CN109986548A - A kind of multi-functional six-joint robot - Google Patents
A kind of multi-functional six-joint robot Download PDFInfo
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- CN109986548A CN109986548A CN201910369033.6A CN201910369033A CN109986548A CN 109986548 A CN109986548 A CN 109986548A CN 201910369033 A CN201910369033 A CN 201910369033A CN 109986548 A CN109986548 A CN 109986548A
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- armature winding
- stator
- motor
- joint robot
- rotor
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- 238000004804 winding Methods 0.000 claims abstract description 64
- 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 22
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005284 excitation Effects 0.000 claims description 6
- 239000004615 ingredient Substances 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 208000002925 dental caries Diseases 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 18
- 238000001914 filtration Methods 0.000 description 11
- 239000003990 capacitor Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
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- 229910052742 iron Inorganic materials 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
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 241000237509 Patinopecten sp. Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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- 230000008450 motivation Effects 0.000 description 1
- 235000020637 scallop Nutrition 0.000 description 1
Classifications
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- 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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
-
- 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
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
-
- 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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Abstract
A kind of six-joint robot, it includes at least six joints, motor is provided in each joint, the motor includes pedestal and the shell matched with the periphery of pedestal to form the first cavity in pedestal and shell, the rotor for being provided with the first stator in first cavity and being arranged in the cavity of the first stator formation, first stator includes the first stator core and multiple first armature winding and multiple second armature winding, first stator core has multiple first pole shoes that are radially-inwardly prominent and being circumferentially equidistantly spaced from along shell, 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 servo motor of robot.
Description
Technical field
The present invention relates to a kind of multi-functional six-joint robots, belong to robotic technology field.
Background technique
Fig. 1 is the six-joint robot provided in the prior art, and robot as shown in Figure 1 generally includes multiple sequentially connected
Mechanical arm is set to the mechanical arm of its end, and it is various to execute can to install the end effectors such as fixture, cutting element and detector
Movement.Each mechanical arm realizes the rotation around a certain rotation axis by a driving assembly.Driving assembly is generally comprised along each
The motor and be connected to the motor the speed reducer connect that the rotation axis direction of mechanical arm is arranged, the output end of speed reducer drive mechanical
Arm movement, therefore each mechanical arm is usually larger along the axial size of its rotation.
For being located at the mechanical arm of robot end, the mutual rotation connection such as six-joint robot and the vertically disposed 5th
Mechanical arm and the 6th mechanical arm, the usually neighbouring setting of the driving assembly of setting, cause the 5th mechanical arm and the 6th mechanical arm edge
The size in respective rotation axis direction is larger, increases the occupied space of robot overall structure, is unfavorable for robot and exists
Application in narrow operating space.Also, the self weight of the 6th mechanical arm is larger, so that the moment of inertia becomes larger, to the 6th machine that improves
The accuracy and rapidity of tool arm control cause difficulty.
Summary of the invention
To overcome disadvantage of the existing technology, goal of the invention of the invention is to provide a kind of multi-functional six-joint robot,
Its mechanical arm is light-weight, and activity is flexibly.
To realize that the goal of the invention, the present invention provide a kind of six-joint robot, six joints, Mei Geguan are included at least
Motor is provided in section, the motor includes pedestal and the shell matched with the periphery of pedestal to be formed in pedestal and shell
First cavity, the rotor that the first stator is provided in the first cavity and is arranged in the cavity of the first stator formation, described first
Stator includes that the first stator core and multiple first armature winding and multiple second armature winding, first stator core have
Along multiple first pole shoes that are radially-inwardly prominent and being circumferentially equidistantly spaced from of shell, 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, special
Sign is, the second cavity is formed in pedestal, and the second stator is provided in the second cavity, and second stator includes second fixed
Sub- iron core and multiple third armature winding, second stator core have projecting radially outwardly and circumferentially etc. along shell
Spaced apart multiple second pole shoes, 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 " L " shape.
It preferably, further include driving circuit, driving circuit includes at least frequency identification unit and phase angle adjustment unit, frequency
Recognition unit identifies magnetomotive frequency content according to the motor position signal that the position detection unit of motor provides, to give phase
Angle adjustment unit provides a control signal, provides phase angle adjustment unit to the second armature winding being arranged on the first stator
Second driving current offsets the low-order harmonic for being supplied to the first armature winding due to being applied with driving current generation.
Preferably, driving circuit further includes recognition unit, and the rotor for calculating motor according to motor position signal is used
Measure and be mounted on the aggregate value J of the inertia of the rigid body load on motor.
Preferably, driving circuit further includes control signal generation unit, the signal provided according to normal recognition unit and position
It sets instruction value and generates correction signal Ff.
Preferably, correction signal is obtained by following formula:
Ff=AJP "ref
In formula, A amplification factor, P "refFor 2 rank differential of position command value.
Preferably, six-joint robot further includes power supply circuit, and the power supply circuit includes 2N by power controller controls
Electric switch and N number of DC power supply, the N is integer more than or equal to 2, and 2N electric switch is connected in series respectively and to described
The driving device of servo motor provides electric energy, and 2N electric switch forms 2N-1 node, every in the 1st to N-1 DC power supply
A to be connected in being separated by between two nodes of a section in 2N-1 node by a storage galvanic electricity sense respectively, n-th is straight
Galvanic electricity source is connected between 2N-2 node and ground by a storage galvanic electricity sense.
Preferably, the on-off of 2N electric switch of power controller controls, so that N number of DC power supply series, parallel or mixed
Connection is powered with the driving circuit of outside motor.
Six-joint robot provided by the invention since with having used without using silicon steel sheet servo motor, mechanical arm is light-weight,
And joint is small and activity is flexible.
Detailed description of the invention
Fig. 1 is the six-joint robot schematic configuration diagram that the prior art provides；
Fig. 2 is the composition schematic diagram provided by the present invention for the servo motor of six-joint robot；
Fig. 3 be along Fig. 2 AB perpendicular to the schematic cross-section of servo motor axial direction；
Fig. 4 is servo motor driving circuit composition block diagram provided by the invention；
Fig. 5 is servo motor power supply circuit 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 specific meanings of the above terms in the present invention can be understood according to specific conditions.
Offer six-joint robot provided by the invention includes at least six joints and six arms, is provided with electricity in each joint
Machine.First arm is connected with pedestal, the first arm can the 1st axis in Fig. 1 carry out 360 degree rotation；Second arm can in Fig. 1 the 2nd
Axis along clockwise direction and rotates counterclockwise 90 degree；Third arm can the 3rd axis in Fig. 1 along clockwise direction and counterclockwise
Direction is rotated by 360 °；4th arm can the 4th axis in Fig. 1 along carrying out 360 degree rotation；5th arm can the 5th axis in Fig. 1 it is suitable
Clockwise and rotate counterclockwise 90 degree；6th arm can the 6th axis in Fig. 1 carry out 360 degree rotation.It, can in the present invention
The motor provided using the prior art drives deceleration mechanism driving cursor to be rotated.It is preferred that using single defeated shown in Fig. 2-3
Shaft servo motor is driven.
Fig. 2 is the longitudinal sectional view provided by the present invention for the servo motor of six-joint robot.Fig. 3 is the AB along Fig. 2
Line is perpendicular to the schematic cross-section of servo motor axial direction, and as Figure 2-3, double output shaft servo motor provided by the invention includes
Pedestal 5 and the shell 6 matched with the periphery of pedestal 5 are set in first cavity 7 with forming the first cavity 7 in pedestal and shell 6
The rotor 8 for being equipped with the first stator 9 and being arranged in the cavity of the first stator formation, first stator include the first stator core
13 and multiple first armature winding and multiple second armature winding, first stator core there is radially-inwardly dashing forward along shell
Multiple first pole shoes being equidistantly spaced from out and circumferentially, multiple first armature winding and multiple second armature winding are wrapped in
On 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 one end of shell 6.First
Stator 9 is set to the periphery of rotor 8.6 inner surface of shell has multiple recesses, in first stator core and shell 6
At least part on surface 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 be in N polarity and the polar permanent magnet of S, each permanent magnet " 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 the portion that base portion extends
Divide and is basically 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 the setting of third armature winding can be by including copper wire or other conductive filaments on the second iron core
It 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 each stator 9 generates rotating excitation field
To make 8 rotation forces rotor 8 of rotor to generate operation torque output；Rotor 8 rotation with the third armature of the second stator around
Group induces electric energy, i.e., applies the first AC energy to the first armature winding, drives rotor 8 to rotate to form rotating excitation field；
The second AC energy is incuded from the tertiary winding, which is improved and be applied on the first stator second
Armature winding slackens magnetomotive low order magnetomotive force of the first armature winding generation using the magnetomotive force that the second armature winding generates
Ingredient.
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 figure 3, 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. 4 is the driving circuit composition block diagram of servo motor provided by the invention, as shown in figure 4, drive provided by the invention
Dynamic circuit 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 the position signal of the instruction of 31 input position of position control unit Pref and motor M
Pfb, and Vref is instructed to 32 output speed of speed control unit.Speed control unit 32 inputs the speed command Vref and electricity
The speed signal Vfb of motivation M instructs Tref to torque controlling unit 33 and 36 output torque of control constant recognition unit.Torque
Control unit 33 inputs the torque instruction Tref, to motor M output driving current Im1.Motor M is by the driving current
Im1 driving, generates torque, to drive rigid body to load (load).In addition, be equipped with position detector 28 in motor M, with to position
Set control dress unit 31,36 output motor position signal Pfb of difference engine 35 and recognition unit.Difference engine 35 inputs the position letter
Number Pfb, exports the speed signal Vfb to speed control unit 32.Control constant recognition unit 36 inputs the position signal
Pfb simultaneously calculates the rotor inertia of motor M and the inertia of the rigid body being mounted on motor M load according to position signal Pfb
Aggregate value J.Position control unit 31 carries out position control operation so that the position signal Pfb and position command Pref
Unanimously.Speed control unit 32 carries out speed control operation so that the speed signal Vfb is consistent with the speed command Vref.
Torque controlling unit 33 carries out direct torque operation so that the torque of motor M generation is consistent with the torque instruction Tref.Position
Set the position that detection unit 28 detects motor M.Difference engine 35 obtains the difference at regular intervals of the position signal Pfb
Point, 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
In formula, A is amplification factor, P "refFor the 2 rank differential of position command Pref.Control constant recognition unit 36 calculates
The aggregate value J of inertia is to control the J in above formula, further to control motor M.
In the present invention, control constant recognition unit 36 includes frequency separator 40, first memory 41A, the first tangent meter
Calculate device 42A, second memory 41B, the second tangent calculator 42B and inertia calculation device 43, wherein frequency separator 40 inputs electricity
The position signal Pfb of machine is broken down into first frequency ingredient and second frequency ingredient, i.e. first motor position and the second motor
Position is simultaneously stored respectively in first memory 41A and second memory 41B；First tangent calculator 42A and the second tangent meter
It calculates device 42B and first motor is calculated according to previous first motor position and previous second motor position and current motor positions respectively
Phase tangent and the second motor phase tangent；Inertia calculation device 43 is according to first motor phase tangent and the second motor phase tangent
Calculate used motor M and its inertia loaded and value J.
In the present invention, if motor M and its inertia and J that are loaded, viscous friction D, the position of motor is Pfb, position
Instruction value is Pref, and the gain of position control unit is Kp, and the gain of speed control unit is Kv, and the speed control time of integration is normal
Number is T, then the operation equation of motor indicates are as follows:
As the frequency content ω of position command Pref1When instructing for first position, first position instructs opposite motor position
The phase set i.e. the first motor phase φ1Tangent are as follows:
As the frequency content ω of position command Pref2When instructing for the second position, the second position instructs opposite motor position
The phase set i.e. the second motor phase φ2Tangent are as follows:
Viscosity D is eliminated according to two formulas above to obtain:
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, and to provide a control signal to phase angle adjustment unit 24, phase angle adjustment is single
Member rectifies the induced voltage generated by third stator armature winding, filters and inversion, then to being arranged in the first stator
On the second armature winding provide the second driving current Im2 make phase angle adjustment unit to the second armature being arranged on the first stator
Winding provides the second driving current Im2, is supplied to the first armature winding due to being applied with the low of driving current Im1 generation to offset
Subharmonic.
Fig. 5 is the power supply circuit of the servo motor of this bright offer.As shown in figure 5, power supply circuit provided by the invention includes
Alternating-current voltage source 21 and transformer B, the transformer include a preliminary grade coil B0 and two secondary coil B1 and B2, described
Transformer is used to alternating-current voltage source 21 carrying out power conversion and be exported respectively by secondary coil B1 and B2.Power supply circuit further includes
First order current rectifying and wave filtering circuit and second level current rectifying and wave filtering circuit, the first order current rectifying and wave filtering circuit includes rectifier and filtering
Device, the rectifier are filtered for rectifying to the alternating voltage by secondary coil B1 offer by filter
To obtain the first DC voltage, in the present invention, use diode D1 as the rectifier of the first current rectifying and wave filtering circuit, but and unlimited
In only with a diode the case where, any rectifier of the prior art can be used.In the present invention, use capacitor C1 as
The filter of one current rectifying and wave filtering circuit, but the case where be not limited to only with a capacitor, any filter of the prior art can be used
Wave device.The second level current rectifying and wave filtering circuit includes rectifier and filter, and the rectifier to by secondary coil B2 for mentioning
The alternating voltage of offer is rectified, and is filtered by filter to obtain the second DC voltage, in the present invention, uses two
Rectifier of the pole pipe D2 as the second current rectifying and wave filtering circuit, but the case where be not limited to only with a diode, it can be using existing
There is any rectifier of technology.In the present invention, use capacitor C2 as the filter of the second current rectifying and wave filtering circuit, but be not limited to
Only with capacitor the case where, can use any filter of the prior art.
Power supply circuit provided by the invention further includes storing galvanic electricity sense L1, storing galvanic electricity sense L2, electric switch Q1, electric switch Q2, electricity
Switch Q3 and electric switch Q4, wherein electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4 are connected in series and drive to motor
Dynamic circuit 23 provides DC voltage, their control terminal is connected to power-supply controller of electric, provides on-off to them by power-supply controller of electric
Control signal.The node that electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4 are connected in series is denoted as node N1, section respectively
Point N2 and node N3, the first signal output end of the first current rectifying and wave filtering circuit is connected in by storage streamline circle L1 meets node N1, and second
Signal output end is connected to node N3.First signal output end of the second current rectifying and wave filtering circuit is connected in by storage streamline circle L2 connects section
Point N2, second signal output end are connected to common end.In the present invention, in electric switch Q1, electric switch Q2, electric switch Q3 and electric switch
It is connected with capacitor C3 between the output end and ground of the circuit that Q4 is connected in series, is used to filter.In the present invention, the preferred IGBT of electric switch
Switch, but it is not limited to this.
By the present invention in that electric switch Q1-Q4 is in specific switching state, thus make the first Current Voltage and the second direct current
Voltage is mutually in series connection or is connected in parallel, to realize various behaviour's modes.By these operation modes, can control in a wide range
System is supplied to the supply voltage of motor M, to be able to achieve effective control of motor M.Various operation modes are described below.
Series connected mode: power-supply controller of electric provides control to electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4
Electric switch Q1 and electric switch Q3 is connected in signal, turns off electric switch Q2 and electric switch Q4, then the first DC voltage and second straight
Galvanic electricity pressure is connected in series, and is supplied to the driving circuit 23 of motor.
Be connected in parallel mode: power-supply controller of electric provides control to electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4
Signal turns off electric switch Q1 and electric switch Q3, and electric switch Q2 and electric switch Q4 is connected, then the first DC voltage and second straight
Galvanic electricity pressure is in parallel, and is supplied to the driving circuit 23 of motor M.
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
Controller controls the working condition of electric switch according to the voltage signal.
Although the present invention is illustrated by taking four electric switches, two DC power supplies as an example, it is not limited to such case,
Power supply circuit may include 2N electric switch, N number of DC power supply, and the N is the integer more than or equal to 2.2N electric switch
It is connected in series respectively and provides electric energy to the driving circuit of the servo motor, 2N electric switch forms 2N-1 node, and the 1st arrives N-
Each of 1 DC power supply stores two for being separated by a section that galvanic electricity sense is connected in 2N-1 node by one respectively
Between node, n-th DC power supply is connected between 2N-2 node and ground by a storage galvanic electricity sense.Power-supply controller of electric control
The on-off of 2N electric switch processed, so that N number of DC power supply series, parallel or mixed connection are powered with the driving circuit of outside motor.
According to the present invention, General controller is deposited including at least central processing unit (CPU), read-only memory (ROM), random storage
Reservoir (RAM), host bus, interface, input unit, output unit, storage unit, driver, connectivity port and communication unit.
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
Various programs in recording medium completely or partially control the working condition of servo motor.ROM stores journey used in CPU
Sequence 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
It is connected with each other with interface via host bus, 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 in this way.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 is incorporated into servo motor or external connection
To servo motor.Driver is read on removable recording medium (such as disk, CD, magneto-optical disk or semiconductor memory)
Data, and read-out data are exported to RAM.In addition, driver can write data in removable recording medium.It is removable
The example of dynamic recording medium includes dvd media, CD medium and secure digital (SD) storage card.Optionally, removable recording medium
It can be integrated circuit (IC) card or the electronic device including non-contact ic chip.
Connectivity port is the port for making external connection device be connected directly to servo motor.The example of connectivity port includes logical
With universal serial bus (USB) interface, the port small computer system interface (SCSI), the port RS-232C and optical audio terminal etc..
When external connection device is connected to connectivity port, servo motor can directly acquire data from external connection device, or will
Data are supplied to external connection device.
Communication unit is wireless communication unit, be used to making servo motor and server and client terminal led to
Letter.
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 six-joint robot includes at least six joints, is provided with motor in each joint, the motor includes pedestal
It is fixed to be provided with first to form the first cavity in pedestal and shell for the shell matched with the periphery with pedestal in the first cavity
Son and the rotor being arranged in the cavity of the first stator formation, first stator include the first stator core and multiple first electricity
Pivot winding and multiple second armature winding, first stator core have along the radially-inwardly prominent of shell and circumferentially etc.
Spaced apart multiple first pole shoes, multiple first armature winding and multiple second armature winding are wrapped on the first pole shoe；Institute
Stating rotor includes the multiple magnetic poles being circumferentially equidistantly spaced from along shell, which is characterized in that the second cavity is formed in pedestal,
It is provided with the second stator in two cavitys, second stator includes the second stator core and multiple third armature winding, and described the
Two stator cores have multiple second pole shoes for projecting radially outwardly and being circumferentially equidistantly spaced from along shell, multiple thirds
Armature winding is wrapped on the second pole shoe.
2. six-joint robot according to claim 1, which is characterized in that apply the first alternating current to the first armature winding
Can, rotating excitation field is formed to drive rotor to rotate；The second AC energy is incuded from the tertiary winding, to the third AC energy into
Row improves and is applied to the second armature winding, slackens the first armature winding using the magnetomotive force that the second armature winding generates and generates magnetic
Raw magnetomotive high order and/or low order magnetomotive force ingredient.
3. six-joint robot according to claim 2, which is characterized in that the rotor includes being staggered in N polarity
With the polar permanent magnet of S, each permanent magnet has base portion and from the part that base portion extends, and base portion is substantially perpendicular to armature spindle
Cener line, is at least partly parallel to cener line from the part that base portion extends, and forms one from the part that base portion extends
A cavity is to accommodate the second stator at least partly.
4. six-joint robot according to claim 3, which is characterized in that each permanent magnet is in " L " shape.
5. multi-functional six-joint robot according to claim 4, which is characterized in that further include driving circuit, driving circuit
Including at least frequency identification unit and phase angle adjustment unit, frequency identification unit is provided according to the position detection unit of motor
Motor position signal identifies magnetomotive frequency content, to provide a control signal to phase angle adjustment unit, adjusts phase angle
Unit gives the second armature winding for being arranged on the first stator to provide the second driving current, counteracting be supplied to the first armature winding by
In the low-order harmonic for being applied with driving current generation.
6. six-joint robot according to claim 5, which is characterized in that driving circuit further includes recognition unit, basis
Motor position signal calculates the aggregate value J of the rotor inertia of motor and the inertia of the rigid body being mounted on motor load.
7. six-joint robot according to claim 6, which is characterized in that driving circuit further includes that control signal generates list
Member, the signal provided according to normal recognition unit and position command value generate correction signal Ff.
8. six-joint robot according to claim 7, which is characterized in that correction signal is obtained by following formula: Ff=
AJP″ref
In formula, A amplification factor, P "refFor 2 rank differential of position command value.
9. -8 any six-joint robot according to claim 1, which is characterized in that it further include power supply circuit, the power supply
Circuit includes the 2N electric switches and N number of DC power supply by power controller controls, and the N is the integer more than or equal to 2,
2N electric switch is connected in series respectively and provides electric energy to the driving device of the servo motor, and 2N electric switch forms 2N-1 section
Point, each of 1st to N-1 DC power supply is connected in 2N-1 node by a storage galvanic electricity sense is separated by one respectively
Between two nodes of a section, n-th DC power supply is connected between 2N-2 node and ground by a storage galvanic electricity sense.
10. six-joint robot according to claim 9, which is characterized in that 2N electric switch of power controller controls leads to
It is disconnected, so that N number of DC power supply series, parallel or mixed connection are powered with the driving circuit of outside motor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787540A (en) * | 2021-09-01 | 2021-12-14 | 韶关学院 | Clamping driving device based on ampere force action |
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| JP2014036490A (en) * | 2012-08-08 | 2014-02-24 | Daikin Ind Ltd | Axial gap type rotary electric machine and rotary electric machine driving device |
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