CN109986548B - Multifunctional six-axis robot - Google Patents
Multifunctional six-axis robot Download PDFInfo
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- CN109986548B CN109986548B CN201910369033.6A CN201910369033A CN109986548B CN 109986548 B CN109986548 B CN 109986548B CN 201910369033 A CN201910369033 A CN 201910369033A CN 109986548 B CN109986548 B CN 109986548B
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- 238000004804 winding Methods 0.000 claims abstract description 59
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000003321 amplification Effects 0.000 claims 1
- 230000003750 conditioning effect Effects 0.000 claims 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims 1
- 230000001939 inductive effect Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 230000003313 weakening effect Effects 0.000 claims 1
- 238000003860 storage Methods 0.000 description 13
- 238000001914 filtration Methods 0.000 description 9
- 239000003990 capacitor Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000001143 conditioned effect Effects 0.000 description 3
- 238000009499 grossing Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005401 electroluminescence Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 241000237503 Pectinidae Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 235000020637 scallop Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A six-axis robot including at least six joints, each joint having a motor disposed therein, the motor including a base and a housing fitted with a periphery of the base to form a first cavity in the base and the housing, a first stator disposed in the first cavity and a rotor disposed in the cavity formed by the first stator, the first stator including a first stator core having a plurality of first pole shoes protruding inward in a radial direction of the housing and arranged at equal intervals in a circumferential direction, and a plurality of first armature windings and a plurality of second armature windings wound on the first pole shoes; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity, the second stator comprises a second stator iron core and a plurality of third armature windings, the second stator iron core 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 plurality of third armature windings are wound on the second pole shoes. The servo motor for the robot is light in weight.
Description
Technical Field
The invention relates to a multifunctional six-axis robot, and belongs to the technical field of robots.
Background
Fig. 1 is a diagram of a six-axis robot according to the prior art, and the robot shown in fig. 1 generally includes a plurality of mechanical arms connected in sequence, and the mechanical arms are disposed at the ends thereof, and can be provided with end effectors such as a fixture, a cutting tool, and a probe to perform various actions. Each arm is rotated about a certain axis of rotation by a drive assembly. The driving assembly generally comprises a motor arranged along the rotation axis direction of each mechanical arm and a speed reducer connected with the motor, and the output end of the speed reducer drives the mechanical arms to move, so that the size of each mechanical arm along the rotation axis direction of each mechanical arm is generally larger.
For the mechanical arms at the tail end of the robot, such as a fifth mechanical arm and a sixth mechanical arm which are connected with each other in a rotating way and are vertically arranged, the driving components are generally arranged adjacently, so that the sizes of the fifth mechanical arm and the sixth mechanical arm along the directions of the respective rotation axes are larger, the occupied space of the whole structure of the robot is increased, and the application of the robot in a narrower operation space is not facilitated. In addition, the dead weight of the sixth mechanical arm is large, so that the moment of inertia becomes large, and difficulty is caused in improving the accuracy and rapidity of control of the sixth mechanical arm.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a multifunctional six-axis robot, wherein the mechanical arm is light in weight and flexible to move.
To achieve the object, the present invention provides a six-axis robot including at least six joints, each joint having a motor disposed therein, the motor including a base and a housing fitted with a periphery of the base to form a first cavity in the base and the housing, a first stator disposed in the first cavity and a rotor disposed in the cavity formed by the first stator, the first stator including a first stator core having a plurality of first pole shoes protruding inward in a radial direction of the housing and arranged at equal intervals in a circumferential direction, and a plurality of first armature windings and a plurality of second armature windings wound around the first pole shoes; the rotor comprises a plurality of magnetic poles which are arranged at equal intervals along the circumferential direction of the shell, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity, the second stator comprises a second stator iron core and a plurality of third armature windings, the second stator iron core 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 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; the second alternating current energy is induced from the third winding, conditioned and applied to the second armature winding, and the magnetomotive force generated by the second armature winding is utilized to weaken the higher order and/or lower order magnetomotive force components of the magnetomotive force generated by the first armature winding.
Preferably, the rotor comprises alternating permanent magnets of N-polarity 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 centreline axis of the rotor shaft, the portion extending from the base portion being at least partially parallel to the centreline axis, the portion extending from the base portion defining a cavity for receiving at least part of the second stator.
Preferably, each permanent magnet is "L" shaped.
Preferably, the motor further comprises a driving circuit, wherein the driving circuit at least comprises a frequency identification unit and a phase angle adjustment unit, the frequency identification unit identifies the frequency component of magnetomotive force according to the motor position signal provided by the motor position detection unit so as to provide a control signal for the phase angle adjustment unit, and the phase angle adjustment unit provides a second driving current for a second armature winding arranged on the first stator to counteract lower harmonics generated by the application of the driving current to the first armature winding.
Preferably, the drive circuit further includes an identification unit that calculates a sum J of the inertia of the rotor of the motor and the inertia of the rigid body load mounted on the motor based on 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 identification unit and the position command value.
Preferably, the correction signal is obtained by:
Ff＝AJP″ ref
wherein, A is amplified by a multiple, P ref Is the 2 nd order derivative of the position command value.
Preferably, the six-axis robot further comprises a power supply circuit, the power supply circuit comprises 2N electric switches controlled by a power supply controller and N direct current power supplies, N is an integer greater than or equal to 2, the 2N electric switches are respectively connected in series and provide electric energy for a driving device of the servo motor, the 2N electric switches form 2N-1 nodes, each of the 1 st to N-1 direct current power supplies is respectively connected between two nodes, which are separated from each other by one node, in the 2N-1 nodes through a current accumulating inductor, and the N direct current power supplies are connected between the 2N-2 nodes and the ground through one current accumulating inductor.
Preferably, the power supply controller controls the on-off of the 2N electrical switches to connect the N dc power supplies in series, parallel or series-parallel to power the drive circuit of the external motor.
The six-axis robot provided by the invention does not use a silicon steel sheet servo motor, so that the mechanical arm is light in weight, small in joint and flexible in movement.
Drawings
Fig. 1 is a schematic structural diagram of a six-axis robot provided in the prior art;
FIG. 2 is a schematic diagram of the composition of a servo motor for a six-axis robot provided by the present invention;
FIG. 3 is a schematic cross-sectional view taken along AB of FIG. 2 perpendicular to the axial direction of the servomotor;
FIG. 4 is a block diagram of a servo motor drive circuit provided by the present invention;
fig. 5 is a power supply circuit of a servo motor provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be 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 explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" should be construed broadly, and for example, they may be fixed, they may be detachably connected, they may be integrally connected, they may be directly connected, they may be indirectly connected through an intermediate medium, and they may also be in communication with each other, so that those skilled in the art will understand the meaning of the terms in the present invention as the case may be.
The invention provides a six-axis robot which at least comprises six joints and six arms, wherein a motor is arranged in each joint. The first arm is connected with the base and can rotate 360 degrees along the 1 st axis in FIG. 1; the second arm may be rotated 90 degrees in a clockwise direction and a counterclockwise direction along the 2 nd axis in fig. 1; the third arm may be rotated 360 degrees in a clockwise direction and a counterclockwise direction 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 may be rotated 90 degrees in the clockwise and counterclockwise directions along the 5 th axis in fig. 1; the sixth arm is rotatable 360 degrees along the 6 th axis in fig. 1. In the invention, the motor provided by the prior art can be utilized to drive the speed reducing mechanism to drive the rotating arm to rotate. Preferably using a single output shaft servo motor as shown in figures 2-3.
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 the AB line in FIG. 2, and as shown in FIGS. 2-3, the dual output shaft servo motor provided by the present invention comprises a base 5 and a housing 6 mated with the periphery of the base 5 to form a first cavity 7 in the base and the housing 6, the first cavity 7 being provided therein with a first stator 9 and a rotor 8 disposed in the cavity formed by the first stator, the first stator comprising a first stator core 13 having a plurality of first pole shoes 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 around the first pole shoes; the rotor 8 is fixed to a shaft 4 provided at the center of the rotor, and the shaft 4 protrudes 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 recesses, and the first stator core 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 in 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, a second cavity 2 is formed in the base 5, and a second stator including a second stator core 11 and a plurality of third armature windings 10 is disposed in the second cavity 2, the second stator core 11 having a plurality of second pole pieces protruding radially outward 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-polarity and S-polarity arranged alternately, each of the permanent magnets having an "L" shape having a base and a portion extending from the base. The base is substantially perpendicular to the centreline axis of the rotor shaft 4, and the portion extending from the base is substantially parallel to the centreline axis. The end of the base 5 is mounted near the rear end of the shaft 4.
The first stator 9 is mounted radially outside the rotor 8 with respect to the central 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 disposed adjacent the rotor interior 8 and the third core is secured within a cavity within the base 5. The core of the first stator 9 engages and extends to enclose the other internal components of the motor. The first and second armature windings are disposed on the first core and the third armature winding is disposed on the second core and may be made of copper wire or other conductive filaments.
During operation of the servomotor, the rotor 8 rotates with the shaft 4. In particular, the rotor 8 is configured to rotate about the 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 a magnetic flux path. An excitation current is applied to the first armature winding to cause each stator 9 to generate a rotating magnetic field to cause the rotor 8 to rotate pushing the rotor 8 to generate a working torque output; the rotor 8 rotates to induce electric energy in the third armature winding of the second stator, i.e., first ac electric energy is applied to the first armature winding to form a rotating magnetic field to drive the rotor 8 to rotate; and a second AC power is induced from the third winding, conditioned and applied to the second armature winding on the first stator, 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.
In the present invention, the housing inner surface has a plurality of recesses (not shown in fig. 1-2), and the recesses 2 are formed in the housing adjacent 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 notches are shaped like scallops, transition parallel to a maximum depth and have rounded corners of substantially equal radius. The recess extends along the length 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 embodiment shown, the housing 6 has a substantially uniform cross-sectional area. Thus, the notches 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. Available software can be subjected to stress analysis using a finite element method to determine the location, shape and size of the recess 23 in the housing.
The recess reduces the contact stress between the core and the housing 6 due to the difference between the coefficients of thermal expansion of the first core and the housing 6. Therefore, hoop stress (caused by contact stress between the core and the housing) in the core is reduced. This allows the size of the motor to remain smaller than achievable.
As shown in fig. 3, the first stator 1 is provided on the outer periphery of the rotor 8, and the second stator is provided inside the rotor 8. The rotor 8 has a rotor core mounted on the shaft 4 and a permanent magnet fixed to the rotor core. The N-pole permanent magnet and the S-pole permanent magnet each have 5 pairs and a total of 10 poles. In fig. 2, one magnetic pole is constituted by one permanent magnet, but the specific structure of the permanent magnet is not limited. The permanent magnets may be disposed on the rotor core and may be 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, 12 pole pieces are formed on the first stator core at intervals of 30 degrees in the circumferential direction in fig. 2, 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 the radial direction of the housing 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 to the first armature winding to form a rotating magnetic field to drive the rotor 8 to rotate; the second ac power is induced from the third winding, conditioned and applied to the second armature winding, and the magnetomotive force generated by the second armature winding weakens the low-order magnetomotive force component of the magnetomotive force generated by the first armature winding, so that the iron core has no fluctuation of low-order magnetic flux and no eddy current. Since the eddy current flowing through the rotor core can be reduced, the eddy current loss can be reduced. In this way, since eddy current can be reduced fundamentally, a conventional laminated field pole yoke or a divided block yoke is not required, and thus cost due to equipment investment or cost due to an increase in the number of components can be reduced.
Fig. 4 is a block diagram showing a driving circuit composition of a servo motor according to the present invention, and as shown in fig. 4, the driving circuit includes 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 recognition unit 36, wherein the position control unit 31 inputs a position command Pref and a position signal Pfb of the motor M, and outputs a speed command Vref to the speed control unit 32. The speed control unit 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 unit 33 and the control constant identification unit 36. The torque control unit 33 inputs the torque command Tref and outputs the drive current Im1 to the motor M. The motor M is driven by the drive current Im1 to generate 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 identifying 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 identification unit 36 inputs the position signal Pfb and calculates a total value J of the inertia of the rotor of the motor M and the inertia of the rigid body load mounted on the motor M from the position signal Pfb. The position control unit 31 performs a position control operation so that the position signal Pfb coincides with the position command Pref. The speed control unit 32 performs a speed control operation so that the speed signal Vfb coincides with the speed command Vref. The torque control unit 33 performs a torque control operation so that the torque generated by the motor M coincides with the torque command Tref. The position detection unit 28 detects the position of the motor M. The differentiator 35 obtains the difference between the position signals Pfb at regular intervals, and obtains the speed signal Vfb.
The motor driving circuit provided by the invention further comprises a signal generator 37 which inputs the position command Pref of the position control unit, generates a correction signal Ff and outputs 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 pre-correction signal Ff of the present invention is obtained by:
Ff＝AJP″ ref
wherein A is magnification, P ref Is the 2 nd order derivative of the position command Pref. The control constant recognition unit 36 calculates a total value J of inertia to control J in the above equation to further control the motor M.
In the present invention, the control constant identification 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 a position signal Pfb of the motor, decomposes it into a first frequency component and a second frequency component, i.e., 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 and second tangent calculators 42A and 42B calculate the first and second motor phase tangents from the previous first and second motor positions and the current motor position, respectively; the inertia calculator 43 calculates the inertia and the value J of the inertia motor M and its load from the first motor phase tangent and the second motor phase tangent.
In the invention, the motor M and inertia and J loaded by the motor M are set, viscous friction is D, the motor position is Pfb, a position command value is Pref, the gain of a position control unit is Kp, the gain of a speed control unit is Kv, and the speed control integral time constant is T, and then the operation equation of the motor is expressed as follows:
when the frequency component omega of the position command Pref 1 In the case of the first position command, the phase of the motor position relative to the first position command is the first motor phase 1 The tangent of (2) is:
when the frequency component omega of the position command Pref 2 In the case of the second position command, the phase of the motor position relative to the second position command is the second motor phase phi 2 The tangent of (2) is:
the elimination of the viscosity coefficient D according to the above two formulas gives:
the driving circuit provided by the present invention further includes a frequency identification unit 38 which identifies a frequency component of magnetomotive force according to the motor position signal provided by the position detection unit 28 to provide a control signal to the phase angle adjustment unit 24, which rectifies, filters and inverts the induced voltage generated by the armature winding of the third stator, and then provides the second driving current Im2 to the second armature winding provided on the first stator to cause the phase angle adjustment unit to provide the second driving current Im2 to the second armature winding provided on the first stator to cancel the lower harmonics generated by the application of the driving current Im1 to the first armature winding.
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 invention comprises an ac voltage source 21 and a transformer B, wherein the transformer comprises a primary coil B0 and two secondary coils B1 and B2, and the transformer is used for carrying out power conversion on the ac voltage source 21 and outputting the converted ac voltage through the secondary coils B1 and B2 respectively. The power supply circuit further includes a first-stage rectifying and smoothing circuit including a rectifier for rectifying the ac voltage supplied from the secondary coil B1 and a filter for filtering the rectified ac voltage by the filter to obtain a first dc voltage, and a second-stage rectifying and smoothing circuit, in which the diode D1 is used as the rectifier of the first rectifying and smoothing circuit, but not limited to the case of using only one diode, any rectifier of the prior art may be employed. In the present invention, the capacitor C1 is used as the filter of the first rectifying and filtering circuit, but is not limited to the case of using only one capacitor, and any filter of the prior art may be employed. The second-stage rectifying and filtering circuit includes a rectifier for rectifying the ac voltage supplied from the secondary winding B2 and filtering the rectified ac voltage by a filter to obtain a second dc voltage, and in the present invention, the diode D2 is used as the rectifier of the second rectifying and filtering circuit, but not limited to the case of using only one diode, any rectifier of the prior art may be employed. In the present invention, the capacitor C2 is used as the filter of the second rectifying and filtering circuit, but is not limited to the case of using only one capacitor, and any filter of the prior art may be employed.
The power supply circuit provided by the invention further comprises a current storage inductor L1, a current storage inductor L2, an electric switch Q1, an electric switch Q2, an electric switch Q3 and an electric switch Q4, wherein the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4 are connected in series and provide direct-current voltage for the motor drive loop 23, the control ends of the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4 are connected to a power controller, and the power controller provides on-off control signals for the electric switch. The nodes of the electric switch Q1, the electric switch Q2, the electric switch Q3 and the electric switch Q4 which are connected in series are respectively marked as a node N1, a node N2 and a node N3, a first signal output end of the first rectifying and filtering circuit is connected with the node N1 through a current storage coil L1, and a second signal output end is connected with the node N3. The first signal output end of the second rectifying and filtering circuit is connected to the connection node N2 through the current accumulating coil L2, and the second signal output end is connected to the common end. In the present invention, a capacitor C3 for filtering is connected between the ground and the output end of a circuit in which the electric switches Q1, Q2, Q3 and Q4 are connected in series. In the present invention, the electric switch is preferably an IGBT switch, but is not limited thereto.
The present invention achieves various modes of operation by placing the electrical switches Q1-Q4 in a particular switching state, thereby placing the first current voltage and the second direct voltage in series or parallel connection with each other. By these operation modes, the power supply voltage supplied to the motor M can be controlled in a wide range, so that efficient 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 turned on, and the electric switch Q2 and the electric switch Q4 are turned off, so that the first direct current voltage and the second direct current voltage are connected in series and provided for a driving loop 23 of the motor.
Parallel connection mode: the power supply controller provides control signals for 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 provided for a driving loop 23 of the motor M.
The power supply circuit provided by the invention further comprises a current detection unit 27 and a motor position detection unit 28, wherein the current detection unit 27 is used for detecting the current flowing into the first armature winding of the motor M and providing a current signal to the main controller 26, and the main controller calculates a voltage signal applied to the driving loop according to the current signal and provides the voltage signal to the power supply controller 25, and the power supply controller controls the working state of the electric switch according to the voltage signal.
Although the present invention has been described by taking four electric switches and two dc power sources as examples, the present invention is not limited to this case, and the power supply circuit may include 2N electric switches and N dc power sources, where N is an integer greater than or equal to 2. The 2N electric switches are respectively connected in series and provide electric energy for a driving loop of the servo motor, the 2N electric switches form 2N-1 nodes, each of the 1 st to N-1 st direct current power supplies is respectively connected between two nodes which are separated from each other by one node in the 2N-1 nodes through one current accumulating inductor, and the Nth direct current power supply is connected between the 2N-2 nd node and the ground through one current accumulating 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 external motor.
According to the present invention, the general controller includes at least a Central Processing Unit (CPU), a Read Only Memory (ROM), a Random Access Memory (RAM), a host bus, an interface, an input unit, an output unit, a storage unit, a driver, a connection port, and a communication unit. The CPU serves as an arithmetic processing unit and a control unit, i.e., a processor. The CPU controls the operating state of the servo motor in whole or in part according to various programs stored in the ROM, RAM, storage unit, or removable recording medium. The ROM stores programs and operation parameters used by the CPU. The RAM temporarily stores a program for the CPU and parameters that vary according to execution of the program. CPU, ROM, RAM and the interface are connected to each other via a host bus including an internal bus such as a CPU bus.
The input unit illustratively includes a mouse, a keyboard, a touch panel, buttons, 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 an operation of the servo motor. The input unit includes an input control circuit that generates an input signal based on information input by the user through the above-described operation member and outputs the generated input signal to the CPU. By operating the input unit, a user of the servo motor can input various data into the storage unit of the general 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 drive 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 may write data on the removable recording medium. Examples of removable recording media include DVD media, CD media, and Secure Digital (SD) memory cards. 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 the external connection device to the servo motor. Examples of connection ports include Universal Serial Bus (USB) interfaces, small Computer System Interface (SCSI) ports, RS-232C ports, optical audio terminals, 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 provide data to the external connection device.
The communication unit is a wireless communication unit for enabling the servo motor to communicate with the server and/or the client terminal.
The invention has been described in detail in connection with the drawings, but the description is only intended to be construed in the light of the claims. The scope of the invention is not limited by the description. Any changes or substitutions that would be readily apparent to one skilled in the art within the scope of the present disclosure are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (6)
1. A six-axis robot comprising at least six joints, each joint having a motor disposed therein, the motor comprising a base and a housing mated with a periphery of the base to form a first cavity within the base and the housing, an inner surface of the housing having a plurality of recesses; a first stator and a rotor arranged in a cavity formed by the first stator are arranged in the first cavity, the first stator comprises a first stator iron core, a plurality of first armature windings and a plurality of second armature windings, the first stator iron core is provided with a plurality of first pole shoes which protrude inwards along the radial direction of the 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 at equal intervals along the circumferential direction of the shell, and is characterized in that a second cavity is formed in the base, a second stator is arranged in the second cavity, the second stator comprises a second stator iron core and a plurality of third armature windings, the second stator iron core 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 plurality of third armature windings are wound on a second pole shoe; applying first alternating current energy to the first armature winding to form a rotating magnetic field to drive the rotor to rotate; inducing a second alternating current energy from the third winding, conditioning the second alternating current energy and applying the second alternating current energy to the second armature winding, and weakening the higher order and/or lower order magnetomotive force components of the magnetomotive force generated by the first armature winding by utilizing the magnetomotive force generated by the second armature winding; the rotor includes alternating N-polarity and S-polarity permanent magnets, 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 defining a cavity for receiving at least a portion of the second stator; each permanent magnet is L-shaped; the six-axis robot further includes a driving circuit including at least a frequency identification unit which identifies a frequency component of magnetomotive force according to a motor position signal provided from the position detection unit of the motor to provide a control signal to the phase angle adjustment unit, so that the phase angle adjustment unit provides a second driving current to a second armature winding provided on the first stator to cancel a lower harmonic wave generated due to the application of the driving current to the first armature winding.
2. The six-axis robot according to claim 1, wherein the driving circuit further includes a control constant recognition unit that calculates a sum J of the inertia of the rotor of the motor and the inertia of the rigid body load mounted on the motor based on the motor position signal.
3. The six-axis robot according to claim 2, wherein the drive circuit further includes a control signal generation unit that generates the correction signal Ff based on the signal supplied from the control constant identification unit and the position command value.
4. A six axis robot according to claim 3, wherein the correction signal is obtained by: ff= AJP ″ ref
Where A is the amplification factor and P' ref is the 2 nd derivative of the position command value.
5. The six axis robot of any of claims 1-4 further comprising a power supply circuit comprising 2N electrical switches controlled by a power controller and N dc power sources, the N being an integer greater than or equal to 2, the 2N electrical switches being connected in series and providing power to the drive circuit of the motor, the 2N electrical switches forming 2N-1 nodes, each of the 1 st to N-1 dc power sources being connected between two nodes of the 2N-1 nodes separated from each other by a current accumulating inductance, the nth dc power source being connected between the 2N-2 nodes and ground by a current accumulating inductance.
6. The six axis robot of claim 5 wherein the power controller controls the on-off of the 2N electrical switches to connect N dc power sources in series, parallel or series-parallel to power the drive circuit of the motor.
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| JP2014036490A (en) * | 2012-08-08 | 2014-02-24 | Daikin Ind Ltd | Axial gap type rotary electric machine and rotary electric machine driving device |
| CN105305670A (en) * | 2015-10-09 | 2016-02-03 | 清华大学 | Motor for reducing polar-frequency radial electromagnetic exciting force and slot-frequency radial electromagnetic exciting force |
| CN109474152A (en) * | 2018-11-17 | 2019-03-15 | 王俊炜 | A kind of starting electric motor and controller circuit |
| CN210389200U (en) * | 2019-05-05 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Multifunctional six-axis robot |
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| DE102005014664A1 (en) * | 2005-03-31 | 2006-10-05 | Hans-Peter Wyremba | Electric machine |
| JP6477256B2 (en) * | 2015-05-28 | 2019-03-06 | 株式会社デンソー | Rotating electric machine |
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|---|---|---|---|---|
| JP2014036490A (en) * | 2012-08-08 | 2014-02-24 | Daikin Ind Ltd | Axial gap type rotary electric machine and rotary electric machine driving device |
| CN105305670A (en) * | 2015-10-09 | 2016-02-03 | 清华大学 | Motor for reducing polar-frequency radial electromagnetic exciting force and slot-frequency radial electromagnetic exciting force |
| CN109474152A (en) * | 2018-11-17 | 2019-03-15 | 王俊炜 | A kind of starting electric motor and controller circuit |
| CN210389200U (en) * | 2019-05-05 | 2020-04-24 | 大国重器自动化设备(山东)股份有限公司 | Multifunctional six-axis robot |
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