CN205363925U - Servo drive of arm - Google Patents
Servo drive of arm Download PDFInfo
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- CN205363925U CN205363925U CN201520964854.1U CN201520964854U CN205363925U CN 205363925 U CN205363925 U CN 205363925U CN 201520964854 U CN201520964854 U CN 201520964854U CN 205363925 U CN205363925 U CN 205363925U
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Abstract
The utility model provides a servo drive of arm, includes: a rectifier, it carries out the rectification to an alternating current power supply to through a direct current bus out rectified signal, a control unit, its motion control instruction of receiving an upper control ware to through a communication bus output motion control signal, a plurality of encoders, its motion state that detects each motor in a plurality of motors respectively to through signal line output motor motion state feedback signal, a plurality of dc -to -ac converters, it receives the rectified signal through the dc bus respectively, through communication bus receipt motion control signal, receives each motor motion state feedback signal through each signal line, carries out the contravariant to the rectified signal under the control of motion control signal and each motor motion state feedback signal to export an alternating current signal, a plurality of motors, its motion of driving device arm under each alternating current signal's control respectively. This servo drive can simplify the drive arrangement's of arm wiring, reduces the drive arrangement's of arm volume.
Description
Technical field
This utility model relates to a kind of industrial drives device, particularly relates to the servo drive of a kind of mechanical arm.
Background technology
Mechanical arm be a kind of can according to set requirement, be automatically performed object (such as material, workpiece, part or instrument etc.) transmit or operation operation machinery.Mechanical arm is the automated machine device obtaining at present most broad practice in robotics, is obtained for more and more general application in fields such as industry manufacture, medical treatment, entertainment service, military affairs and space probations.Although in different concrete application, the form of mechanical arm is had nothing in common with each other, but they typically each have multiple degree of freedom, it is possible to is precisely positioned to the certain point on two dimension or three dimensions and carries out operation.
In order to meet the requirement of multiple degree of freedom of mechanical arm, mechanical arm is usually provided with multiple motor, to drive mechanical arm motion in different directions.Needing many wiring between motor and motor driver, when in mechanical arm, the quantity of motor is more, the wiring between multiple motors and motor driver is more, and the quantity of motor driver is also by more, then for arranging that the rack volume of motor driver is also bigger.
Utility model content
In view of this, the purpose of this utility model is in that under meeting the requirement of degree of freedom of mechanical arm, simplifies the wiring of the driving device of mechanical arm, reduces the volume of the driving device of mechanical arm.
To achieve these goals, this utility model provides the servo drive of a kind of mechanical arm, including:
One commutator, an alternating current power supply is carried out rectification by it, and exports a rectified signal by a dc bus；
One control unit, it receives the motion control instruction of a host controller, and exports a motion control signal by a communication bus；
Multiple encoders, it detects the kinestate of each motor in multiple motor respectively, and exports a motor movement status feedback signal by a holding wire；
Multiple inverters, it receives described rectified signal respectively through described dc bus, described motion control signal is received by described communication bus, each described motor movement status feedback signal is received by each described holding wire, under the control of described motion control signal and each described motor movement status feedback signal, described rectified signal is carried out inversion, and exports an AC signal；
The plurality of motor, it drives the motion of described mechanical arm respectively under the control of each described AC signal.
By the servo drive of the mechanical arm that this utility model provides, mechanical arm still can be provided with multiple motor, to meet the requirement of the degree of freedom of mechanical arm.Only need to be connected by a dc bus between commutator and multiple inverter so that line is greatly simplified.Inverter and motor can be arranged nearby so that between inverter and motor, the complexity of wiring is also minimized.
Additionally, only a commutator need to be arranged according in the servo drive of mechanical arm of the present utility model, it is possible not only to reduce the volume of the driving device of mechanical arm, it is also possible to reduce the cost of the driving device of mechanical arm.
Accompanying drawing explanation
Below with reference to accompanying drawing, by the purpose of this utility model, feature and effect being described in detail according to specific embodiment of the utility model.These explanations are merely cited for, not in order to limit protection domain of the present utility model.Wherein:
Fig. 1 illustrates the structural representation according to embodiment one of the present utility model；
Fig. 2 illustrates the structural representation according to embodiment two of the present utility model.
Detailed description of the invention
Fig. 1 illustrates the structural representation according to embodiment one of the present utility model.As it is shown in figure 1, this servo drive 10 includes:
One commutator 11, an alternating current power supply is carried out rectification by it, and exports a rectified signal by a dc bus；
One control unit 13, it receives the motion control instruction of a host controller 12, and exports a motion control signal by a communication bus；
Multiple encoders 15, it detects the kinestate of each motor in multiple motor 19 respectively, and exports a motor movement status feedback signal by a holding wire；
Multiple inverters 17, it receives described rectified signal respectively through described dc bus, described motion control signal is received by described communication bus, each described motor movement status feedback signal is received by each described holding wire, under the control of described motion control signal and each described motor movement status feedback signal, described rectified signal is carried out inversion, and exports an AC signal；
The plurality of motor 19, it drives the motion of described mechanical arm respectively under the control of each described AC signal.
By the servo drive of the mechanical arm that this utility model embodiment provides, mechanical arm still can be provided with multiple motor, to meet the requirement of the degree of freedom of mechanical arm.Only need to be connected by a dc bus between commutator and multiple inverter so that line is greatly simplified.
It is additionally provided with control unit and encoder according in this embodiment of the present utility model, control unit can according to the motion control instruction of host controller, control the signal conversion process of inverter, further by the encoder kinestate to inverter fed motor, thus the motion of mechanical arm can be carried out accurately SERVO CONTROL.Further, only need to be connected by a communication bus between control unit with multiple inverters, also make wiring very simple and direct.
Encoder, inverter and motor can be arranged nearby so that between encoder, inverter and motor, the complexity of wiring is also minimized.
Additionally, only a commutator need to be arranged according in the servo drive of mechanical arm of the present utility model, it is possible not only to reduce the volume of the driving device of mechanical arm, it is also possible to reduce the cost of the driving device of mechanical arm.
Fig. 2 illustrates the structural representation according to embodiment two of the present utility model.As shown in Figure 2, this servo drive 20 includes: commutator 21, control unit 23, multiple encoder 25, multiple inverter 27 and multiple motor 29, detailed description for each ingredient may refer to above-mentioned in conjunction with the relevant explanation in the embodiment one of Fig. 1, does not repeat them here.
In this embodiment, commutator 21 and control unit 23 are arranged in a control rack, and multiple encoders 25, multiple inverter 27 and multiple motor 29 are arranged in mechanical arm, for instance be arranged in the base of mechanical arm.So, needing only to a dc bus and a communication bus is attached between control rack and mechanical arm, wiring is very simple and convenient.Encoder 25, inverter 27 and motor 29 are arranged in mechanical arm all nearby, and the complexity of its wiring is also minimized.
In this embodiment, commutator 21, control unit 23, encoder 25, inverter 27 and alternating current generator 29 all can use general commercial devices, and the running parameter of each device can be determined according to the power demand of concrete application and required precision.Described communication bus can be such as the one in Profibus bus, Modbus bus, Profinet bus and CAN.
Those skilled in the art should understand that, although this specification describes according to each embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should be made as a whole by those skilled in the art, technical scheme in each embodiment through appropriately combined, can also form other embodiment that it will be appreciated by those skilled in the art that.
The foregoing is only the detailed description of the invention that the present invention is exemplary, be not limited to the scope of the present invention.Any those skilled in the art, the equivalent variations made under without departing from the design of the present invention and the premise of principle, amendment and combination, the scope of protection of the invention all should be belonged to.
Claims (3)
1. the servo drive of a mechanical arm, it is characterised in that including:
One commutator, an alternating current power supply is carried out rectification by it, and exports a rectified signal by a dc bus；
One control unit, it receives the motion control instruction of a host controller, and exports a motion control signal by a communication bus；
Multiple encoders, it detects the kinestate of each motor in multiple motor respectively, and exports a motor movement status feedback signal by a holding wire；
Multiple inverters, it receives described rectified signal respectively through described dc bus, described motion control signal is received by described communication bus, each described motor movement status feedback signal is received by each described holding wire, under the control of described motion control signal and each described motor movement status feedback signal, described rectified signal is carried out inversion, and exports an AC signal；
The plurality of motor, it drives the motion of described mechanical arm respectively under the control of each described AC signal.
2. servo drive as claimed in claim 1, it is characterised in that described commutator and described control unit are arranged in a control rack, and the plurality of inverter, the plurality of motor and the plurality of encoder are arranged in described mechanical arm.
3. servo drive as claimed in claim 1 or 2, it is characterised in that described communication bus is any one in a Profibus bus, Modbus bus, Profinet bus, CAN.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520964854.1U CN205363925U (en) | 2015-11-27 | 2015-11-27 | Servo drive of arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520964854.1U CN205363925U (en) | 2015-11-27 | 2015-11-27 | Servo drive of arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205363925U true CN205363925U (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520964854.1U Expired - Fee Related CN205363925U (en) | 2015-11-27 | 2015-11-27 | Servo drive of arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205363925U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231144A (en) * | 2017-05-08 | 2017-10-03 | 西门子公司 | Servo-driver |
| CN111722106A (en) * | 2020-06-05 | 2020-09-29 | 格力电器（合肥）有限公司 | Motor operation detection system and method |
-
2015
- 2015-11-27 CN CN201520964854.1U patent/CN205363925U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231144A (en) * | 2017-05-08 | 2017-10-03 | 西门子公司 | Servo-driver |
| US11163285B2 (en) | 2017-05-08 | 2021-11-02 | Siemens Aktiengesellschaft | Servo driver |
| CN111722106A (en) * | 2020-06-05 | 2020-09-29 | 格力电器（合肥）有限公司 | Motor operation detection system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160706 Termination date: 20211127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |