Load following electric motor

Abstract

To control the movement required for each operating mode of a robot arm by a motor alone.SOLUTION: Primary and secondary rotating shafts are connected by a spring and a load sensor to form a follow-up torque sensor, which is installed at the joint between the rotating shaft and a rotor and at the mounting parts of the motor body and the stand. The load value of the follow-up torque sensor is measured by a computer (13), and the motor stator is operated by a driver (16) in a direction that cancels the external torque according to the PID data (15), thereby rotating the motor rotor.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The pressure (active torque) that the rotating shaft exerts on the outside and the tension (passive torque) that the rotating shaft receives from the outside are measured by a combination of a damper and sensors in multiple directions, and a small computer controls the passive torque and active torque of the motor according to the PID setting value, maintaining the target torque value. During repetitive motion, if the torque becomes near zero after reaching the target torque, the rotor rotates in the reverse direction to return to the position where control started and then stops. The touch sensor is provided and operates only when an external load source is connected.

[0002] When a robot arm is brought closer to a human, it can perform active movements by itself, passive movements by adjusting to the other robot, movements by returning to a natural position, and movements that start when it touches an object. All of these movements are realized by the motor alone. Summary of the Invention Problems that the invention aims to solve

[0003] If the motor can measure tension and pressure from the stopped and operating states and control it independently, robot control will be extremely simple.

[0004] In order to measure the external torque applied to the motor's shaft, a damper + sensor is attached halfway along the shaft, at the connection between the rotor and shaft, and on the motor body and base. Sudden excessive torque caused by collisions etc. is absorbed by a damper, external torque is measured by a load sensor, and a small computer controls passive operation when stopped and active control when rotating. When repetitive operation is selected, the robot will reverse rotation to the position where control began and then stop. The touch sensor detects whether or not there is a load, and if there is no load, the control stops.

[0005] It tracks the positive and negative external torque received from the outside of the rotating shaft and maintains the target torque according to the PID setting value. If the external torque changes, the internal setting value is automatically updated by AI, which allows for reduction in roll material with changing diameter, winding, and replacement of hydraulic dampers and hydraulic brakes. [Brief description of the drawings]

[0006] [Figure 1] 1 is a configuration diagram showing a first embodiment of the invention related to this application. [Diagram 2] FIG. 1 is a principle diagram showing a first embodiment of the invention according to this application. [Diagram 3] FIG. 1 is a mounting diagram showing a first embodiment of the invention related to this application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] The primary rotating shaft (2) and secondary rotating shaft (3) are connected by a spring (5) and a load sensor (4). The joint between the rotating shaft (20) and the rotor (22), and the mounting parts for the motor body (24) and the stand (25) are installed. It is composed of a follow-up torque sensor (1), a control computer (13), a motor drive circuit (16), and a motor (14). [Explanation of symbols]

[0008] 1. Tracking torque sensor 2 Primary Rotating Axis 3 Secondary Rotation Axis 4 Load Sensor 5. Spring 10 Touch Sensor 11. Spring 12 Load cell 13. Computers 14 Motor 15 PID data 16 Drivers 20 Rotational Axis 21 Stator 22 Rotor 23 Bearings 24 Motor body 25 Mount

Claims

1. A load-following electric motor that uses a rotary torque sensor, which is a combination of a damper and a sensor, to measure the torque applied to the rotating shaft from the outside and control the rotation.

2. Passive control: A load-following electric motor in which, when the torque received by the rotating shaft from the outside exceeds an internally set target torque value, PID control is performed to reduce the torque received from the outside, thereby maintaining the target torque.

3. Active control: A load-following electric motor that performs PID control to reduce the torque applied to the external system when the torque applied by the rotating shaft exceeds an internally set target torque value, thereby maintaining the target torque.

4. A load-following electric motor that, when a repetitive operation is selected, in either passive or active control operation, reverses rotation to the position where control began and stops when the torque approaches zero.

5. A load-following motor that has a touch sensor on the rotating shaft and controls itself by detecting whether a load is connected or not.

6. A load-following motor that uses AI to autonomously control itself by automatically updating internal set values ​​in response to the presence or absence of load, passive operation, active operation, repetitive operation, and changes in external torque.

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