CN210389200U - Multifunctional six-axis robot - Google Patents

Abstract

A multifunctional six-axis robot at least comprises six joints, wherein a motor is arranged in each joint, the motor comprises a base and a shell matched with the periphery of the base to form a first cavity in the base and the shell, a first stator and a rotor arranged in the cavity formed by the first stator are arranged in the first cavity, and the first stator comprises a first stator iron core, a plurality of first armature windings and a plurality of second armature windings; the rotor comprises a plurality of magnetic poles which are arranged along the circumferential direction of the shell at equal intervals, a second cavity is formed in the base, a second stator is arranged in the second cavity, and the second stator comprises a second stator core and a plurality of third armature windings. The utility model provides a multi-functional robot light in weight.

Description

Multifunctional six-axis robot

Technical Field

The utility model relates to a six multi-functional robots belongs to the robotechnology field.

Background

Fig. 1 shows a six-axis robot provided in the prior art, and the robot shown in fig. 1 generally includes a plurality of robot arms connected in series, a robot arm provided at an end thereof, and an end effector such as a gripper, a cutting tool, and a probe to perform various motions. Each robot arm is rotated about a rotational axis by a drive assembly. The driving assembly generally includes a motor disposed along the rotation axis of each mechanical arm and a reducer connected to the motor, and an output end of the reducer drives the mechanical arms to move, so that the mechanical arms are generally larger in size along the rotation axis.

For the mechanical arm located at the tail end of the robot, like a fifth mechanical arm and a sixth mechanical arm which are connected in a rotating mode and vertically arranged in a rotating mode of a six-axis robot, the driving assembly arranged is usually arranged in a mode of being adjacent to the fifth mechanical arm and the sixth mechanical arm, so that the size of the fifth mechanical arm and the size of the sixth mechanical arm in the direction of respective rotation axes are large, the space occupied by the whole structure of the robot is increased, and the robot is not beneficial to application of the robot in narrow operation space. In addition, the sixth robot arm has a large dead weight, so that the moment of inertia becomes large, which makes it difficult to improve the accuracy and rapidity of the control of the sixth robot arm.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the invention aims to provide a multifunctional six-axis robot, the mechanical arm of which is light in weight and flexible in movement.

In order to achieve the object, the present invention provides a six-axis robot, which at least comprises six joints, wherein a motor is arranged in each joint, the motor comprises a base and a shell matched with the periphery of the base to form a first cavity in the base and the shell, a first stator and a rotor arranged in the cavity formed by the first stator are arranged in the first cavity, the first stator comprises a first stator core and a plurality of first armature windings and a plurality of second armature windings, the first stator core is provided with a plurality of first pole shoes which protrude inwards in the radial direction of the shell and are arranged at equal intervals in the circumferential direction, and the plurality of first armature windings and the plurality of second armature windings are wound on the first pole shoes; the rotor comprises a plurality of magnetic poles which are arranged along the circumferential direction of the shell at equal intervals, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity and comprises a second stator core and a plurality of third armature windings, the second stator core is provided with a plurality of second pole shoes which protrude outwards along the radial direction of the shell and are arranged along the circumferential direction at equal intervals, and the plurality of 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 third 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 for receiving at least part of the second stator.

Preferably, each permanent magnet is in the shape of an "L".

Preferably, the drive circuit at least comprises a frequency identification unit and a phase angle adjusting unit, wherein the frequency identification unit identifies the frequency component of the magnetomotive force according to a motor position signal provided by a position detection unit of the motor so as to provide a control signal for the phase angle adjusting unit, so that the phase angle adjusting unit provides a second drive current for a second armature winding arranged on the first stator, and the low-order harmonic wave generated by the drive current applied to the first armature winding is counteracted.

Preferably, the drive circuit further includes an identification unit that calculates a total value J of the inertia of the rotor of the electric motor and the inertia of the rigid body load mounted on the electric motor from the motor position signal.

Preferably, the drive circuit further includes a control signal generating unit that generates the correction signal Ff based on the signal supplied from the common sense unit and the position command value.

Preferably, the correction signal is obtained by:

Ff＝AJP″_ref

in the formula, A is magnification, P ″)_refIs the 2 nd order differential of the position command value.

Preferably, the six-axis robot further includes a power supply circuit including 2N electric switches controlled by the power supply controller and N direct current power supplies, N being an integer greater than or equal to 2, the 2N electric switches being connected in series and supplying electric power to the driving device of the servo motor, the 2N electric switches forming 2N-1 nodes, each of the 1 st to N-1 st direct current power supplies being connected between two nodes spaced apart from each other by one node among the 2N-1 nodes by one accumulation inductance, the nth direct current power supply being connected between the 2N-2 nd node and ground by one accumulation inductance.

Preferably, the power supply controller controls the on and off of the 2N electric switches, so that the N direct current power supplies are connected in series, in parallel or in series-parallel to supply power to the driving loop of the outer motor.

The utility model provides a six axis robot is because with using not using silicon steel sheet servo motor, arm light in weight, and the joint is little, and the activity is nimble.

Drawings

FIG. 1 is a schematic block diagram of a six-axis robot provided in the prior art;

fig. 2 is a schematic composition diagram of a servo motor for a six-axis robot provided by the present invention;

FIG. 3 is a schematic cross-sectional view taken along line AB in FIG. 2, perpendicular to the axial direction of the servo motor;

fig. 4 is a block diagram of the servo motor driving circuit provided by the present invention;

fig. 5 is a power supply circuit for a servo motor provided by 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.

The utility model provides a six axis robot includes six joints and six arms at least, is provided with the motor in every 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 axis 2 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 be rotated 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 utility model discloses in, the motor that usable prior art provided drives reduction gears drive rotor arm and rotates. Preferably, a single output shaft servomotor as shown in fig. 2-3 is used for driving.

Fig. 2 is a longitudinal sectional view of a servo motor for a six-axis robot provided by the present invention. Fig. 3 is a schematic cross-sectional view perpendicular to the axial direction of the servo motor along line AB in fig. 2, as shown in fig. 2-3, 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 comprises a first stator core 13 and a plurality of first armature windings and a plurality of second armature windings, the first stator core has 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 the plurality of first armature windings and the plurality of second armature windings are wound on the first pole pieces; the rotor 8 is fixed to a shaft 4 arranged in the center of the rotor, which shaft 4 extends from one end 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 notches and the first stator core is coupled 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 stator core 11 and a plurality of third armature windings 10, the second stator core 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 disposed near the rotor outer 8, while the first core abuts the inside of the housing 6; the third armature winding is arranged in the rotor adjacent 8 and the third core is fixed in a cavity in the base 5. The core of the first stator 9 engages and extends to surround the other internal components of the electrical machine. The first armature winding and the second armature winding are disposed on the first core, and the third armature winding disposed on the second core may be made of copper wire or other conductive filament.

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. 1-2), and notches 2 are formed in the housing adjacent to the first core 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 core. 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 core and the housing 6. Thus, hoop stresses within the core (caused by contact stresses between the core and the outer shell) are reduced. This allows the size of the motor to be kept smaller than achievable.

As shown in fig. 3, 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 rotor core attached to the shaft 4 and a permanent magnet fixed to the rotor core. 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 magnets may be disposed in the rotor core and embedded in the rotor core.

The core of the first stator 1 has 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 in fig. 2, 12 pole pieces are formed on the first stator core 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 stator core has 6 second pole pieces protruding outward in a radial direction of the housing and arranged at equal intervals in a circumferential direction, and 6 third armature windings are wound around 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 in the iron core, and no eddy current is generated. Since the eddy current flowing through the rotor core 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.

Fig. 4 is a block diagram of a drive circuit of a servo motor, as shown in fig. 4, 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, the differentiator 35 and the identification unit 36. The differentiator 35 receives the position signal Pfb and outputs the speed signal Vfb to the speed control unit 32. The control constant recognition unit 36 inputs the position signal Pfb and calculates a total value J of the rotor inertia of the motor M and the inertia of the rigid body load attached to the motor M from the position signal Pfb. 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

wherein A is magnification, P ″)_refIs the 2 nd order differential of the position command Pref. The control constant identification unit 36 calculates a total value J of the inertia to control J in the above equation to further control the motor M.

In the present invention, the control constant recognition unit 36 includes a frequency separator 40, a first memory 41A, a first tangent calculator 42A, a second memory 41B, a second tangent calculator 42B, and an inertia calculator 43, wherein the frequency separator 40 inputs the position signal Pfb of the motor, decomposes it into a first frequency component and a second frequency component, that is, a first motor position and a second motor position, and stores them in the first memory 41A and the second memory 41B, respectively; the first tangent calculator 42A and the second tangent calculator 42B calculate a first motor phase tangent and a second motor phase tangent according to the previous first motor position, the previous second motor position, and the current motor position, respectively; the inertia calculator 43 calculates the inertia sum J of the inertia motor M and the load thereof from the first motor phase tangent and the second motor phase tangent.

The utility model discloses in, establish motor M and inertia and the J that is loaded, viscidity friction is D, and the position of motor is Pfb, and the position command value is Pref, and position control unit's gain is Kp, and speed control unit's gain is Kv, and speed control integral time constant is T, and then the equation of operation of motor expresses to be:

frequency component ω of the position command Pref₁When the position command is the first position command, the phase position of the motor relative to the first position command is the first motor phase phi₁The tangent of (A) is:

frequency component ω of the position command Pref₂Is a secondIn the case of a position command, the phase of the motor position relative to the second position command is the second motor phase phi₂The tangent of (A) is:

the coefficient of tackiness D is eliminated according to the above two formulas:

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 carries out the rectification to the induced voltage who produces by third stator armature winding, filtering and contravariant, then provide second driving current Im2 for the second armature winding that sets up on first stator and make phase angle adjusting unit provide second driving 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 driving current Im1 produced.

Fig. 5 is a power supply circuit of the servo motor provided by the invention. As shown in fig. 5, the power supply circuit provided by the present invention includes an ac voltage source 21 and a transformer B, the transformer includes a primary winding B0 and two secondary windings B1 and B2, and the transformer is used for transforming the ac voltage source 21 and outputting the transformed ac voltage through the secondary windings B1 and B2, respectively. The power supply circuit still includes first order rectification filter circuit and second level rectification filter circuit, first order rectification filter circuit includes rectifier and wave filter, the rectifier is used for rectifying the alternating voltage that is provided by secondary B1 to filter in order to obtain first direct current voltage through the wave filter, the utility model discloses in, use diode D1 as the rectifier of first rectification filter circuit, but not the condition that only uses a diode, can adopt any rectifier of prior art. In the present invention, the capacitor C1 is used as the filter of the first rectifying and filtering circuit, but the present invention is not limited to the case of using only one capacitor, and any filter of the prior art can be used. The second stage rectifying and filtering circuit comprises a rectifier and a filter, the rectifier is used for rectifying the alternating voltage provided by the secondary coil B2 and filtering through the filter to obtain the second direct voltage, in the utility model, the diode D2 is used as the rectifier of the second rectifying and filtering circuit, but the rectifier is not limited to the case of only using one diode, and any rectifier in the prior art can be adopted. In the present invention, the capacitor C2 is used as the filter of the second rectifying and filtering circuit, but the present invention is not limited to the case of using only one capacitor, and any filter of the prior art can be used.

The utility model provides a supply circuit still includes accumulate inductance L1, accumulate inductance L2, electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4, wherein, electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4 series connection provide DC voltage for motor drive circuit 23, their control end is connected in power supply controller, provide the control signal of break-make for them by power supply controller. The nodes of the series connection of the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4 are respectively designated as a node N1, a node N2 and a node N3, the first signal output end of the first rectifying and filtering circuit is connected to the node N1 through the current storage coil L1, and the second signal output end is connected to the node N3. The first signal output end of the second rectifying and filtering circuit is connected with the connecting node N2 through the current storage coil L2, and the second signal output end is connected with the common end. The utility model discloses in, be connected with electric capacity C3 between the output of the circuit of electric switch Q1, electric switch Q2, electric switch Q3 and electric switch Q4 looks series connection and ground, it is used for the filtering. In the present invention, the IGBT switch is preferable for the electric switch, but not limited thereto.

The utility model discloses a make electric switch Q1-Q4 be in specific switching state, make first current-voltage and second direct current voltage be in series connection or parallel connection each other from this, realize various modes of operation. By these operation modes, the power supply voltage supplied to the motor M can be controlled in a wide range, so that effective control of the motor M can be achieved. Various modes of operation are described below.

Series connection mode: the power supply controller provides control signals to the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4, so that the electric switch Q1 and the electric switch Q3 are conducted, the electric switch Q2 and the electric switch Q4 are turned off, and then the first direct current voltage and the second direct current voltage are connected in series and are provided for the driving loop 23 of the motor.

Parallel connection mode: the power supply controller provides control signals to the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4, so that the electric switch Q1 and the electric switch Q3 are turned off, the electric switch Q2 and the electric switch Q4 are turned on, and then the first direct current voltage and the second direct current voltage are connected in parallel and are provided for the driving loop 23 of the motor M.

The utility model provides a supply circuit still includes current detection unit 27 and motor position detecting element 28, and 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, and total controller calculates the voltage signal who is applyed in drive circuit according to this current signal to provide electrical source controller 25, electrical source controller controls the operating condition of electric switch according to this voltage signal.

Although the present invention has been described with reference to four electric switches and two dc power supplies as an example, the present invention is not limited to this case, and the power supply circuit may include 2N electric switches and N dc power supplies, where N is an integer greater than or equal to 2. 2N electric switches are respectively connected in series and supply electric energy to a driving loop of the servo motor, the 2N electric switches form 2N-1 nodes, 1 st to N-1 st direct current power supplies are respectively connected between two nodes which are separated by one node in the 2N-1 nodes through a current accumulation inductor, and the Nth direct current power supply is connected between the 2N-2 nd node and the ground through a current accumulation inductor. The power supply controller controls the on-off of the 2N electric switches so that the N direct current power supplies are connected in series, in parallel or in series-parallel to supply power to a driving loop of the outer motor.

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 multifunctional six-axis robot at least comprises six joints, wherein a motor is arranged in each joint, the motor comprises a base and a shell matched with the periphery of the base to form a first cavity in the base and the shell, a first stator and a rotor arranged in the cavity formed by the first stator are arranged in the first cavity, the first stator comprises a first stator core and a plurality of first armature windings and a plurality of second armature windings, the first stator core is provided with a plurality of first pole shoes which protrude inwards along the radial direction of a shell and are arranged at equal intervals along the circumferential direction, and the plurality of first armature windings and the plurality of second armature windings are wound on the first pole shoes; the rotor comprises a plurality of magnetic poles which are arranged along the circumferential direction of the shell at equal intervals, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity and comprises a second stator core and a plurality of third armature windings, the second stator core is provided with a plurality of second pole shoes which protrude outwards along the radial direction of the shell and are arranged along the circumferential direction at equal intervals, and the plurality of third armature windings are wound on the second pole shoes.

2. The multi-functional six-axis robot according to claim 1, 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 third 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.

3. The multi-functional six-axis robot of claim 2, wherein the rotor comprises alternating N-and S-polarity permanent magnets, each permanent magnet having a base and a portion extending from the base, the base being substantially perpendicular to the centerline axis of the rotor shaft, the portion extending from the base being at least partially parallel to the centerline axis, the portion extending from the base forming a cavity to receive at least a portion of the second stator.

4. The multi-functional six-axis robot according to claim 3, wherein each permanent magnet is "L" shaped.

5. A multi-functional six-axis robot as claimed in claim 4, further comprising a driving circuit including at least a frequency identifying unit and a phase angle adjusting unit, wherein the frequency identifying unit identifies 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, 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 generated by the application of the driving current to the first armature winding.

6. The multi-functional six-axis robot according to any one of claims 1 to 5, further comprising a power supply circuit including 2N electric switches controlled by the power supply controller and N direct current power supplies, N being an integer greater than or equal to 2, the 2N electric switches being connected in series and supplying electric power to the driving device of the motor, the 2N electric switches forming 2N-1 nodes, each of the 1 st to N-1 st direct current power supplies being connected between two nodes separated by one node among the 2N-1 nodes through one current accumulation inductance, respectively, the Nth direct current power supply being connected between the 2N-2 nd node and ground through one current accumulation inductance.

7. The six-axis robot of claim 6, wherein the power controller controls the on/off of 2N electrical switches to connect N DC power sources in series, parallel or series-parallel to supply power to the drive circuit of the motor.

Images