CN109962594B - Double-output-shaft servo motor for robot - Google Patents
Double-output-shaft servo motor for robot Download PDFInfo
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- CN109962594B CN109962594B CN201910369112.7A CN201910369112A CN109962594B CN 109962594 B CN109962594 B CN 109962594B CN 201910369112 A CN201910369112 A CN 201910369112A CN 109962594 B CN109962594 B CN 109962594B
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- 238000004804 winding Methods 0.000 claims abstract description 58
- 230000009977 dual effect Effects 0.000 claims abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 8
- 230000005669 field effect Effects 0.000 claims description 30
- 238000001914 filtration Methods 0.000 claims description 19
- 239000003990 capacitor Substances 0.000 claims description 10
- 230000001143 conditioned effect Effects 0.000 claims description 4
- 230000004069 differentiation Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 description 10
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005401 electroluminescence Methods 0.000 description 2
- 230000004907 flux Effects 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
- 241000237503 Pectinidae Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000020637 scallop Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- 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
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- 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 dual output shaft servo motor for a robot comprises a base and a shell matched with the periphery of the base to form a first cavity outside the base and inside the shell, wherein a first stator and a rotor arranged in the cavity formed by the first stator are arranged in the first cavity, the rotor is fixed on a shaft arranged in the center of the rotor, and the shaft extends out from two ends of the shell; the first stator comprises a first stator iron core and a plurality of first armature windings and a plurality of second armature windings, the first stator iron core is provided with a plurality of first pole shoes, the outer parts of the first pole shoes protrude inwards along the radial direction of the shell and are arranged at equal intervals along the circumferential direction, and the plurality of first armature windings and the plurality of second armature windings are wound on the first pole shoes; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity, the second stator comprises a second stator iron core and a plurality of third armature windings, the second stator iron core is provided with a plurality of second pole shoes which protrude outwards along the radial direction of the shell and are arranged at equal intervals along the circumferential direction, and the plurality of third armature windings are wound on the second pole shoes. The double-output-shaft servo motor for the robot is light in weight, and the mechanical arm of the robot can be installed in a balanced mode.
Description
Technical Field
The invention relates to a double-output-shaft servo motor for a robot, and belongs to the technical field of motors.
Background
The robot provided in the prior art has: the manipulator and controller, the manipulator has a plurality of each other links to each other, and can rotatory or crooked arm, and each arm includes link means and joint mechanism. The servo motor is arranged in the joint mechanism, the servo motor of the robot provided by the prior art is mostly output in a single shaft, and in order to enable the servo motor to drive the arm to rotate, the servo motor is arranged on one side of the arm when the rotating shaft of the movable arm is perpendicular to the shaft of the arm which is relatively static, so that the balancing problem of the robot needs to be considered.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a double-output-shaft servo motor for a robot, and the robot using the double-output-shaft servo motor is good in balance and light in weight.
To achieve the object, the present invention provides a dual output shaft servo motor for a robot, including a base and a housing fitted with a periphery of the base to form a first cavity outside the base and inside the housing, a first stator being provided inside the first cavity and a rotor being provided inside the cavity formed by the first stator, the rotor being fixed on a shaft provided at a center of the rotor, the shaft protruding from both ends of the housing; the first stator comprises a first stator core and a plurality of first armature windings and a plurality of second armature windings, the first stator core is provided with a plurality of first pole shoes which protrude inwards along the radial direction of the shell and are arranged at equal intervals along the circumferential direction, and the plurality of first armature windings and the plurality of second armature windings are wound on the first pole shoes; the rotor includes a plurality of magnetic poles arranged at equal intervals along a circumferential direction of the housing, a second cavity is formed in the base, a second stator is provided in the second cavity, the second stator includes a second stator core having a plurality of second pole pieces protruding outward in a radial direction of the housing and arranged at equal intervals along the circumferential direction, and a plurality of third armature windings wound on the second pole pieces.
Preferably, a first alternating current power is applied to the first armature winding to form a rotating magnetic field to drive the rotor to rotate; the second alternating current energy is induced from the third winding, conditioned and applied to the second armature winding, and the magnetomotive force generated by the second armature winding is utilized to weaken the higher order and/or lower order magnetomotive force components of the magnetomotive force generated by the first armature winding.
Preferably, the rotor comprises alternating permanent magnets of N-polarity and S-polarity, each permanent magnet having a base portion and a portion extending from the base portion, the base portion being substantially perpendicular to the centreline axis of the rotor shaft, the portion extending from the base portion being at least partially parallel to the centreline axis, the portion extending from the base portion defining a cavity for receiving at least part of the second stator.
Preferably, each permanent magnet is "L" shaped.
Preferably, the dual output shaft servo motor further comprises a power supply circuit, and the power supply circuit at least comprises a direct supply circuit for directly supplying the voltage generated by the direct rectifying and filtering circuit to the driving circuit of the motor and a boost circuit for boosting the voltage generated by the direct rectifying and filtering circuit.
Preferably, the dc conversion circuit includes a field effect transistor Q1, a field effect transistor Q2, a field effect transistor Q4, an inductor L1, a diode D2, and a capacitor C1, where a drain electrode of the field effect transistor Q1 is connected to a first output end of the rectifying and filtering circuit 22, a source electrode is connected to a first end of the inductor L1, a gate electrode is connected to the power controller 25, and a pulse width modulation signal or a conduction signal is provided to the dc conversion circuit by the power controller 25; the second end of the inductor L1 is connected to the first end of the diode D2, and the second end of the diode is connected to the first end of the capacitor C1, and provides dc power to the driving circuit 23; the second terminal of the capacitor C1 is connected to the common ground. The drain of the field effect transistor Q2 is connected to the second terminal of the inductor L1, the source is connected to the common ground, the gate is connected to the power controller 25, and the power controller 25 provides a pwm signal thereto. The drain electrode of the field effect transistor Q4 is connected with the source electrode of the field effect transistor Q1, the drain electrode is connected with the second end of the diode D2, the grid electrode is connected with the power supply controller 25, and the power supply controller 2 provides a control signal for on-off.
Preferably, the driving circuit includes at least a frequency identification unit and a phase angle adjustment unit, the frequency identification unit identifying a frequency component of magnetomotive force according to a motor position signal provided by a position detector of the motor to provide a control signal to the phase angle adjustment unit, causing the phase angle adjustment unit to provide a second driving current to a second armature winding provided on the first stator, so that a lower harmonic wave generated by the application of the driving current to the first armature winding is canceled.
Preferably, the dual output shaft servo motor further includes an identification unit that calculates a sum J of the rotor inertia of the motor and the inertia of the rigid body load mounted on the motor and the viscous friction coefficient D based on the input speed signal and the torque command and based on the speed signal.
Preferably, the dual output shaft servo motor further includes a control signal generating unit that generates the correction signal Ff according to the identification unit and the position command value.
Preferably, the correction signal is obtained by:
Ff＝AJP r ′ e ′ f +BDP r ′ ef
wherein A and B are constants, P r ′ e ′ f 2-order differentiation of the position command value; p (P) r ′ ef Is the 1 st order derivative of the position command value.
Compared with the prior art, the iron core of the double-output-shaft servo motor does not need to be made into laminations, the weight is light, and the robot adopting the double output shafts is good in balance.
Drawings
FIG. 1 is a schematic diagram of the composition of a dual output shaft servomotor for a robot provided by the present invention;
FIG. 2 is a schematic cross-sectional view taken along AB of FIG. 1 perpendicular to the axial direction of the servomotor;
FIG. 3 is a servo motor power supply circuit provided by the invention;
fig. 4 is a block diagram of a driving circuit of a servo motor according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" should be construed broadly, and for example, they may be fixed, they may be detachably connected, they may be integrally connected, they may be directly connected, they may be indirectly connected through an intermediate medium, and they may also be in communication with each other, so that it is possible for those skilled in the art to understand the meaning of the terms in the present invention in detail.
Fig. 1 is a longitudinal sectional view of a dual output shaft servo motor for a robot provided by the present invention. FIG. 2 is a schematic cross-sectional view perpendicular to the axial direction of the servo motor along the AB line in FIG. 1, and as shown in FIGS. 1-2, the dual output shaft servo motor provided by the present invention comprises a base 5 and a housing 6 mated with the periphery of the base 5 to form a first cavity 7 in the base and the housing 6, the first cavity 7 being provided therein with a first stator 9 and a rotor 8 disposed in the cavity formed by the first stator, the first stator comprising a first stator core 13 having a plurality of first pole shoes protruding inward in the radial direction of the housing and arranged at equal intervals in the circumferential direction, and a plurality of first armature windings and a plurality of second armature windings wound around the first pole shoes; the rotor 8 is fixed to a shaft 4 provided at the center of the rotor, and the shaft 4 extends from both ends of the housing 6. The first stator 9 is provided on the outer periphery of the rotor 8. The inner surface of the housing 6 has a plurality of recesses, and the first stator core is connected to at least a portion of the inner surface of the housing 6.
The base 5 is provided with a through hole for mounting the rotor shaft 4 in the axial direction, at least two bearings 1A and 1B are arranged in the through hole, the rotor shaft 4 is mounted on the base 5 through the bearings 1A and 1B, and the rotor 8 is mounted on the rotor shaft 4. That is, the bearings 1A and 1B are disposed radially inside the through hole provided in the base 5, a second cavity is formed in the base 5, and a second stator including a second stator core 11 and a plurality of third armature windings 10 is disposed in the second cavity, the second stator core 11 having a plurality of second shoes protruding radially outward of the housing and arranged at equal intervals in the circumferential direction, and the plurality of third armature windings 10 are wound on the second pole pieces.
The rotor 8 comprises a plurality of permanent magnets of N-polarity and S-polarity arranged in a staggered manner, each permanent magnet preferably having an "L" shape with a base and a portion extending from the base. The base is substantially perpendicular to the centreline axis of the rotor shaft 4, and the portion extending from the base is substantially parallel to the centreline axis. The end of the base 5 is mounted near the rear end of the shaft 4.
The first stator 9 is mounted radially outside the rotor 8 with respect to the central axis of the shaft 4. Thus, the first stator 9 is disposed between the rotor 8 and the housing 6. More specifically, the first armature winding and the second armature winding are disposed near the rotor outer 8, while the first core abuts the inside of the housing 6; the third armature winding is disposed adjacent the rotor interior 8 and the third core is secured within a cavity within the base 5. The core of the first stator 9 engages and extends to enclose the other internal components of the motor. The first and second armature windings are disposed on the first core and the third armature winding is disposed on the second core, which may be made of copper wire or other conductive filaments.
During operation of the servomotor, the rotor 8 rotates with the shaft 4. In particular, the rotor 8 is configured to rotate about the centerline axis relative to the first and second stators 9, 9 such that a gap is maintained between the rotor 8 and the first and second stators 9, respectively, to form a portion of the magnetic flux path. An excitation current is applied to the first armature winding to cause the first stator 9 to generate a rotating magnetic field to push the rotor 8 to generate an operating torque output; the rotor 8 rotates to induce electric energy in the third armature winding of the second stator, i.e., first alternating current electric energy is applied to the first armature winding, forming a rotating magnetic field to drive the rotor 8 to rotate; and a second AC power is induced from the third winding, conditioned and applied to the second armature winding on the first stator, and the magnetomotive force generated by the second armature winding is utilized to weaken the low-order magnetomotive force component of the magnetomotive force generated by the first armature winding.
In the present invention, the inner surface of the housing has a plurality of recesses (not shown in fig. 1-2) formed in the housing adjacent the first core along the inner surface of the housing 6. The first core has an uninterrupted outer surface interfacing with the inner surface of the housing 6. The recess provides an air gap between the housing 6 and the first core. In the illustrated embodiment, the notches are shaped like scallops, transition parallel to a maximum depth and have rounded corners of substantially equal radius. The recess extends along the length of the housing 6 (parallel to the axial direction of the rotor shaft). A recess is machined or otherwise formed in the housing 6 using known manufacturing techniques. In the embodiment shown, the housing 6 has a substantially uniform cross-sectional area. Thus, the notches are symmetrically circumferentially spaced about the inner surface. In other embodiments, such as where the housing 6 has a non-uniform cross-sectional area, the notches will be located at non-symmetrical circumferential locations along the inner surface, and may have different shapes, including varying maximum depths or varying radii. Available software can be subjected to stress analysis using finite element methods to determine the location, shape and size of the recess within the housing.
The recess reduces the contact stress between the core and the housing 6 due to the difference between the coefficients of thermal expansion of the first core and the housing 6. Therefore, hoop stress (caused by contact stress between the core and the housing) in the core is reduced. This allows the size of the motor to remain smaller than achievable.
As shown in fig. 2, a first stator 9 is provided on the outer periphery of the rotor 8, and a second stator is provided inside the rotor 8. The rotor 8 has a rotor core mounted on the shaft 4 and a permanent magnet fixed to the rotor core. The N-pole permanent magnet and the S-pole permanent magnet each have 5 pairs and a total of 10 poles. In fig. 2, one magnetic pole is constituted by one permanent magnet, but the specific structure of the permanent magnet is not limited. The permanent magnets may be disposed on the rotor core and may be embedded in the rotor core.
The core of the first stator 9 has a plurality of first pole pieces protruding inward in the radial direction of the housing and arranged at equal intervals in the circumferential direction, 12 pole pieces are formed on the first stator core at intervals of 30 degrees in the circumferential direction in fig. 2, and 2 windings, i.e., a first armature winding and a second armature winding, are wound on one pole piece. The second stator core has 6 second pole pieces protruding outward in the radial direction of the housing and arranged at equal intervals in the circumferential direction, and 6 third armature windings are wound on the second pole pieces. Applying a first alternating current to the first armature winding to form a rotating magnetic field to drive the rotor 8 to rotate; the second ac power is induced from the third winding, conditioned and applied to the second armature winding, and the magnetomotive force generated by the second armature winding weakens the low-order magnetomotive force component of the magnetomotive force generated by the first armature winding, so that the iron core has no fluctuation of low-order magnetic flux and no eddy current. Since the eddy current flowing through the rotor core can be reduced, the eddy current loss can be reduced. In this way, since eddy current can be reduced fundamentally, a conventional laminated field pole yoke or a divided block yoke is not required, and thus cost due to equipment investment or cost due to an increase in the number of components can be reduced.
Fig. 3 is a power supply circuit of the servo motor provided by the present invention, as shown in fig. 3, the power supply circuit provided by the present invention includes an ac power source 21, a rectifying and filtering circuit 22, a dc conversion circuit and a switching circuit, where the rectifying and filtering circuit 22 adopts a conventional diode rectifying and filtering circuit, and is used for converting an ac voltage into a dc voltage and providing the dc voltage to the dc conversion circuit; the dc conversion circuit is configured to provide the dc voltage directly provided by the rectifying and filtering circuit or the boosted dc voltage to the driving circuit 23 of the motor M. The dc conversion circuit includes a field effect transistor Q1, a field effect transistor Q2, a field effect transistor Q4, an inductor L1, a diode D2, and a capacitor C1, where a drain of the field effect transistor Q1 is connected to the first output end of the rectifying and filtering circuit 22, a source is connected to the first end of the inductor L1, a gate is connected to the power controller 25, and a pulse width modulation signal or a conduction signal is provided to the power controller 25. The second terminal of the inductor L1 is connected to the first terminal of the diode D2, and the second terminal of the diode D2 is connected to the first terminal of the capacitor C1 and supplies dc power to the driving circuit 23. The second terminal of the capacitor C1 is connected to the common ground. The drain of the field effect transistor Q2 is connected to the second terminal of the inductor L1, the source is connected to the common ground, the gate is connected to the power controller 25, and the power controller 25 provides a pwm signal thereto. The drain electrode of the field effect transistor Q4 is connected with the source electrode of the field effect transistor Q1, the drain electrode is connected with the second end of the diode D2, the grid electrode is connected with the power supply controller 25, and the power supply controller 25 provides a control signal for on-off. In the present invention, a sampling circuit is provided at the output end of the rectifying and filtering circuit 22, the sampling circuit is composed of a resistor R1 and a resistor 2, which are connected in series and connected to the output end of the rectifying and filtering circuit 22, and the middle node of the resistor R1 and the resistor 2 connected in series takes out the sampling voltage of the sampling rectifying and filtering circuit 22. When the output voltage of the rectifying and filtering circuit 22 reaches the driving voltage of the driving motor, the power controller 25 provides a control signal to the field effect transistor Q4 to turn on, and provides a control signal to the field effect transistor Q1 to turn on, so that the direct current voltage output by the rectifying and filtering circuit 22 is directly provided to the motor M driving circuit 23. When the output voltage of the rectifying and filtering circuit 22 does not reach the driving voltage of the driving motor M, the power controller 25 provides a control signal to the field effect transistor Q4 to turn off the same, and provides pulse width modulation signals to the field effect transistors Q1 and Q2, and the dc voltage output by the rectifying and filtering circuit 22 is boosted and then provided to the driving circuit 23.
The power supply circuit provided by the invention further comprises a scram circuit which comprises a field effect tube Q3 and a resistor R3, wherein the drain electrode of the field effect tube Q3 is connected to the first end of the capacitor C1 through the resistor R3, the source electrode is connected to the public ground, the grid electrode is connected to the power supply controller 25, the power supply controller 25 provides a control signal for the field effect tube, and when scram is needed, the scram circuit is conducted, so that the voltage provided to the driving circuit 23 is zero.
The power supply circuit provided by the invention further comprises a current detection unit 27 and a motor position detector 28, wherein the current detection unit 27 is used for detecting current flowing into the first armature winding of the motor M and providing a current signal to the main controller 26, the main controller calculates a voltage signal applied to the driving loop according to the current signal and provides the voltage signal to the power supply controller 25, and the power supply controller compares the voltage signal with a voltage signal provided by the rectifying and filtering circuit 22 and provided by the sampling circuit and controls the working state of the field effect transistor according to a comparison result.
Fig. 4 is a block diagram showing the constitution of a driving circuit in a servo motor power supply circuit provided by the present invention, and as shown in fig. 4, the driving circuit provided by the present invention includes a position control unit 31, a speed control unit 32, a torque control unit 33, a position detector 28, a differentiator 35 and a control constant recognition unit 36, wherein the position control unit 31 inputs a position command Pref and a position signal Pfb of the motor M, and outputs a speed command Vref to the speed control unit 32. The speed control unit 32 receives the speed command Vref and the speed signal Vfb of the motor M, and outputs a torque command Tref to the torque control unit 33 and the control constant identification unit 36. The torque control unit 33 inputs the torque command Tref and outputs the drive current Im1 to the motor M. The motor M is driven by the drive current Im1 to generate torque to drive a rigid body load (load). In addition, a position detector 28 is mounted in the motor M to output a motor position signal Pfb to the position control unit 31 and the differentiator 35. The differentiator 35 receives the position signal Pfb and outputs the speed signal Vfb to the speed control unit 32 and the control constant identification unit 36. The control constant identification unit 36 inputs the speed signal Vfb and the torque command Tref, and calculates a total value J of the inertia of the rotor of the motor M and the inertia of the rigid body load mounted on the motor M and the viscous friction coefficient D from the speed signal Vfb and the torque command Tref. The position control unit 31 performs a position control operation so that the position signal Pfb coincides with the position command Pref. The speed control unit 32 performs a speed control operation so that the speed signal Vfb coincides with the speed command Vref. The torque control unit 33 performs a torque control operation so that the torque generated by the motor M coincides with the torque command Tref. The position detector 28 detects the position of the motor M. The differentiator 35 obtains the difference between the position signals Pfb at regular intervals, and obtains the speed signal Vfb.
The motor driving circuit provided by the invention further comprises a signal generator 37 which inputs the position command Pref of the position control unit, generates a correction signal Ff and outputs the correction signal Ff. The sum of the output signal of the speed control unit 32 and the correction signal Ff is a torque command Tref. The pre-correction signal Ff of the present invention is obtained by:
Ff＝AJP r ′ e ′ f +BDP r ′ ef
wherein A and B are constants, P r ′ e ′ f 2-order differentiation for position command Pref; p (P) r ′ ef Is the 1 st order derivative of the position command Pref. The control constant recognition unit 36 calculates a sum value J of inertia and a viscous friction coefficient D to control J and D in the above equation to further control the motor M.
In the present invention,
the driving circuit provided by the present invention further includes a frequency identification unit 38 which identifies a frequency component of magnetomotive force based on the motor position signal provided by the position detector 28 to provide a control signal to the phase angle adjustment unit 24 to cause the phase angle adjustment unit to rectify, filter and invert the induced voltage generated by the third stator armature winding, and then to provide a second driving current Im2 to the second armature winding provided on the first stator to cancel the lower harmonic wave generated by the application of the driving current Im1 to the first armature winding.
According to the present invention, the general controller 26 includes at least a Central Processing Unit (CPU), a Read Only Memory (ROM), a Random Access Memory (RAM), a host bus, an interface, an input unit, an output unit, a storage unit, a driver, a connection port, and a communication unit. The CPU serves as an arithmetic processing unit and a control unit, i.e., a processor. The CPU controls the operating state of the servo motor in whole or in part according to various programs stored in the ROM, RAM, storage unit, or removable recording medium. The ROM stores programs and operation parameters used by the CPU. The RAM temporarily stores a program for the CPU and parameters that vary according to execution of the program. CPU, ROM, RAM and the interface are connected to each other via a host bus including an internal bus such as a CPU bus.
The input unit illustratively includes a mouse, a keyboard, a touch panel, buttons, and the like, but is not limited thereto. In addition, the input unit may be a remote control using infrared light or radio waves. Alternatively, the input unit may be an external connection device or a client device, which may perform an operation of the servo motor. The input unit includes an input control circuit that generates an input signal based on information input by the user through the above-described operation member and outputs the generated input signal to the CPU. By operating the input unit, a user of the servo motor can input various data into the storage unit of the general controller and instruct the servo motor to perform various operations.
The output unit illustratively includes a display unit including, for example, a Liquid Crystal Display (LCD) unit, an Electroluminescence (EL) display unit, and the like, and a printer, and the like. The storage unit may be a magnetic storage device such as a Hard Disk Drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The storage unit stores programs executed by the CPU, various data, and the like.
The drive acts as a reader/writer for the storage medium. The drive reads out data on a removable recording medium such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, and outputs the read-out data to the RAM. In addition, the drive may write data on the removable recording medium. Examples of removable recording media include DVD media, CD media, and Secure Digital (SD) memory cards. Alternatively, the removable recording medium may be an Integrated Circuit (IC) card or an electronic device including a contactless IC chip.
The connection port is a port for directly connecting an external connection device to the CPU. Examples of connection ports include Universal Serial Bus (USB) interfaces, small Computer System Interface (SCSI) ports, RS-232C ports, optical audio terminals, and the like. When the external connection device is connected to the connection port, the CPU may directly acquire data from the external connection device or supply the data to the external connection device.
The communication unit is a wireless communication unit for causing the CPU to communicate with the server and/or the client terminal.
The invention has been described in detail in connection with the drawings, but the description is only intended to be construed in the light of the claims. The scope of the invention is not limited by the description. Any changes or substitutions that would be readily apparent to one skilled in the art within the scope of the present disclosure are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
1. A dual output shaft servo motor for a robot comprises a base and a shell matched with the periphery of the base to form a first cavity outside the base and inside the shell, wherein a first stator and a rotor arranged in the cavity formed by the first stator are arranged in the first cavity, the rotor is fixedly arranged on a shaft in the center of the rotor, and the shaft extends out from two ends of the shell; the first stator includes a first stator core having a plurality of first pole pieces protruding inward in a radial direction of the housing and arranged at equal intervals in a circumferential direction, and a plurality of first armature windings and a plurality of second armature windings wound on the first pole pieces; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity, the second stator comprises a second stator iron core and a plurality of third armature windings, the second stator iron core is provided with a plurality of second pole shoes which protrude outwards along the radial direction of the shell and are arranged at equal intervals along the circumferential direction, the plurality of third armature windings are wound on the second pole shoes, and the inner surface of the shell is provided with a plurality of notches.
2. The dual output shaft servo motor for a robot as claimed in claim 1, wherein a first ac power is applied to the first armature winding to form a rotating magnetic field to drive the rotor to rotate; the second ac power is induced from the third winding, conditioned and applied to the second armature winding, and the magnetomotive force generated by the second armature winding attenuates the low order magnetomotive force component of the magnetomotive force generated by the first armature winding.
3. A dual output shaft servo motor for a robot as claimed in claim 2, wherein the rotor comprises alternating N-polarity and S-polarity permanent magnets, each permanent magnet having a base and a portion extending from the base, the base being substantially perpendicular to the centreline axis of the rotor shaft, the portion extending from the base being at least partially parallel to the axis of the shaft, the portion extending from the base forming a cavity to receive at least part of the second stator.
4. A dual output shaft servo motor for a robot as claimed in claim 3, wherein each permanent magnet has an "L" shape.
5. A dual output shaft servo motor for a robot as claimed in claim 3, further comprising a power supply circuit including at least a direct power supply circuit for directly supplying the voltage generated by the rectifying and filtering circuit to the motor driving circuit and a step-up circuit for step-up the voltage generated by the rectifying and filtering circuit.
6. The dual output shaft servo motor for a robot as claimed in claim 5, wherein the power supply circuit comprises a field effect transistor Q1, a field effect transistor Q2, a field effect transistor Q4, an inductor L1, a diode D2 and a capacitor C1, wherein a drain electrode of the field effect transistor Q1 is connected to the first output end of the rectifying and filtering circuit, a source electrode is connected to the first end of the inductor L1, a gate electrode is connected to the power supply controller (25), and a pulse width modulation signal or a conduction signal is provided to the power supply controller (25); the second end of the inductor L1 is connected to the first end of the diode D2, the second end of the diode D2 is connected to the first end of the capacitor C1, and direct current power is provided for the driving loop (23); the second end of the capacitor C1 is connected to the common ground; the drain electrode of the field effect transistor Q2 is connected with the second end of the inductor L1, the source electrode is connected with the public ground, the grid electrode is connected with the power supply controller (25), and the power supply controller (25) provides a pulse width modulation signal for the field effect transistor Q; the drain electrode of the field effect tube Q4 is connected with the source electrode of the field effect tube Q1, the source electrode is connected with the second end of the diode D2, the grid electrode is connected with the power supply controller (25), and the power supply controller (25) provides a control signal for on-off.
7. The dual output shaft servo motor for a robot as claimed in claim 6, wherein the driving circuit includes at least a frequency identification unit and a phase angle adjustment unit, the frequency identification unit identifying a frequency component of magnetomotive force according to a motor position signal provided from a position detector of the motor to provide a control signal to the phase angle adjustment unit, so that the phase angle adjustment unit provides a second driving current to a second armature winding provided on the first stator to cancel a lower harmonic wave generated due to the application of the driving current to the first armature winding.
8. The dual output shaft servo motor for a robot as claimed in claim 7, further comprising a constant recognition unit which inputs a speed signal and a torque command and calculates a sum J of a rotor inertia of the motor and an inertia of a rigid body load mounted on the motor and a viscous friction coefficient D based on the speed signal and the torque command.
9. The dual output shaft servo motor for a robot as claimed in claim 8, further comprising a control signal generating unit that generates the correction signal Ff according to the constant recognizing unit and the position command value.
10. The dual output shaft servo motor for a robot as claimed in claim 8, wherein the correction signal Ff is obtained by:
Ff＝AJP r ′ e ′ f +BDP r ′ ef
wherein A and B are constants, P r ′ e ′ f 2-order differentiation of the position command value; p (P) r ′ ef Is the 1 st order derivative of the position command value.
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