Brushless direct-current servo system provided with hollow shaft motor and applying mechanical arm

Abstract

The invention discloses a brushless direct-current servo system provided with a hollow shaft motor and applying a mechanical arm. By the hollow shaft motor, a double-incremental encoder positioning mode is introduced into the brushless direct-current servo system, a conventional positioning mode using an absolute encoder is broken through. Speed and position incremental encoders are coaxially fixed with a hollow shaft and an output shaft of the hollow shaft motor, so that the Z-phase stop position of the speed encoder is flush with a first phase of a motor rotor in the brushless direct-current motor; a driving circuit board is arranged between the speed incremental encoder and the position incremental encoder, a speed incremental encoder read head and a position incremental encoder read head are mounted on two sides of the driving circuit board respectively and read differential signals generated by the speed incremental encoder and the position incremental encoder in real time respectively. The brushless direct-current servo system has the advantages of space saving, low cost, compact structure, high environment adaptability and expansibility.

Description

technical field [0001] The invention relates to a brushless DC servo positioning system. Specifically, it is a brushless DC servo system with a hollow shaft motor using a mechanical arm. The hollow shaft motor is used, and the hollow shaft is uniquely determined by two incremental code discs. The absolute position of the motor. Background technique [0002] The brushless DC motor is used in the brushless DC servo system, which has good mechanical characteristics and regulation characteristics. It has the characteristics of small electromechanical constant and low starting voltage. The brushless DC motor consists of a motor body and a driver, and is a typical mechatronic product. The brushless DC motor replaces the mechanical commutation with electronic commutation, has no mechanical friction, no wear, no electric spark, and has the characteristics of good low voltage characteristics, strong torque overload characteristics, large starting torque and small starting current. ...

AI Technical Summary

Problems solved by technology

At present, the absolute position determination of brushless DC motors usually uses a combination of an absolute encoder and an incremental encoder, and the incremental encoder is generally connected coaxially with the motor output shaft; The encoder cannot be directly installed on the output shaft of the motor. Usually, the rotation angle of the output shaft of the motor is connected to the absolute encoder by one-stage gear transmission. This structure increases the complexity of the system structure, and the error caused by the gear transmission also affects the absolute encoder. location determination

And because the absolute encoder is limited by its own structure, it cannot be adapted to the brushless DC servo system with the hollow shaft brushless DC motor, as well as the space-constrained environment and tasks.

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