JP2547623B2 - Direct drive motor system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an improvement of a direct drive motor system used for joint drive of an articulated robot.

[Prior Art] In the conventional direct drive motor system,
Direct drive motor (hereinafter referred to as DD motor), interface section, etc. (hereinafter referred to as interface
There was an all-in-one type in which all the components of (F) were made to meet the requirements of the system, and the system as a whole was constructed to meet the requirements.

This system has merits in that it uses a serial pulse that can be used by anyone, is small, and has a large torque / weight ratio.

[Problems to be Solved by the Invention] However, in the field of FA, there are various kinds of demands on the system. Therefore, it is desirable to be able to change the system to one corresponding to the demand for each component separately from the all-in-one configuration.

Although some of the motor drive circuits have a module configuration of some circuits, the specifications cannot be changed in the module configuration. Therefore, it has not been possible to satisfy the demand for constructing an optimum system in response to various demands for the system.

The present invention has been made in view of such a point,
The components are modular and each module has a degree of freedom both electrically and mechanically, so a direct drive motor system that can build an optimal system according to a variety of system requirements Aim to achieve.

[Means for Solving the Problems] The present invention is a direct drive type in which cylindrical rotor flanges and stator flanges forming the trunk portion of the rotor and the stator can be selected in length according to the specifications. Members connected to both ends of the flange and the stator flange are common, an inductor-shaped motor section, a rotation detection section that detects the rotation of the motor section by a magnetic resolver or an optical encoder, and a plurality of external interfaces. The sensor interface consists of an external interface part to which different types of host controllers are selectively connected to each external interface, and an interface to which a magnetic resolver and an optical encoder are connected. A signal that has passed through the face unit and the external interface unit, and the sensor interface. A main control unit that feedback-controls the rotation position or rotation speed of the motor unit using a signal that has passed through the interface unit as a feedback signal, and an inverter-type motor drive circuit that amplifies power according to the signal from the main control unit. Type power supply unit and low speed type power control unit, and a main power supply that converts the AC voltage supplied from the outside into a DC voltage and outputs the DC voltage.The main power supply responds to the supply voltage and the output voltage. A plurality of different types of power supply units, and a braking unit that dynamically brakes the motor unit, wherein the external interface unit, the sensor interface unit, the main control unit, the power control unit, and the power supply unit are It is a direct drive motor system characterized by being divided and each divided portion has a module configuration.

[Examples] The present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an embodiment of a system according to the present invention.

In the figure, 1 is a motor unit, 2 is a rotation detection unit, 3 is a host controller, 4 is an external I / F unit, 5 is a sensor I / F unit, 6 is a main control unit, 7 is a power control unit, and 8 is a power supply. The part 9 is a braking part.

 The configuration of each part will be described.

The motor unit 1 is an outer rotor type in which a rotor is arranged on the outside and a stator is arranged on the inside, and is a direct drive type motor that gives power to a drive target without a reduction gear. Further, the motor unit 1 is an inductor type motor, for example, the motor described in Japanese Patent Application No. 62-47154 filed by the present applicant.

The rotation detector 2 generates a detection signal Ksin (ωt + θ) whose phase is modulated by the rotation of the motor unit 1 (K: constant, ω:
Angular velocity, t: time, θ: rotation angle of motor) phase modulation type. The rotation detector 2 is, for example, Japanese Patent Application No. 63-30.
The magnetic resolver described in the specification of the '988 application is used.

FIG. 2 is a sectional view showing a configuration example of the motor unit 1 and the rotation detection unit 2.

In the motor unit 1, 11 is a stator, 12 is a rotor, and 13 is a bearing that rotatably supports the rotor 12 on the stator 11.

In the stator 11, 111 is a stator flange formed of iron casting in a cylindrical shape, 112 is a casting ring of a non-magnetic material casting such as aluminum, and is a shield ring fixed to the outer peripheral surface of the stator flange 111, 113 Is part a and b
It is a stator core that is welded in part and fixed to the outer peripheral surface of the shield ring 112. The stator core 113 is made of laminated silicon steel plate. 114 is a coil wound around the stator core 113, and 115 is a permanent magnet sandwiched between the stacks of the stator core 113. The stator core 113 is the coil 114
And a magnetic circuit of the magnetic field generated by the permanent magnet 115. Reference numeral 116 is a lower flange fixed to the stator flange 111 by welding at the portion c, and 117 is a clamp for sandwiching the bearing 13 from one end side.

With such a configuration, the stator core 113 is attached to the stator flange 111 via the shield ring 11. In addition, the shield link 112 is the stator flange 1
It is sandwiched by 11 and the stator core 113.

In the rotor 12, 121 is a cylindrical rotor flange, 122 is d
The rotor core is fixed to the inner peripheral surface of the rotor flange 121 by welding the portion and the e portion. The rotor core 122 is made of laminated silicon steel plates and constitutes the magnetic circuit of the rotor. Reference numerals 123 and 124 denote an upper flange and a support flange, which are fixed to both ends of the rotor flange 121 by welding the f portion and the g portion, and 125 is a clamp for inserting the bearing 13 from the other end side.

In the magnetic resolver 2, 21 and 22 are a stator and a rotor that are integrally fixed to the stator 11 and the rotor 12, respectively.

The stator 21 has a stator core 211 and a coil 212 wound around the stator core 211. The rotor 22 has a rotor core 221.

The bearing 13 is a cross roller bearing, and supports the motor 1 and the rotor of the magnetic resolver 2 in a cantilever manner.

 FIG. 3 is an exploded view of FIG.

Each decomposed element constitutes a module. Modular top flange 124 and bottom flange 116
The configuration of the support flange 124 can be changed by the user according to the specifications of the motor. When long rotor flanges 121 and stator flanges 111 are used, the upper flange 123
In addition, a motor having a long core portion can be configured by using the lower flange 116 and the support flange 124 in common.

A motor is formed by fixing each module by welding.

Next, a usage example of a motor using such a module will be described.

FIG. 4 shows a cylindrical upper flange 123,
The figure shows the support flange 124 with a flange structure, the sixth
In the figure, the rotor flange 121 and the stator flange 111 are lengthened and the core part is extended. In FIG. 7, the robot arm is attached to the upper flange 123.

FIG. 8 is a configuration diagram of a sandwich structure portion sandwiching a shield ring.

 In the figure, each symbol is as follows.

α1: Coefficient of thermal expansion of stator flange 111 α2: Coefficient of thermal expansion of shield ring 112 α3: Coefficient of thermal expansion of stator core 113 r1: Inner diameter of shield ring 112 = Outer diameter of stator flange 111 r2: Outer diameter of shield ring 112 = Inner diameter of stator core 113 The thermal expansion coefficient of the shield ring 113 is set as follows so that the shield ring 113 does not separate from the members on both sides even if the temperature changes.

α3r2ΔT-α1r1ΔT = α2 (r2-r1) ΔT α3r2-α1r1 = α2 (r2-r1) α2 = (α3r2-α1r1) / (r2-r1)… The thermal expansion of the shield ring 112 is due to the stator flange 111 and the stator core. By adjusting the amount of thermal expansion of 113, it is possible to prevent a gap from being formed between the stator core and the shield ring made of a different material due to a temperature change.

 Next, the host controller 3 will be described.

In the host controller 3, 31 is a robot controller that sends a command signal by an 8-bit bus, 32 is a positioning controller that sends a position command signal by serial pulse, 33
Is a servo controller that has a function of sending a speed command signal of an analog signal and performing feedback control by receiving the detection signal of the rotation detection unit 2. 34 is a sequencer personal computer that sends commands for starting and stopping the motor through an RS232C communication line. is there.

 Next, the configuration of the external I / F unit 4 will be described.

In the external I / F unit 4, 41, 42, 43, 44 connect the robot controller 31, the positioning controller 32, the servo controller 33, and the sequencer personal computer 34 to the main control unit 6 8
Bit bus I / F, serial pulse I / F, speed control I / F, 1-axis I
/ F.

 The specific configuration of the I / F will be described.

FIG. 9 shows a configuration example of the serial pulse I / F 42. This I
/ F is an insulation type using a photo coupler.

The 8-bit bus I / F 41 is composed of, for example, a gate array as shown in FIG.

This gate array includes a serial pulse generation circuit 411 that generates a serial pulse according to a position command signal, a counter 412 that counts feedback pulses that are detection signals of the rotation detection unit 2, and a speed command sent from an 8-bit data bus. It has a PWM circuit 413 that sends a PWM signal (pulse width modulation signal) corresponding to the signal to the main control unit 6.

 Next, the configuration of the sensor I / F unit 5 will be described.

The sensor I / F unit 5 includes an optical I / F 51 and a resolver I / F 52 that connect the rotation detection unit 2 to the main control unit 6. Rotation detector 2
When using an optical encoder, use the optical I / F51, and when using a magnetic resolver, use the resolver I / F52.

 Next, the configuration of the main controller 6 will be described.

The main control unit 6 is composed of a CPU card, and uses the signals from each I / F of the external I / F unit 4 as command signals and the signals from the sensor I / F unit 5 as feedback signals to determine the position of the motor unit 1. ,
Feedback control of speed and torque. It also has the function of controlling commutation. The main control unit 6 has a portion composed of a gate array. A specific configuration of the gate array portion will be described.

FIG. 11 is a diagram showing a specific configuration example of the gate array portion.

In the figure, 611 is an address decoder that decodes an address signal and selects a chip to be used in the decoded signal, 612 is a watchdog timer that monitors the main control unit 6 for an abnormality, 61
Reference numeral 3 is an I / O port through which an input / output to / from the gate array passes. Reference numeral 614 denotes a detection signal Ksin of the phase modulation type rotation detection unit 2.
615 is a cycle counter that measures the cycle of (ωt + θ), 615 is a cycle counter that measures the cycle of the signal Ksinωt whose phase is not modulated, and 616 is a phase difference counter that counts the phase difference between the signals Ksin (ωt + θ) and Ksinωt. The rotational position of the motor can be obtained from the phase difference.

A position command pulse counter 617 counts the number of position command pulses.

618 and 619 provide speed command signal and speed feedback signal.
PWM circuit for converting to PWM signal, 620 and torque limiter for generating torque limit signal by PWM signal, 621 is monitor circuit for generating signal for monitoring rotational position of motor,
Reference numerals 622 and 623 are commutation signal generation circuits for generating commutation signals of the motor.

Reference numeral 624 is a clock driver that generates a clock that gives the operation timing of each component.

Reference numeral 625 is a smoother that makes the feedback pulse from the rotation detection unit 2 into a smooth pulse with an equal pulse interval.

 Next, the configuration of the power control unit 7 will be described.

The power control unit 7 is an inverter-type motor drive circuit that amplifies power according to a signal from the main control unit 6. The power control unit 7 is provided with a high speed type 71 and a low speed type 72.

 Next, the configuration of the power supply unit 8 will be described.

In the power supply unit 8, reference numeral 81 is a main power supply that converts the supplied AC voltage into a DC voltage and outputs the DC voltage. For example, three types 811 to 813 are provided according to the supply voltage and the output voltage. The motor drive circuits 71 and 72 are selectively used according to the main power source used. Reference numeral 82 is a control power supply that generates a drive voltage for the main control unit 6 based on the supplied AC voltage.

The braking unit 9 is for braking the motor unit 1 by dynamic braking, and for example, the one described in the application specification of Japanese Patent Application No. 62-47155 filed by the present applicant is used.

As described above, in the system described by dividing it into each component, the external I / F unit 4, the sensor I / F unit 5, the main control unit 6, the power control unit 7, and the power supply unit 8 can be respectively separated. , Each cut part is modularized. Each module is composed of a card.

The motor unit 1 is not limited to the outer rotor type and may be the inner rotor type.

[Effects] According to the present invention, the external interface unit, the sensor interface unit, the main control unit, the power control unit, and the power supply unit are separated, and each divided part has a module configuration. Each module has a degree of freedom both electrically and mechanically. In other words, the system can be changed in module units. As a result, an optimum system can be constructed in response to a wide variety of requirements for the system.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of a direct drive motor system according to the present invention, and FIGS. 2 to 11 are specific block diagrams of the system of FIG. 1 ... Motor part, 11 ... Stator, 12 ... Rotor, 111
...... Stator flange, 121 ...... Rotor flange, 2 ...
… Rotation detector, 3 …… Host controller, 4 …… External I /
F part, 5 ... Sensor I / F part, 6 ... Main control part, 7 ... Power control part, 8 ... Power supply part, 9 ... Braking part.

Front page continuation (72) Inventor Haruo Higuchi 2-9-32 Nakamachi, Musashino City, Tokyo Yokogawa Electric Co., Ltd. (72) Mitsuhiro Nikaido 2-9-32 Nakamachi, Musashino City, Tokyo Yokogawa Electric Co., Ltd. Inside the company (72) Inventor Yoichi Kikukawa 2-9-32 Nakamachi, Musashino-shi, Tokyo Yokogawa Electric Co., Ltd. (72) Inventor Shigeru Hasida 2-9-32 Nakamachi, Musashino-shi, Tokyo Yokogawa Electric Co., Ltd. (72) Inventor Shotaro Shindo 2-9-32 Nakamachi, Musashino City, Tokyo Yokogawa Electric Co., Ltd. Inspector Yasuhide Nishimura (56) Reference JP-A 63-213490 (JP, A) JP-A 1- 207626 (JP, A) JP-A-63-190584 (JP, A) JP-A-2-211039 (JP, A) Actually open flat 2-17995 (JP, U)

Claims (1)

(57) [Claims] 1. A direct drive type, wherein the cylindrical rotor flange and stator flange that form the body of the rotor and the stator can be selected in length according to the specifications, and are connected to both ends of the rotor flange and the stator flange. The components are composed of a common inductor-shaped motor unit, a rotation detection unit that detects the rotation of the motor unit by a magnetic resolver or an optical encoder, and a plurality of external interfaces. Is a sensor interface unit including an external interface unit to which different types of host controllers are selectively connected, an interface to which a magnetic resolver is connected, and an interface to which an optical encoder is connected, and the external interface unit. The signal passed through the section is the instruction signal,
A main control unit that feedback-controls the rotation position or rotation speed of the motor unit by using a signal that has passed through the sensor interface unit as a feedback signal, and an inverter-type motor drive circuit that amplifies power according to a signal from the main control unit. There is a high-speed type and low-speed type power control unit, and a main power supply that converts the externally supplied AC voltage to DC voltage and outputs it. A power source unit provided with a plurality of types according to the voltage; and a braking unit for dynamically braking the motor unit, the external interface unit, the sensor interface unit, the main control unit, the power control unit, and The direct drive motor system is characterized in that the power supply section is separated and each cut section is modular.