CN209095598U - Servo drive system applied to joint of mechanical arm - Google Patents
Servo drive system applied to joint of mechanical arm Download PDFInfo
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- CN209095598U CN209095598U CN201821877305.0U CN201821877305U CN209095598U CN 209095598 U CN209095598 U CN 209095598U CN 201821877305 U CN201821877305 U CN 201821877305U CN 209095598 U CN209095598 U CN 209095598U
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- mechanical arm
- control panel
- drive system
- motor
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Abstract
The utility model discloses a kind of servo drive systems applied to joint of mechanical arm, comprising: motor, separator, control panel, L-type support and absolute type encoder；Motor includes rotor and the first output shaft, and rotor and first export axis connection；Separator, control panel and L-type support are successively sheathed on the first output shaft；Absolute type encoder is installed in L-type support；Control panel is electrically connected with absolute type encoder and motor respectively；Absolute type encoder is used to obtain the location information of joint of mechanical arm and is sent to control panel；Control panel is for generating driving signal and being sent to motor.The servo drive system of the utility model is not only compact-sized, small in size, avoid the case where electromagnetic field of motor generates electromagnetic interference to the control panel of driver, and absolute type encoder can obtain the absolute position in joint, the jitter phenomenon that the joint of mechanical arm of robot is waited on startup is avoided, the accuracy rate that the position precision and movement when improving driving manipulator motion are completed.
Description
Technical field
The utility model relates to industrial drives engineering device technique field, in particular to a kind of servo applied to joint of mechanical arm
Drive system.
Background technique
Integral joint is the important component of robot, and in the prior art, industrial robot joint executing agency is all
Using the motor and driver of discrete, motor is mounted on joint part, and driver is fixed in control cabinet, the two cable
It is attached, causes industrial robot electric wiring cumbersome, need biggish installation space, and it is hidden to overhaul complexity, unknown safety
Suffer from more.
Motor and driver are integrated currently, also having, but can cause a new problem, the electromagnetism of motor
Field can generate electromagnetic interference to the control circuit board of driver, to influence the accuracy of control.
Utility model content
The technical problems to be solved in the utility model is to overcome industrial robot joint executing agency in the prior art
Compact-sized, small in size and motor electromagnetic field can not be met simultaneously to generate electromagnetic interference to the control panel of driver
Defect provides a kind of servo drive system applied to joint of mechanical arm.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of servo drive system applied to joint of mechanical arm, the servo drive system include: motor, separator,
Control panel, L-type support and absolute type encoder；
The motor includes rotor and the first output shaft, and the rotor and described first export axis connection；
The separator, the control panel and the L-type support are successively sheathed on first output shaft；
The absolute type encoder is installed in the L-type support；
The control panel is electrically connected with the absolute type encoder and the motor respectively；
The absolute type encoder is used to obtain the location information of the joint of mechanical arm and is sent to the control panel；
The control panel is for generating driving signal and being sent to the motor.
Preferably, the motor further includes temperature sensor；
The temperature sensor is set in the rotor；
The temperature sensor is electrically connected with the control panel.
Preferably, the servo drive system further include: incremental encoder；
The incremental encoder is installed on first output shaft, and be located at the separator and the control panel it
Between；
The incremental encoder is electrically connected with the control panel；
The incremental encoder is used to obtain the location information of the rotor and is sent to the control panel.
Preferably, the joint of mechanical arm includes shell；
The servo drive system further include: braking device；
The braking device includes electromagnet, star-like chuck and bumping post；
The electromagnet is installed in the L-type support；
The star-like chuck is installed on first output shaft, and between the motor and the separator；
The bumping post is fixed on the shell, and the end face of the bumping post is supported and is set to the electromagnet.
Preferably, the shell of the shell of the motor and the joint of mechanical arm is integrally formed.
Preferably, the servo drive system further include: voltage conversion circuit；
The voltage conversion circuit respectively with the control panel, the motor, the absolute type encoder and the increment
The electrical connection of formula encoder.
Preferably, the material of the separator is aluminium alloy or stainless steel.
Preferably, the motor is 10 pole, 12 slot centralization winding construction.
Preferably, the joint of mechanical arm includes: the second output shaft；
The servo drive system further include: retarder；
First output shaft passes through the retarder and the second output axis connection.
The positive effect of the utility model is: the servo drive system of the utility model is not only compact-sized, body
Product is small, avoids the case where electromagnetic field of motor generates electromagnetic interference to the control panel of driver, and absolute type encoder can
The absolute position for obtaining joint, avoids the jitter phenomenon that the joint of mechanical arm of robot is waited on startup, improves driving machine
The accuracy rate that position precision and movement when tool arm moves are completed.
Detailed description of the invention
Fig. 1 is the integrated servo-drive system of the high-precision applied to joint of mechanical arm of one preferred embodiment of the utility model
The partial structure diagram of system.
Fig. 2 is the integrated servo-drive system of the high-precision applied to joint of mechanical arm of one preferred embodiment of the utility model
The part of module schematic diagram of system.
Fig. 3 is the sectional view of the motor in Fig. 2.
Specific embodiment
The utility model is further illustrated below by the mode of embodiment, but is not therefore limited in the utility model
Among the embodiment described range.
The present embodiment provides the servo drive system that a kind of high-precision applied to joint of mechanical arm integrates, joint of mechanical arm
Including shell and the second output shaft, servo drive system is installed on the shell by stud, as shown in Figs. 1-2, servo-drive system
System includes: motor 1, separator 2, control panel 3, L-type support 4, absolute type encoder 5, incremental encoder 6, brake dress
It sets, cable fixed disk 8 and retarder.Motor includes stator, rotor and the first output shaft, and rotor directly connects with the first output shaft
It connects.Separator 2, incremental encoder 6, control panel 3, L-type support 4 are successively sheathed on the first output shaft of motor, and are isolated
Disk 2 is installed on the first output shaft axis of motor, and control panel 3, L-type support 4, cable fixed disk 8 are fixed on outer by copper stud
On shell.Absolute type encoder 5 is installed in L-type support 4.Control panel 3 respectively with absolute type encoder 5, incremental encoder 6 and
Motor 1 is electrically connected.
Specifically, motor in the present embodiment is the permanent magnet synchronous motor without mount structure, the stator of permanent magnet synchronous motor with
Cooperate between mechanical arm, rotor is hollow, and the first output shaft of motor is connected by the second output shaft of retarder and joint of mechanical arm
It connects.The shell of joint of mechanical arm and the shell of motor are integrally formed namely the shell of joint of mechanical arm is directly as the outer of motor
Shell, so that motor does not need traditional casing and shaft, due to eliminating traditional casing and shaft, directly and joint of mechanical arm
Installation, the weight for taking full advantage of space, reducing electric machine assembly.In the present embodiment, as shown in figure 3, motor uses 10 pole, 12 slot
Centralized winding construction, radial magnetic circuit structure is effectively torque pulsation inhibited, improves motor power output, improves the whole efficiency of system.
In the present embodiment, motor further includes temperature sensor 9, and temperature sensor 9 is set in rotor, and electric with control panel 3
Connection.Temperature sensor is used to monitor in real time the temperature of machine winding, to guarantee the safety and stability of system.
In the present embodiment, the light metal such as aluminium alloy, stainless steel is can be used in the material of separator, using light metal one
Aspect not will increase the overall weight of servo drive system, and it is dry to the electromagnetism of control panel on the one hand can to eliminate Electromagnetic Field
It disturbs.
In the present embodiment, incremental encoder 6 is fixed on the positioning of the first output shaft upper end of motor by a piece of tabletting
Hole, and between separator and control panel.Incremental encoder exports A, B, Z signal by its read head, and A, B, Z signal are used for
The rotor position information of motor is characterized, read head is fixed on control panel by screw, and control panel passes through QEP (quadrature coding pulse)
Module reads the encoder information of the rotor-position of characterization motor, differentiates direction to calculate motor speed.
The read head 51 of absolute type encoder 5 reads joint position information by magnetic induction principle, and is sent to control panel 3.
Using absolute type magnetic coder as load situation detecting element, it can know that joint position is believed in real time after making system initial power-on
Breath, avoids the jitter phenomenon that the joint of mechanical arm of robot is waited on startup.
Specifically, control panel include DSP (Digital Signal Processing) control circuit, power driving circuit, current detection circuit,
Power interface, joint position detection interface, motor rotor position detection interface, bus interface and I/O output.The UVW tri- of motor
Phase line is connected with the output of the three-phase of the power driving circuit of control panel.
The DSP control circuit of control panel to the code device signal received, (including believe by joint position information and rotor-position
Breath) it is handled, obtain the velocity information of motor and the location information in joint；A/D (analog-to-digital conversion) module of DSP control circuit
The sampling for carrying out the voltage, electric current of motor calculates；It realizes that PWM is controlled using the ePWM module of DSP control circuit, completes closed loop control
Algorithm processed, output drive signal；Power driving circuit realizes that the driving to motor, realization turn motor according to driving signal
Square, revolving speed and the control of position, to not only ensure that the absolute location information in joint, but also may be implemented full closed loop control, overcome
The accuracy rate of position precision and movement completion is improved in the gap and mechanical location deviation that harmonic speed reducer introduces.
Control panel realizes the networking with the supervisory controller for controlling joint motions, control panel by two twisted pairs
It is communicated between host computer using RS485 bus or a kind of Canopen (fieldbus) bus.In the present embodiment, two
Root communication bus reduces the complexity of system by the way of hollow cabling, is easily installed maintenance.
The servo drive system of the present embodiment further includes voltage conversion circuit 10, is DSP control circuit, power drive electricity
Road, current detection circuit, encoder circuit and bus communication circuitry provide stable operating voltage, guarantee in these functional circuits
Prototype part be capable of the work of safety and stability.
Specifically, the input voltage of voltage conversion circuit be 48V DC, voltage conversion circuit using three-level decompression, first by
48V DC is depressured to obtain 15V DC, then is depressured to obtain 5V DC by 15V DC, then has 5V to be depressured to obtain 3.3V DC.Three-level is taken to drop
Pressure scheme, the first order provide DC input voitage reduced output voltage to 15V source of stable pressure using LM5010 chip, are power drive electricity
Road provides the work electricity of 15V；The second level uses LT1767 chip, and 15V is reduced to 5V, is current detection circuit, encoder electricity
The operating voltage of the offer such as road 5V；The third level use NCP3337MN330R2G chip, output 3.3V be used for for DSP control circuit,
Bus communication circuitry provides 3.3V operating voltage.
In the present embodiment, braking device includes electromagnet 71, bumping post 72, the first positioning snap ring 73, corrugated gasket, star
Type chuck 74, corrugated gasket, the second positioning snap ring 75.Electromagnet 71 is installed in L-type support 4, and bumping post 72 is fixed on shell,
First positioning snap ring 73, corrugated gasket, star-like chuck 74, corrugated gasket, the second positioning snap ring 75 are successively installed on the first output
On axis.After installation, the output shaft of electromagnet is pressed against the end face of bumping post, has a spring below bumping post.Brake circuit exists
When starting, to the pulse voltage of electromagnetism Tie Tong 48V, spring is depressed at this time, and bumping post moves down, cannot block star-like chuck
Rotation, brake are unclamped, and it is 5V that the voltage of electromagnet coil is maintained when normal work.When system is powered down, electromagnet power-off, spring
It flicks, for star-like chuck just with the upper end surface of bumping post in same level, bumping post limits star-like chuck rotation.
Although the foregoing describe specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
This is merely illustrative of, and the protection scope of the utility model is defined by the appended claims.Those skilled in the art
Under the premise of without departing substantially from the principles of the present invention and essence, many changes and modifications may be made,
But these change and modification each fall within the protection scope of the utility model.
Claims (9)
1. a kind of servo drive system applied to joint of mechanical arm, which is characterized in that the servo drive system includes: electricity
Machine, separator, control panel, L-type support and absolute type encoder；
The motor includes rotor and the first output shaft, and the rotor and described first export axis connection；
The separator, the control panel and the L-type support are successively sheathed on first output shaft；
The absolute type encoder is installed in the L-type support；
The control panel is electrically connected with the absolute type encoder and the motor respectively；
The absolute type encoder is used to obtain the location information of the joint of mechanical arm and is sent to the control panel；
The control panel is for generating driving signal and being sent to the motor.
2. being applied to the servo drive system of joint of mechanical arm as described in claim 1, which is characterized in that the motor also wraps
Include temperature sensor；
The temperature sensor is set in the rotor；
The temperature sensor is electrically connected with the control panel.
3. being applied to the servo drive system of joint of mechanical arm as claimed in claim 2, which is characterized in that the servo-drive
System further include: incremental encoder；
The incremental encoder is installed on first output shaft, and between the separator and the control panel；
The incremental encoder is electrically connected with the control panel；
The incremental encoder is used to obtain the location information of the rotor and is sent to the control panel.
4. being applied to the servo drive system of joint of mechanical arm as described in claim 1, which is characterized in that the mechanical arm closes
Section includes shell；
The servo drive system further include: braking device；
The braking device includes electromagnet, star-like chuck and bumping post；
The electromagnet is installed in the L-type support；
The star-like chuck is installed on first output shaft, and between the motor and the separator；
The bumping post is fixed on the shell, and the end face of the bumping post is supported and is set to the electromagnet.
5. being applied to the servo drive system of joint of mechanical arm as claimed in claim 4, which is characterized in that outside the motor
The shell of shell and the joint of mechanical arm is integrally formed.
6. being applied to the servo drive system of joint of mechanical arm as claimed in claim 3, which is characterized in that the servo-drive
System further include: voltage conversion circuit；
The voltage conversion circuit is compiled with the control panel, the motor, the absolute type encoder and the increment type respectively
Code device electrical connection.
7. being applied to the servo drive system of joint of mechanical arm as described in claim 1, which is characterized in that the separator
Material is aluminium alloy or stainless steel.
8. being applied to the servo drive system of joint of mechanical arm as described in claim 1, which is characterized in that the motor is 10
12 slot centralization winding construction of pole.
9. the servo drive system applied to joint of mechanical arm as described in any one of claim 1-8, which is characterized in that
The joint of mechanical arm includes: the second output shaft；
The servo drive system further include: retarder；
First output shaft passes through the retarder and the second output axis connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821877305.0U CN209095598U (en) | 2018-11-14 | 2018-11-14 | Servo drive system applied to joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821877305.0U CN209095598U (en) | 2018-11-14 | 2018-11-14 | Servo drive system applied to joint of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209095598U true CN209095598U (en) | 2019-07-12 |
Family
ID=67159710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821877305.0U Active CN209095598U (en) | 2018-11-14 | 2018-11-14 | Servo drive system applied to joint of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209095598U (en) |
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2018
- 2018-11-14 CN CN201821877305.0U patent/CN209095598U/en active Active
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