CN208409868U - Joint of robot driving device - Google Patents
Joint of robot driving device Download PDFInfo
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- CN208409868U CN208409868U CN201820948426.3U CN201820948426U CN208409868U CN 208409868 U CN208409868 U CN 208409868U CN 201820948426 U CN201820948426 U CN 201820948426U CN 208409868 U CN208409868 U CN 208409868U
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- main motor
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- podomere
- circuit board
- drive circuit
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Abstract
The technical issues of a kind of joint of robot driving device, is related to robotic technology field, and the solution is to joint of robot motion controls.The device includes main motor, first mechanical podomere, second mechanical podomere, the main motor is mounted on the first mechanical podomere, the shaft of main motor passes through the mechanical podomere of transmission parts connection second, drive circuit board is fixed on first mechanical podomere, equipped with the servomotor controller for controlling main motor operation on drive circuit board, and absolute value magnetic coder, analog-digital converter, master controller, the shaft end centre of the shaft of main motor is fixed with magnet, absolute value magnetic coder on the magnet face drive circuit board, the rotation data of absolute value magnetic coder acquisition machine shaft, and master controller is transmitted to after converting by analog-digital converter, control signal is converted to by master controller again and is sent to servomotor controller.Device provided by the utility model, cost of implementation are low.
Description
Technical field
The utility model relates to robot technology, more particularly to a kind of technology of joint of robot driving device.
Background technique
The joint of mechanical arm of robot is all that it is driven to move by motor, and existing joint of robot mainly uses more
Circle absolute value optoelectronic encoding device or 60 degree of phase signals add incremental encoder (light, inductance, the encoders such as capacitor) to acquire electricity
The rotation data of machine rotor, electric machine controller control motor operation according to encoder rotor rotation data collected,
To realize the motion control to joint of robot.
The cost of multi-turn absolute value optoelectronic encoding device is very high (to be usually more than 5000 yuans), and can lose after power loss
The absolute position of power loss machine rotor needs to re-recognize motor position, makes troubles to the motion control of joint of robot, also drops
The low reliability of motion control.And multi-turn absolute value optoelectronic encoding device needs larger code-disc, and induction read head volume is also larger,
To increase the volume of joint of robot.
60 degree of phase signals add incremental encoder needs to pass through the combination of two kinds of signals to obtain the position of rotor
Signal, which increase the complexities of joint of robot electric machine structure, to increase the volume of joint of robot, and increment
Type encoder is also required to biggish code-disc, further increases the volume of joint of robot.And various types of incrementals are compiled
Code device cost is also relatively high (to be usually more than 1000 yuans), and photoelectric encoder contamination resistance therein is poor, electricity
Holding encoder can not then work in a humid environment.In addition, incremental encoder generallys use the mode of mounted off-axis, knot
Structure is complicated, and assembly precision requires height, is unfavorable for mass production.
Utility model content
For above-mentioned defect existing in the prior art, the technical problem to be solved by the utility model is to provide a kind of fortune
Move easy to control, and high reliablity, small in size, the low joint of robot driving device of cost of implementation.
In order to solve the above-mentioned technical problem, a kind of joint of robot driving device provided by the utility model, including master
Motor, the first mechanical podomere, the second mechanical podomere, the main motor are servo motor, and main motor is mounted on the first mechanical podomere
On, the shaft of main motor connects the second mechanical podomere by transmission parts, is fixed with drive circuit board on the first mechanical podomere, drives
Equipped with the servomotor controller for controlling main motor operation on dynamic circuit board, it is characterised in that:
Also equipped with absolute value magnetic coder, analog-digital converter, master controller, the absolute value on the drive circuit board
The inductive signal output port of magnetic coder is connected to the input end of analog signal mouth of analog-digital converter, the number letter of analog-digital converter
Number output port is connected to the data collection terminal mouth of master controller, and the communication port of master controller is connected to servomotor controller
Communication port；
The shaft end centre of the shaft of the main motor is fixed with magnet, absolute on the magnet face drive circuit board
It is worth magnetic coder.
Joint of robot driving device provided by the utility model, main motor shaft is acquired using absolute value magnetic coder
Rotation data, cost of implementation will be far below multi-turn absolute value optoelectronic encoding device and increasing not essentially exceeding 100 yuans
The cost of amount type encoder, and absolute value magnetic coder control mode is simple, and own vol is small and exquisite, and uses shaft end with magnet
The mounting means of face, can reduce the volume of joint of robot, and absolute value magnetic coder itself also antipollution, be not afraid of tide
Wet, signal is affected by vibration small, and the motion control reliability of joint of robot is also higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the joint of robot driving device of the utility model embodiment；
Fig. 2 is the structure of the main motor and drive circuit board in the joint of robot driving device of the utility model embodiment
Schematic diagram.
Specific embodiment
The embodiments of the present invention are described in further detail below in conjunction with Detailed description of the invention, but the present embodiment and are not had to
In limitation the utility model, all similar structures and its similar variation using the utility model should all be included in the utility model
Protection scope, the pause mark in the utility model indicates the relationship of sum.
As Figure 1-Figure 2, a kind of joint of robot driving device provided by the utility model embodiment, including main electricity
The mechanical podomere 2 of the mechanical podomere 1, second of machine 3, first, the main motor 3 are servo motor, and main motor 3 is mounted on the first mechanical limb
On section 1, the shaft of main motor 3 connects the second mechanical podomere 2 by transmission parts, is fixed with driving electricity on the first mechanical podomere 1
Road plate 4, equipped with the servomotor controller (not shown) for controlling the operation of main motor 3, feature on drive circuit board 4
It is:
Also equipped with absolute value magnetic coder 5, analog-digital converter (not shown), main control on the drive circuit board 4
Device (not shown), the analog signal that the inductive signal output port of the absolute value magnetic coder 5 is connected to analog-digital converter are defeated
Inbound port, the digital signal output end mouth of analog-digital converter are connected to the data collection terminal mouth of master controller, the communication of master controller
Port is connected to the communication port of servomotor controller；
The shaft end centre of the shaft 31 of the main motor is fixed with magnet 6, on the 6 face drive circuit board of magnet
Absolute value magnetic coder 5.
In the utility model embodiment, the master controller, absolute value magnetic coder, servomotor controller are existing
The connection type of technology, servomotor controller and main motor is also the prior art, and master controller is using single-chip microcontroller.
The working principle of the utility model embodiment is as follows:
The second mechanical podomere 2 is driven to rotate relative to the first mechanical podomere 1 by main motor, absolute value magnetic coder 5
Be internally integrated one group of Hall sensor can incude main motor shaft 31 shaft end magnet 6 magnetic field, obtained simulation
Signal is sent into master controller after analog-digital converter is converted into digital signal, after being scaled motor control signal by master controller
It is sent to servomotor controller by communication mode, servomotor controller is transported according to the signal control main motor received
Row, and then realize the Relative motion control of the second mechanical podomere 2.
Claims (1)
1. a kind of joint of robot driving device, including main motor, the first mechanical podomere, the second mechanical podomere, the main motor
For servo motor, main motor is mounted on the first mechanical podomere, and the shaft of main motor passes through the mechanical limb of transmission parts connection second
Section, is fixed with drive circuit board on the first mechanical podomere, equipped with the servo for controlling main motor operation on drive circuit board
Electric machine controller, it is characterised in that:
Also equipped with absolute value magnetic coder, analog-digital converter, master controller on the drive circuit board, the absolute value magnetic is compiled
The inductive signal output port of code device is connected to the input end of analog signal mouth of analog-digital converter, and the digital signal of analog-digital converter is defeated
Exit port is connected to the data collection terminal mouth of master controller, and the communication port of master controller is connected to the communication of servomotor controller
Port；
The shaft end centre of the shaft of the main motor is fixed with magnet, the absolute value magnetic on the magnet face drive circuit board
Encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820948426.3U CN208409868U (en) | 2018-06-20 | 2018-06-20 | Joint of robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820948426.3U CN208409868U (en) | 2018-06-20 | 2018-06-20 | Joint of robot driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208409868U true CN208409868U (en) | 2019-01-22 |
Family
ID=65108776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820948426.3U Active CN208409868U (en) | 2018-06-20 | 2018-06-20 | Joint of robot driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208409868U (en) |
-
2018
- 2018-06-20 CN CN201820948426.3U patent/CN208409868U/en active Active
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