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Method for detecting dual redundancy of position of rotor of robot joint permanent magnet synchronous motor

A permanent magnet synchronous motor and robot joint technology, applied in the field of robotics, can solve problems such as joint performance degradation, failure, and motor failure to be well controlled, and achieve high-precision detection results

Inactive Publication Date: 2011-02-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] After researching the existing technology, the inventor found that: the robot joint of the permanent magnet synchronous motor in the prior art, when the detection element on the motor side is damaged, the first installation method will make the motor uncontrollable and cause the joint failure of the robot ; The second installation method can be used to detect the position of the joint and calculate the position of the motor in combination with the reduction ratio n of the reduction mechanism, but its detection accuracy is only 1 / n of the position detection accuracy of the motor side, which will cause the motor to be unable to be well controlled. Significantly reduces joint performance and may even fail

Method used

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  • Method for detecting dual redundancy of position of rotor of robot joint permanent magnet synchronous motor
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  • Method for detecting dual redundancy of position of rotor of robot joint permanent magnet synchronous motor

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Embodiment 1

[0017] An embodiment of the present invention provides a robot joint based on a permanent magnet synchronous motor, which realizes high-precision double-redundancy detection of the rotor position of the permanent magnet synchronous motor inside the joint. In the embodiment of the present invention, at least one resolver on the motor side and at least one resolver on the output side of the joint are arranged inside the joint to perform double redundancy detection.

[0018] The internal structure diagram of the robot joint provided by the embodiment of the present invention can be found in figure 1 , the interior of the joint includes: the joint shaft system, the motor rotor shaft system, the harmonic gear reducer, the resolver at the motor end and the resolver at the output end of the joint. The joint shaft system and the motor rotor shaft system are coaxial, and the center inside the joint is the motor shaft.

[0019] The joint structure is divided into active joints and driv...

Embodiment 2

[0032] On the basis of the robot joint based on the permanent magnet synchronous motor in Embodiment 1, the embodiment of the present invention provides a method for double redundancy detection of the rotor position of the permanent magnet synchronous motor of the robot joint. The robot joint in the embodiment of the present invention Internal structure is the same as the joint in embodiment 1, see figure 2 , the steps of the method of this embodiment include:

[0033] 201: Install at least one motor-side resolver and at least one joint output-side resolver in a joint of the robot.

[0034] Among them, the resolver on the motor side and the resolver on the output side of the joint are coaxial with the motor, and the rotors of the resolver on the motor side and the resolver on the output side of the joint rotate synchronously with the motor, the stator of the resolver on the motor side is fixed, and the output side of the joint rotates The stator of the transformer rotates sy...

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Abstract

The invention discloses a method for detecting the dual redundant of the position of a rotor of a robot joint permanent magnet synchronous motor, which comprises the following steps: arranging at least one motor-side rotating transformer and at least one joint output-side rotating transformer in a joint of a permanent magnet synchronous motor-based robot, wherein the motor-side rotating transformer and the joint output-side rotating transformer are coaxial with the motor, the rotors of the two rotating transformers synchronously rotate with the motor, the stator of the motor-side rotating transformer is fixed motionlessly and the stator of the joint output-side rotating transformer synchronously rotate with the output end of the joint; and detecting the dual redundant of the position of the rotor of the motor by using the motor-side rotating transformer and the joint output-side rotating transformer. By arranging the rotating transformers on a motor side and the joint output side, themethod allows the joint output-side rotating transformer to detect the motor with high precision, thereby realizing the high-precision detection of the dual redundant of the position of the rotor of the permanent magnet synchronous motor.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for double-redundancy detection of the rotor position of a permanent magnet synchronous motor in a robot joint. Background technique [0002] With the development of integrated circuits, power electronics technology and AC variable speed drive technology, permanent magnet AC servo drive technology has achieved outstanding development. Compared with DC servo motors, permanent magnet AC servo motors have the following main advantages: brushless and commutation Therefore, it works reliably, has low maintenance and maintenance requirements, has good speed control characteristics, and is easy to improve the rapidity of the system. Permanent magnet synchronous motors based on permanent magnet AC servo drive technology can be applied to joints and other parts of robots. [0003] In the robot joint based on the permanent magnet synchronous motor, corresponding detection elements...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B7/00G01B7/30
Inventor 黄强蒋志宏李辉贾宏亮
Owner BEIJING INSTITUTE OF TECHNOLOGYGY