CN210389194U - Robot - Google Patents

Abstract

A robot at least comprises a plurality of joints and a plurality of arms, wherein a motor is arranged in each joint, and the robot is characterized in that a rotating arm with a rotating shaft perpendicular to the axis of the other arm connected with the rotating arm is driven by a first motor to rotate relative to the other arm, the first motor is a double-output-shaft motor, and is arranged in one end of the rotating arm, so that the double-output shaft of the first motor directly drives the rotating arm to rotate or drives the rotating arm to rotate through a speed reducing mechanism; and for the rotating arm with the rotating shaft consistent with the axis of the other arm connected with the rotating shaft, a second motor is adopted to drive the rotating arm to rotate, and the second motor is a single-output-shaft motor. The utility model provides a robot equilibrium is good, and the activity is nimble.

Description

Robot

Technical Field

The utility model relates to a robot belongs to the robotechnology field.

Background

Robots provided in the prior art generally include a plurality of sequentially connected base, large arm, small arm, and arm, which may be equipped with end effectors such as clamps, cutting tools, and probes to perform various motions. Each arm is rotatable about a rotational axis by a drive assembly. The driving assembly generally includes a motor and a speed reducer connected to the motor, and an output end of the speed reducer drives the mechanical arm to move. However, in the prior art, the motor for driving the large arm and the small arm to move is a single-output-shaft motor, the motor and the speed reducer are arranged in the rear end of the large arm to play a role in balancing weight and balance, and the speed reducer comprises a small bevel gear, a large bevel gear and a pair of large cylindrical gears to drive the large arm to move. The transmission mechanism for driving the small arm is arranged in the large arm, the motor for driving the small arm to move is also arranged in the rear end of the large arm, and the motor drives the small arm to move through the driving shaft, the two bevel gears and the two cylindrical gears. The big arm is arranged on one side of the connecting mechanism on the base, and the small arm is arranged on one side of the big arm, so that the balance of the robot with the structure is poor.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the invention aims to provide a robot which is good in balance.

In order to achieve the purpose, the utility model provides a robot, it includes a plurality of joints and a plurality of arms at least, is provided with the motor in every joint, its characterized in that, for the rotor arm of rotation axis perpendicular to the axis of connecting another arm with it this rotor arm of first motor drive is rotatory about this another arm, first motor is dual output shaft motor, set up first motor inside this rotor arm one end, make the dual output shaft of first motor directly drive this rotor arm and rotate or drive this rotor arm through the reduction gears and rotate; and for the rotating arm with the rotating shaft consistent with the axis of the other arm connected with the rotating shaft, a second motor is adopted to drive the rotating arm to rotate, and the second motor is a single-output-shaft motor.

Preferably, the speed reducing mechanism comprises a first cylindrical gear and a second cylindrical gear meshed with the first cylindrical gear, the first cylindrical gear is arranged at one end of one arm and is arranged on the inner side, and the second cylindrical gear is arranged on one output shaft of the motor with double output shafts.

Preferably, the first motor and the second motor each include a base and a housing fitted to a periphery of the base to form a first cavity outside the base and inside the housing, the first cavity being provided with a first stator and a rotor disposed inside the cavity formed by the first stator, the first stator including a first winding support 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, a plurality of first armature windings and a plurality of second armature windings wound around the plurality of first pole pieces; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, a second cavity is formed in the base, a second stator is arranged in the second cavity and comprises a second winding support and a plurality of third armature windings, the second winding support 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 third armature windings are wound on the second pole shoes.

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; inducing a second alternating current from the third winding, conditioning the second alternating current and applying it to the second armature winding, and using the magnetomotive force generated by the second armature winding to attenuate the higher order and/or lower order magnetomotive force components of the magnetomotive force generated by the first armature winding.

Preferably, the rotor comprises permanent magnets of N and S polarity arranged in a staggered manner, each permanent magnet having a base portion and a portion extending from the base portion, the base portion being substantially perpendicular to the centerline axis of the rotor shaft, the portion extending from the base portion being at least partially parallel to the centerline axis, the portion extending from the base portion forming a cavity to receive at least part of the second stator.

Preferably, the robot is characterized by further comprising a power supply circuit, wherein the power supply circuit comprises an overvoltage protection circuit, the overvoltage protection circuit comprises a transistor Q5, a first resistor R4, a second resistor R5), a voltage stabilizing diode D3 and a capacitor C2, wherein the cathode of the voltage stabilizing diode D3 is connected to the output end of the power supply circuit, the anode of the voltage stabilizing diode D3 is connected to the ground through the capacitor C2 and is connected to the base of the transistor Q5 through a first resistor R4, the collector of the transistor Q5 is connected to the control end of a boosting circuit in the power supply circuit, the emitter of the transistor Q5 is connected to the ground, and the base of the transistor Q5 is.

Preferably, the driving circuit includes at least a frequency identifying unit and a phase angle adjusting unit, the frequency identifying unit identifying a frequency component of the magnetomotive force based on a motor position signal provided from a position detecting unit of the motor to provide a control signal to the phase angle adjusting unit, so that the phase angle adjusting unit provides a second driving current to a second armature winding provided on the first stator to cancel a low order harmonic wave provided to the first armature winding due to the application of the driving current.

Preferably, the drive circuit further includes a constant identification unit that calculates a sum J of the inertia of the rotor of the motor and the inertia of a rigid body load mounted on the motor and a viscous friction coefficient D from the input speed signal and the torque command and from the speed signal.

Preferably, the drive circuit further includes a control signal generation unit that generates the correction signal Ff according to the constant value unit and the position instruction value.

Preferably, the correction signal is obtained by:

Ff＝AJP″_ref+BDP″_ref

wherein A and B are constants, P ″)_refIs the 2 nd order differential of the position command value; p ″)_refIs the 1 st order differential of the position command value.

Compared with the prior art, the utility model provides a robot can reach following advantage: (1) the balance is good; (2) the weight is light; (3) the activity is flexible.

Drawings

Fig. 1 is a schematic structural diagram of a robot provided by the present invention;

fig. 2 is a schematic view of a driving mechanism of the swivel arm provided by the present invention;

fig. 3 is a schematic composition diagram of a first servo motor for a robot according to the present invention;

FIG. 4 is a schematic cross-sectional view taken along line AB in FIG. 3, perpendicular to the axial direction of the servo motor;

fig. 5 is a schematic diagram of a second servo motor for a robot according to the present invention;

fig. 6 is a servo motor power supply circuit provided by the present invention;

fig. 7 is a block diagram of a driving device of a servo motor according to the present invention.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is 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 otherwise explicitly stated or limited, the terms "connected" and "connecting" should be interpreted broadly, and for example, they may be fixedly connected, detachably connected, or integrally connected, directly connected, indirectly connected through an intermediate medium, or connected between two elements, and those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.

Fig. 1 is a schematic structure diagram of a robot provided by the present invention, as shown in fig. 1, the robot provided by the present invention at least comprises a plurality of joints and a plurality of arms, and a motor is provided in each joint. The first arm is connected with the base, and the first arm can rotate 360 degrees along the 1 st axis in the figure 1; the second arm can be rotated 90 degrees in clockwise and counterclockwise directions along the 2 nd axis in fig. 1; the third arm can rotate 360 degrees in the clockwise and counterclockwise directions along the 3 rd axis in fig. 1; the fourth arm can rotate 360 degrees along the 4 th axis in fig. 1; the fifth arm can rotate 90 degrees clockwise and counterclockwise along the 5 th axis in fig. 1; the sixth arm is rotatable 360 degrees along axis 6 in fig. 1. The second arm rotates relative to the first arm connected with the second arm, the rotating shaft of the second arm is perpendicular to the axis of the first arm, and the second arm is driven to rotate by a first motor; the third arm rotates relative to the second arm connected with the third arm, the rotating shaft of the third arm is perpendicular to the axis of the second arm, and the third arm is driven to rotate by adopting a first motor; the fifth arm rotates relative to the fourth arm connected with the fifth arm, the rotating shaft of the fifth arm is perpendicular to the axis of the fourth arm, and the fifth arm is driven to rotate by a first motor; the first arm rotates relative to the base, a rotating shaft of the first arm is consistent with the axis of the base, and the first arm is driven to rotate by a second motor; the fourth arm rotates relative to the third arm connected with the fourth arm, a rotating shaft of the fourth arm is consistent with the axis of the third arm, and the fourth arm is driven to rotate by a first motor; the first motor is a double-output shaft motor, the first motor is arranged in one end of the rotating arm, and the double-output shaft of the first motor directly drives the rotating arm to rotate or drives the rotating arm to rotate through a speed reducing mechanism; and for the rotating arm with the rotating shaft consistent with the axis of the other arm connected with the rotating shaft, a second motor is adopted to drive the rotating arm to rotate, and the second motor is a single-output-shaft motor.

The utility model discloses in, usable first motor direct drive rotor arm rotates, also can utilize first motor to drive reduction gears drive rotor arm and rotate. When the first motor is used for directly driving the rotating arm to rotate, the first motor is arranged in one end of the rotating arm, two output shafts of the first motor are fixed on the rotating arm, and when the motor M works, the output shafts of the motor M rotate to drive the rotating arm to rotate. The structure shown in fig. 2 can be adopted by using the first motor to drive the speed reducing mechanism to drive the rotating arm to rotate.

Fig. 2 is the driving mechanism schematic diagram of the rotating arm provided by the utility model, as shown in fig. 2, the driving of the rotating arm includes a driving motor M and two speed reducing mechanisms, and two output shafts of the motor M are respectively connected to two sides in one end of the rotating arm through the speed reducing mechanisms symmetrically arranged. Each of the speed reducing mechanisms includes a first cylindrical gear 43 and a second cylindrical gear 44 engaged with the first cylindrical gear 43, the first cylindrical gear 43 is fixed to the inner side of one end of the rotating arm 41 through a shaft 42, and the second cylindrical gear 44 is provided on the first output shaft of the dual output shaft motor M. During operation, the output shaft of the motor M drives the first cylindrical gear to rotate, and further drives the second cylindrical gear to rotate, so that the rotating arm is driven to rotate clockwise or anticlockwise.

The utility model discloses a first motor can adopt the dual output axle motor among the prior art, preferably adopts 3 shown dual output axle motors. The second motor may be a single output shaft motor of the prior art, preferably the single output shaft motor shown in fig. 5.

Fig. 3 is a longitudinal sectional view of a dual output shaft servo motor for a robot provided by the present invention. Fig. 4 is a schematic cross-sectional view perpendicular to the axial direction of the servo motor along line AB in fig. 3, as shown in fig. 3 to 4, the present invention provides a dual output shaft servo motor comprising a base 5 and a housing 6 fitted to the periphery of the base 5 to form a first cavity 7 in the base and the housing 6, a first stator 9 and a rotor 8 disposed in the cavity formed by the first stator are disposed in the first cavity 7, the first stator includes a first winding support 13 having a plurality of first pole pieces 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 on the plurality of first pole pieces; the rotor 8 is fixed to a shaft 4 provided at the center of the rotor, and the shaft 4 is extended 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 winding support 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 along 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, the second cavity 2 is formed in the base 5, the second stator is disposed in the second cavity 2, the second stator includes a second winding support 11 and a plurality of third armature windings 10, the second winding support 11 has a plurality of second pole pieces protruding outward in the radial direction of the housing and arranged at equal intervals in the circumferential direction, and the plurality of third armature windings 10 are wound around the second pole pieces.

The rotor 8 includes a plurality of permanent magnets of N and S polarities alternately arranged, each of which has an "L" shape having a base portion and a portion extending from the base portion. The base is substantially perpendicular to the centre line axis of the rotor shaft 4 and the portion extending from the base is substantially parallel to the centre line axis. The end of the base 5 is mounted near the rear end of the shaft 4.

The first stator 9 is mounted radially outward of the rotor 8 with respect to the center 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 arranged in the vicinity of the rotor outer 8, while the first winding support abuts the inside of the housing 6; the third armature winding is arranged in the rotor in the vicinity of 8, while the second winding support is fixed in a cavity in the base 5. The winding support of the first stator 9 engages and extends to enclose the other internal components of the electrical machine. The first armature winding and the second armature winding are arranged on the first winding support, and the third armature winding is arranged on the second winding support and can be made of copper wires or other conductive filaments.

During operation of the servomotor, the rotor 8 rotates together with the shaft 4. In particular, the rotor 8 is configured to rotate about a centerline axis relative to the first and second stators 9, 19 such that a gap is maintained between the rotor 8 and the first and second stators, respectively, to form part of the magnetic flux path. Excitation current is applied to the first armature windings to cause each stator 9 to generate a rotating magnetic field so that the rotor 8 is rotated 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. the first armature winding is applied with first alternating current electric energy to form a rotating magnetic field to drive the rotor 8 to rotate; and inducing second alternating current power from the third winding, conditioning the second alternating current power and applying the second alternating current power to the second armature winding on the first stator, and weakening the low-order magnetomotive force component of the magnetomotive force generated by the first armature winding by using the magnetomotive force generated by the second armature winding.

In the present invention, the inner surface of the housing has a plurality of notches (not shown in fig. 3-4), and notches 2 are formed in the housing adjacent to the first winding support 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 winding support. In the illustrated embodiment, the recess is shaped like a scallop, transitioning parallel to a maximum depth and having rounded corners of substantially equal radius. The recess extends in the length direction 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 illustrated embodiment, the housing 6 has a substantially uniform cross-sectional area. Thus, the recesses 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. Stress analysis of available software can be performed using finite element methods to determine the location, shape and size of the recess 23 in the housing.

The notches reduce the contact stress between the core and the housing 6 due to the difference between the thermal expansion coefficients of the first winding support and the housing 6. Thus, hoop stresses within the winding support (caused by contact stresses between the winding support and the outer shell) are reduced. This allows the size of the motor to be kept smaller than achievable.

As shown in fig. 4, the first stator 1 is disposed on the outer periphery of the rotor 8, and the second stator is disposed inside the rotor 8. The rotor 8 has a permanent magnet holder mounted on the shaft 4 and permanent magnets fixed to the permanent magnet holder. The N-pole permanent magnet and the S-pole permanent magnet have 5 pairs each, and a total of 10 magnetic poles. In fig. 2, one magnetic pole is formed by one permanent magnet, but the specific configuration of the permanent magnet is not relevant. The permanent magnet holder may be provided with a permanent magnet, and may be embedded in the permanent magnet holder.

The winding frame of the first stator 1 has a plurality of first pole pieces protruding inward in the radial direction of the outer shell and arranged at equal intervals in the circumferential direction, and in fig. 2, 12 pole pieces are formed on the first winding frame at intervals of 30 degrees in the circumferential direction, and 2 windings, i.e., a first armature winding and a second armature winding, are wound on one pole piece. The second winding support has 6 second pole pieces protruding outward in the radial direction of the outer shell 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 power to the first armature winding to form a rotating magnetic field to drive the rotor 8 to rotate; the second alternating current power is induced from the third winding, the third alternating current power is conditioned and applied to the second armature winding, 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, so that the low-order magnetic flux is not changed, and no eddy current is generated. Since the eddy current flowing in the permanent magnet yoke can be reduced, the eddy current loss can be reduced. Since eddy current can be fundamentally reduced in this way, a conventional laminated field pole yoke or divided block yoke is not required, and the cost due to equipment investment or the cost due to an increase in the number of parts can be reduced.

The utility model provides a winding support and permanent magnet support of motor can be with amorphous alloy or nanocrystalline material preparation, so can further reduce the volume and the weight of dual output axle motor.

Fig. 5 is a longitudinal sectional view of a single output shaft servo motor for a robot according to the present invention. The construction of the servomotor shown in fig. 5 is substantially the same as that of the servomotor shown in fig. 3 to 4, and the same parts are not repeated, except that the output shaft projects from one end of the housing.

Fig. 6 is a power supply circuit of the servo motor provided by the present invention, as shown in fig. 6, the power supply circuit provided by the present invention includes an ac power supply 21, a rectifying and filtering circuit 22, a dc converting circuit and a switching circuit, the rectifying and filtering circuit 22 adopts a conventional diode rectifying and filtering circuit, which is used for converting an ac voltage into a dc voltage and providing the dc voltage to the dc converting circuit; the dc conversion circuit is used for providing a dc voltage directly provided by the rectifying and filtering circuit or a boosted dc voltage to the driving circuit 23 of the motor M. The direct current conversion circuit comprises a field effect transistor Q1, a field effect transistor Q2, a field effect transistor Q4, an inductor L1, a diode D1, a diode D2 and a capacitor C1, wherein the drain electrode of the field effect transistor Q1 is connected to the first output end of the rectifying and filtering circuit 22, the source electrode of the field effect transistor Q1 is connected to the first end of the inductor L1, the grid electrode of the field effect transistor Q1 is connected to the power supply controller 25, and the power supply controller 25 provides a pulse width modulation signal or a conducting signal for the direct. 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 provides the dc power to the driving circuit 23. A second terminal of the capacitor C1 is connected to a common ground. The drain of the fet Q2 is connected to the second terminal of the inductor L1, the source is connected to common ground, and the gate is connected to the power controller 25, to which a pwm signal is provided by the power controller 25. The drain of the fet Q4 is connected to the source of the fet Q1, the drain is connected to the second terminal of the diode D2, and the gate is connected to the power controller 25, to which the power controller 25 provides an on/off control signal. The utility model discloses in, set up sampling circuit at rectifier filter circuit 22's output, sampling circuit comprises resistance R1 and resistance 2, and they are connected in whole wave filter circuit 22's output after connecting in series mutually, and resistance R1 and resistance 2 are the intermediate node that is polyphone mutually take out sampling rectifier filter circuit 22's sampled voltage. When the output voltage of the rectifying and smoothing circuit 22 can reach the driving voltage for driving the motor, the power controller 25 provides a control signal to the fet Q4 to turn on the fet Q1, and also turns on the fet Q3578, so that the dc voltage output from the rectifying and smoothing circuit 22 is directly provided to the driving circuit 23 of the motor M. When the output voltage of the rectifying and smoothing circuit 22 does not reach the driving voltage of the driving motor M, the power controller 25 provides a control signal to the fet Q4 to turn off the fet, and provides pulse width modulation signals to the fets Q1 and Q2, and the dc voltage output from the rectifying and smoothing circuit 22 is boosted and then provided to the driving circuit 23.

The utility model provides a supply circuit still includes scram circuit, it includes field effect transistor Q3 and resistance R3, wherein, field effect transistor Q3's drain electrode is connected in electric capacity C1's first end through resistance R3, direct current converting circuit's output promptly, an electric energy for providing for field effect transistor Q3, the source electrode is connected in common ground, the grid is connected in power supply controller 25, provide control signal for the field effect transistor by power supply controller 25, when needs scram, make it switch on, thereby the voltage that provides drive circuit 23 is zero for the messenger.

The utility model provides a supply circuit still includes current detection unit 27 and motor position detecting element 28, current detection unit 27 is used for detecting the electric current that flows into motor M's first armature winding and provides current signal for total controller 26, total controller calculates the voltage signal who applies in drive circuit according to this current signal, and provide power controller 25 with this voltage signal, power controller compares the voltage signal that rectifier filter circuit 22 that this voltage signal and sampling circuit provided provides, according to comparison result control field effect transistor Q1, Q2 and Q3's operating condition.

The utility model provides a supply circuit still includes the overcurrent protection circuit, it includes transistor Q5, resistor R4, resistor R5, zener diode D3 and electric capacity, wherein, zener diode D3's negative pole is connected in supply circuit's output, the positive pole is through electric capacity C3 ground connection, connect in transistor Q5's base through resistance R4 simultaneously, transistor Q5's collecting electrode is connected in field effect transistor Q3's grid, between the projecting pole ground connection, the base is through resistance R5 ground connection. When the output voltage of the dc conversion circuit is equal to or greater than the breakdown voltage of the zener diode D3, the zener diode D3 is turned on. Transistor Q5 is conductive. The current through the zener diode D3 also flows to the capacitor C2 and charges the capacitor C2. When the transistor Q5 is turned on, the gate of the fet Q2 is grounded through the transistor Q5. Therefore, the pulse width modulated signal PWM output from the power supply controller 25 is directed to ground instead of being applied to the gate of the fet Q2. As a result, the field effect transistor Q2 stops the on/off switching operation and transitions to the off state. When the fet Q2 is turned off, the dc converter circuit stops the boosting operation, and its output voltage gradually drops, so that the zener diode D3 is turned off when the output voltage is less than the breakdown voltage of the zener diode D3. The charge on capacitor C2 is discharged and current flows from capacitor C2 through resistor R4 to the base of transistor Q5. Therefore, the transistor Q5 continues to maintain its on state. Therefore, the gate of fet Q2 remains grounded through transistor Q5, and no PWM signal is applied to the gate of fet Q2. As a result, the field effect transistor Q2 does not perform a switching operation. Therefore, the boosting of the dc converter circuit is stopped. When the voltage across the capacitor C2 drops to a predetermined value (the turn-on threshold of the transistor Q5), the transistor Q5 is turned off. The motor can be reliably protected against overvoltage.

Fig. 7 is a block diagram of a drive circuit of a servo motor according to the present invention, as shown in fig. 7, the present invention provides a drive circuit including a position control unit 31, a speed control unit 32, a torque control unit 33, a position detection unit 28, a differentiator 35, and a control constant identification unit 36, wherein the position control unit 31 inputs a position command Pref and a position signal Pfb of a motor M, and outputs a speed command Vref to the speed control unit 32. The speed control means 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 means 33 and the control constant recognition means 36. The torque control unit 33 inputs the torque command Tref and outputs a drive current Im1 to the motor M. The motor M is driven by the drive current Im1 to generate a 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 device 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 identifying unit 36. Control constant identification section 36 inputs speed signal Vfb and torque command Tref, and calculates the sum J of the inertia of the rotor of motor M and the inertia of the rigid body load mounted on motor M and viscous friction coefficient D from speed signal Vfb and torque command Tref. The position control unit 31 performs a position control operation to match the position signal Pfb with the position command Pref. The speed control unit 32 performs a speed control operation to make the speed signal Vfb coincide with the speed command Vref. The torque control means 33 performs a torque control operation so that the torque generated by the electric motor M matches the torque command Tref. The position detection unit 28 detects the position of the motor M. The differentiator 35 obtains a difference at regular intervals between the position signals Pfb to obtain the velocity signal Vfb.

The utility model provides a motor drive circuit still includes signal generator 37, and its input position control unit's position instruction Pref generates output behind 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 utility model discloses a preceding correction signal Ff obtains through the following formula:

Ff＝AJP″_ref+BDP″_ref

wherein A and B are constants, P ″)_ref2 nd order differential for the position command Pref; p ″)_refIs the 1 st order differential of the position command Pref. The control constant identification unit 36 calculates the total value J of the inertia and the viscous friction coefficient D to control J and D in the above equation to further control the motor M.

In the utility model, the water-saving device is provided with a water-saving valve,

the utility model provides a drive circuit still includes frequency identification unit 38, its frequency component according to the motor position signal discernment magnetomotive force that position detecting element 28 provided, in order to provide a control signal for phase angle adjusting unit 24, phase angle adjusting unit rectifies, filters and the contravariant to the induced voltage who produces by third stator armature winding, then provides second drive current Im2 for the second armature winding that sets up on first stator, make phase angle adjusting unit provide second drive current Im2 for the second armature winding that sets up on first stator, in order to offset and provide first armature winding owing to applyed the low order harmonic that drive current Im1 produced.

According to the utility model discloses, the total controller includes Central Processing Unit (CPU), Read Only Memory (ROM), Random Access Memory (RAM), host bus, interface, input unit, output unit, memory cell, driver, connection port and communication unit at least. The CPU functions as an arithmetic processing unit and a control unit, i.e., a processor. The CPU controls the operating state of the servo motor wholly or partially according to various programs stored in the ROM, the RAM, the storage unit, or the removable recording medium. The ROM stores programs and operation parameters used by the CPU. The RAM temporarily stores programs for the CPU and parameters that vary according to the execution of the programs. The CPU, ROM, RAM, and interface are connected to each other via a host bus including an internal bus such as a CPU bus.

The input unit exemplarily includes a mouse, a keyboard, a touch panel, a button, 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 the operation of the servo motor. The input unit includes an input control circuit that generates an input signal based on information input by a user through the above-described operation section and outputs the generated input signal to the CPU. By operating the input unit, the user of the servo motor can input various data into the storage unit of the master 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 driver is incorporated into the servo motor or externally connected to the servo motor. 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 can write data on the removable recording medium. Examples of the removable recording medium include a DVD medium, a CD medium, and a Secure Digital (SD) memory card. 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 servo motor. Examples of connection ports include a Universal Serial Bus (USB) interface, a Small Computer System Interface (SCSI) port, an RS-232C port, an optical audio terminal, and the like. When the external connection device is connected to the connection port, the servo motor may directly acquire data from the external connection device or supply data to the external connection device.

The communication unit is a wireless communication unit for communicating the servo motor with the server and/or the client terminal.

The invention has been described in detail with reference to the drawings, but the description is only intended to be construed in an illustrative manner. The scope of the invention is not limited by the description. Any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (7)

1. A robot at least comprises a plurality of joints and a plurality of arms, wherein a motor is arranged in each joint, and the robot is characterized in that a rotating arm with a rotating shaft perpendicular to the axis of the other arm connected with the rotating arm is driven by a first motor to rotate relative to the other arm, the first motor is a double-output-shaft motor, and is arranged in one end of the rotating arm, so that the double-output shaft of the first motor directly drives the rotating arm to rotate or drives the rotating arm to rotate through a speed reducing mechanism; and for the rotating arm with the rotating shaft consistent with the axis of the other arm connected with the rotating shaft, a second motor is adopted to drive the rotating arm to rotate, and the second motor is a single-output-shaft motor.

2. The robot according to claim 1, wherein the reduction mechanism comprises a first cylindrical gear provided inside one end of the arm and a second cylindrical gear engaged with the first cylindrical gear, the second cylindrical gear being provided on one output shaft of the dual output shaft motor.

3. The robot of claim 1, wherein the first and second motors each include a base and a housing fitted to a periphery of the base to form a first cavity outside the base and inside the housing, the first cavity having a first stator and a rotor disposed inside the cavity formed by the first stator, the first stator including a first winding support 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, a plurality of first armature windings and a plurality of second armature windings wound around the plurality of first pole pieces; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, a second cavity is formed in the base, a second stator is arranged in the second cavity and comprises a second winding support and a plurality of third armature windings, the second winding support 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 third armature windings are wound on the second pole shoes.

4. The robot of claim 3, wherein a first alternating current power is applied to the first armature winding to form a rotating magnetic field to drive the rotor to rotate; inducing a second alternating current from the third winding, conditioning the second alternating current and applying it to the second armature winding, and using the magnetomotive force generated by the second armature winding to attenuate the higher order and/or lower order magnetomotive force components of the magnetomotive force generated by the first armature winding.

5. A robot as claimed in claim 4, wherein the rotor comprises interleaved permanent magnets of N 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 centre line axis of the rotor shaft, the portion extending from the base portion being at least partially parallel to the centre line axis, the portion extending from the base portion forming a cavity to receive at least part of the second stator.

6. The robot of any one of claims 1-5, further comprising a power supply circuit comprising an overvoltage protection circuit comprising a transistor (Q5), a first resistor (R4), a second resistor (R5), a zener diode (D3), and a capacitor (C2), wherein the zener diode (D3) has a cathode connected to the output of the power supply circuit and an anode connected to ground via the capacitor (C2) and to the base of the transistor (Q5) via the first resistor (R4), and wherein the transistor (Q5) has a collector connected to the control terminal of the boost circuit in the power supply circuit, an emitter connected to ground, and a base connected to ground via the second resistor (R5).

7. A robot according to claim 6, wherein the drive circuit comprises at least a frequency identifying unit and a phase angle adjusting unit, the frequency identifying unit identifying a frequency component of the magnetomotive force based on the motor position signal provided from the position detecting unit of the motor to provide a control signal to the phase angle adjusting unit to cause the phase angle adjusting unit to supply the second drive current to the second armature winding provided on the first stator to cancel a lower harmonic wave generated by the application of the drive current to the first armature winding.

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