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Industrial robot intelligent driving system

A technology of industrial robots and drive systems, applied in manipulators, manufacturing tools, electronic commutators, etc., can solve problems such as poor following characteristics and large starting torque-to-inertia ratio, and achieve the effect of improving followability

Inactive Publication Date: 2017-02-15
天津动核芯科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention provides an intelligent driving system for an industrial robot to solve the problems in the prior art that the starting torque-to-inertia ratio is large and the following characteristics are poor.

Method used

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  • Industrial robot intelligent driving system

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Embodiment

[0019] This embodiment: as figure 1 As shown, an industrial robot intelligent drive system includes a position closed-loop control subsystem 1, a speed closed-loop control subsystem 2, and a torque closed-loop control subsystem 3. The closed-loop control subsystem includes a position given module 4, a position comparison PID An adjustment module 5, a position limitation module 6, a position limitation given module 7, a motor execution module 8, and a sensor feedback module 9. The speed closed-loop control subsystem 2 includes a speed comparison PID adjustment module 10, a motor execution module 8, and a sensor feedback module 9. The torque closed-loop control subsystem 3 includes a current comparison PID adjustment module 11, a motor execution module 8, and a sensor feedback module 9;

[0020] The output of the position given module 4 is connected to the given end of the position comparison PID adjustment module 5, and the output of the position comparison PID adjustment modul...

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Abstract

The invention belongs to the technical field of industrial robot driving and especially relates to an industrial robot intelligent driving system. The output of a position giving module is connected to the giving end of a position comparison PID adjustment module. The output of the position comparison adjustment PID module is connected to the input end of a position limiting module. The output of the position limiting module is connected to the limiting end of a speed comparison PID adjustment module. The output of the speed comparison PID adjustment module is connected to the giving end of a current comparison PID adjustment module. The output of the current comparison PID adjustment module is connected to a power amplification module. The output of the power amplification module is connected to the motor execution module. According to the system, the problems of a large starting torque inertia ratio and poor following characteristic in the prior art are solved, and the system has the advantages of a good following characteristic, a high starting torque, high safety, and a wide range of application.

Description

technical field [0001] The invention belongs to the technical field of industrial robot driving, and in particular relates to an intelligent driving system of an industrial robot. Background technique [0002] For motors driven by joints of industrial robots, maximum power-to-mass ratio and torque-to-inertia ratio, high starting torque, low inertia, and a wide and smooth speed range are required. Especially for robot end effectors (claws), motors with the smallest volume and mass should be used, especially when fast response is required, the servo motor must have high reliability and stability, and have a large short-term overload Ability, which is a prerequisite for the application of servo motors in industrial robots, the prior art has the problems of large starting torque-to-inertia ratio and poor following characteristics. Contents of the invention [0003] The present invention provides an intelligent driving system for an industrial robot to solve the problems in th...

Claims

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Application Information

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IPC IPC(8): H02P6/08H02P6/16B25J19/00
CPCH02P6/08B25J19/00
Inventor 徐征
Owner 天津动核芯科技有限公司
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