according to claim 2 for robot, which is characterized in that the rotor includes
Be staggered in N polarity and the polar permanent magnet of S, each permanent magnet has base portion and from the part that base portion extends, base portion base
Perpendicular to the cener line of armature spindle in sheet, the axis of axis is at least partly parallel to from the part that base portion extends, from base portion
The part of extension forms a cavity to accommodate the second stator at least partly.
4. the double output shaft servo motor according to claim 3 for robot, which is characterized in that each permanent magnet is in
L shape shape.
5. the double output shaft servo motor according to claim 3 for robot, which is characterized in that further include power supply electricity
Road, power supply circuit include at least the direct power supply that motor-drive circuit is supplied directly to by the voltage for generating straight rectification filter filter circuit
Road and the booster circuit that the voltage that straight rectification filter filter circuit generates boosts.
6. the double output shaft servo motor according to claim 5 for robot, which is characterized in that power supply circuit includes
Field-effect tube Q1, field-effect tube Q2, field-effect tube Q4, inductance L1, diode D1, diode D2 and capacitor C1, wherein field-effect
The drain electrode of pipe Q1 is connected to the first output end of current rectifying and wave filtering circuit 22, and source electrode is connected to the first end of inductance L1, grid connection
In power-supply controller of electric 25, pulse width modulating signal or Continuity signal are provided to it by power-supply controller of electric 25；The of inductance L1
Two ends are connected to the first end of diode D2, and the second end of diode is connected to the first end of capacitor C1, and to driving circuit
(23) direct current energy is provided；The second end of capacitor C1 is connected to publicly；The drain electrode of field-effect tube Q2 is connected to the of inductance L1
Two ends, source electrode are connected to publicly, and grid is connected to power-supply controller of electric 25, wide to its one pulse of offer by power-supply controller of electric 25
Spend modulated signal；The drain electrode of field-effect tube Q4 is connected to the source electrode of field-effect tube Q1, and drain electrode is connected to the second end of diode D2,
Grid is connected to power-supply controller of electric (25), provides the control signal of an on-off to it by power-supply controller of electric (2).
7. the double output shaft servo motor according to claim 6 for robot, which is characterized in that driving circuit is at least
The motor provided including frequency identification unit and phase angle adjustment unit, frequency identification unit according to the position detection unit of motor
Position signal identifies magnetomotive frequency content, to provide a control signal to phase angle adjustment unit, makes phase angle adjustment unit
There is provided the second driving current to the second armature winding for being arranged on the first stator, make to offset be supplied to the first armature winding due to
It is applied with the low-order harmonic of driving current generation.
8. the double output shaft servo motor according to claim 7 for robot, which is characterized in that further include that constant is known
Other unit, according to input speed signal and torque instruction, and the torque instruction according to speed signal calculates motor
The aggregate value J and viscous friction coefficient D of rotor inertia and the inertia of the rigid body being mounted on motor load.
9. single output shaft servo motor according to claim 8 for robot, which is characterized in that further include control letter
Number generation unit generates correction signal Ff according to constant recognition unit and position command value.
10. the servo motor according to claim 8 for robot, which is characterized in that correction signal is obtained by following formula
It arrives:
Ff=AJP "ref+BDP″ref
In formula, A and B are constant, P "refFor 2 rank differential of position command value；P′refFor 1 rank differential of position command value.
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| CN109962594B (en) | 2024-01-26 |
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