SU1310775A1 - Servo electric drive - Google Patents

Abstract

The invention relates to the field of automation and can be used to control metal-cutting machines, robots and manipulators. The aim of the invention is to increase the / J accuracy of the electric drive, for which the electric drive containing the amplifier 2, the phase discriminator 3, the key 4, the voltage source 5, the reducer 7, the actuator 8, the sensors 9, 10 displacements, the setting unit 14 signals, electric motor 1, key 6, phase splitter 11, phase converter 12, generator 13, frequency divider 15. In the initial state at the output of the phase discriminator 3, the voltage is zero. The electric motor 1 does not rotate, and its shaft is in the middle of the ln "}) ta. The unit 14 opens one of the keys 4 or 6. The voltage from the source 5 is supplied through one of the keys 4 or 6 through the amplifier 2 to the electric motor - .G (L co |

Description

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1, which begins to work out the rotation in the forward or reverse direction, depending on the state of the key 4 or 6. When the backlash is developed, the mechanism 8 remains at rest. The voltage phase of the rotor winding of the sensor 9 varies in proportion to the movement of the shaft of the electric motor 1. This changes the phase of the output signal of the sensor 10, which compensates for the output voltage of the discriminator 3, When a zero signal appears at the output of the discriminator 3 electr

The invention relates to automation and can be used to control machines and mechanisms, in particular, metal-cutting machines, robots, manipulators.

The purpose of the invention is to improve the accuracy of the electric drive.

The drawing shows a block diagram of the Converter.

The electric drive contains electric motor 1, amplifier 2, phase discriminator 3, key 4, voltage source 5, key 6, gearbox 7, actuator 8, displacement sensors 9 and 10, phase splitter 1 phase converter 12, generator 13, signal setpoint generator 14 , divider 15 frequency.

The drive works as follows.

In the initial state, when there is no motion task, the shaft of the electric motor 1 is in the middle of the play, the displacement sensors 9 and 10 are matched with the setting device 14, the output voltage of the phase discriminator 3 is zero. When the setting device 14 moves, for example, the direction of rotation forward, the key 4 is turned on, the input voltage of the amplifier 2 is positive. The electric motor 1 starts moving the shaft in the backlash, the actuator 8 remains stationary. In this case, the phase voltage of the rotor winding 9 is changed in proportion to the angle of rotation

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motor 1 will stop, i.e. play will be generated. If the code 14 is additionally supplied to the input of the phase converter 12, after the backlash is completed, the electric motor will begin to rotate through the gear 7 and the mechanism 8. When the mechanism 8 is moved, the output voltage of the discriminator 3 is equal to the reference one and the electric motor 1 will stop. Thus, the backlash is tested at any position of the shaft of the electric motor 1 and mechanism 8.1 sludge.

motor shaft 1. This value changes the phase of the output signal of sensor 10, since the rotor windings of sensor 9 are connected to the stator windings of sensor 10. If the displacement amount code is zero, the output voltage of phase discriminator 3 will increase negative voltage. When the voltage of the phase discriminator 3 is equal to the reference voltage of source 5, the total signal at the input of amplifier 2 will become zero and the electric motor 1 will stop. This corresponds to the movement of the shaft of the electric motor 1 to the position in which the backlash is fully selected. If, apart from the sign, the displacement amount code was issued by the setting device 14, after the backlash sampling, the electric motor 1 begins to move the actuator 8. The phase of the output signal of the displacement sensor 10 will be determined by the total displacement of the electric motor 1 and the actuator 8. When the actuator moves 8 at a predetermined position, the output voltage of the phase discriminator 3 will be equal to the reference voltage and the motor 1 will stop.

If you submit a job to move in the reverse direction, key 4 is disabled, and key 6 is turned on. At the second top input of amplifier 2, the signal becomes zero, at the third input a negative signal.

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at the first moment of time at the input of amplifier 2 there will be a large negative signal equal to the sum of the signals at the first and third inputs. The motor 1 starts the rotation of the shaft in the rearward direction. The backlash is opened, the actuator 8 remains in the same position. When the motor 1 rotates in the backward direction, the displacement sensor 9 reduces the voltage at the output of the phase discriminator 3 to zero, and then changes its sign. At some point, the backlash will be selected. At this point in time, the sum of the voltages on the first and third inputs of amplifier 2 will be determined by moving in the reverse direction. There is a joint movement of the electric motor 1 with the actuator 8 in a predetermined position.

Claims (1)

Invention Formula A servo motor containing a motor, kinematically connected to an actuator and a gearbox, a voltage source, the first output of which is connected to the information input of the first key, a signal setter, a phase discriminator i an amplifier, the output of which is connected to the input of the electric motor, the first and second sensors of the editor E Kopcha Compiled by M.Sidorova Tehred L. Serdyukova Proofreader M.Sharoshi Order 1889/43 Circulation 864 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Rauschska nab., 4/5. Production and printing company, Uzhgorod, Projecto st., 4 107754 Puppy, characterized in that, in order to improve the accuracy of the electric drive, a generator, a frequency divider, a phase splitter, , phase converter, second key,. the generator output is connected to the input of a frequency splitter, the output of which is connected to the input of the phasor splitter, whose outputs are connected to platoons About the first displacement sensor, the shaft of which is kinematically connected to the motor shaft, and the outputs are connected to the inputs of the second displacement sensor, the shaft of which is kinematically connected to the actuator, and the output is connected to the first input of the phase discriminator, the generator output is connected to the first input of the phase converter, second 0 whose input is connected to the first output of the signal setter, and the output is connected to the second input of the phase discriminator, the output of which is connected to the first input of the amplifier, the second and third outputs of the signal setter are connected to the control inputs of the first and second keys, respectively, the information input of the second key is connected to the second output of the voltage source, the outputs of the first and second switches are connected to the second and third inputs of the amplifier, respectively.