CN209868644U - Robot joint driven by double brushless direct current motors in parallel - Google Patents
Robot joint driven by double brushless direct current motors in parallel Download PDFInfo
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- CN209868644U CN209868644U CN201822263931.7U CN201822263931U CN209868644U CN 209868644 U CN209868644 U CN 209868644U CN 201822263931 U CN201822263931 U CN 201822263931U CN 209868644 U CN209868644 U CN 209868644U
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Abstract
A robot joint driven by double brushless direct current motors in parallel relates to the technical field of robot joint devices. This application includes two long connecting rods, and the one end of two long connecting rods is passed through clamping screw and is connected, and the other end passes through fixing bolt with the one end of short connecting rod respectively and is connected, and a brushless DC motor is all connected to the other end of every short connecting rod, and fixed motor driver on every brushless DC motor's the outer terminal surface arranges the connecting rod between two brushless DC motor. The application realizes the purposes of simple structure, convenient operation, simple maintenance and cost saving.
Description
Technical Field
The present application relates to the technical field of robotic joint devices.
Background
With the development of automation and informatization, the autonomous movement of a robot controlled by a transmission device has been vigorously developed. The robot can be applied to a wide range of scenes, and is particularly suitable for occasions with severe field environments and inconvenient manual operation. In the moving process of the robot, certain requirements are provided for the stability and flexibility of the operation of joints of the robot. Traditionally, a robot joint is driven to move through a single motor, the moving speed is low, meanwhile, the ground requirement on the use environment is high, and particularly, the robot with only two feet is provided.
Disclosure of Invention
The robot joint driven by the two brushless direct current motors in parallel is simple in structure, convenient to operate, simple to maintain and cost-saving.
The utility model provides a two brushless DC motor parallel drive's robot joint, includes two long connecting rods, and the one end of two long connecting rods is passed through clamping screw and is connected, and the other end passes through fixing bolt with the one end of short connecting rod respectively and is connected, and a brushless DC motor is all connected to the other end of every short connecting rod, fixes the motor driver on every brushless DC motor's the outer terminal surface, arranges the connecting rod between two brushless DC motor.
Further, the one end that is close to motor drive on this application brushless DC motor's the bearing adsorbs the magnet steel, sets up magnetic encoder on the motor drive.
Further, the magnetic encoder of the present application is located in the middle of the motor drive.
Further, the position of the magnetic encoder and the magnetic steel of the application corresponds, and the magnetic encoder is located right above the magnetic steel.
According to the control method for driving the robot joint by the double brushless direct current motors in parallel, firstly, the magnetic encoder acquires angle information of the brushless direct current motors through magnetic steel, and the motor driver calculates the rotation speed information of the brushless direct current motors according to the angle information acquired by the magnetic encoder; then, the motor driver carries out AD sampling to obtain two-phase current information of the brushless direct current motor, Clark conversion and Park conversion are carried out, and the electric angle information of flux linkage rotation is calculated by combining the mechanical angle information of the motor obtained by the magnetic encoder; then, the motor driver obtains given position information, namely the angle position to which the motor is turned, the given position and the angle are calculated to obtain angle deviation, the angle deviation is calculated with the motor speed through a position PID controller to obtain speed deviation, quadrature axis current is obtained through a speed PI controller, and meanwhile, direct axis current is obtained through a flux linkage PI controller according to a given flux linkage of the motor driver; and finally, carrying out Park inverse transformation and Clark inverse transformation on the quadrature-axis current and the direct-axis current to obtain PWM information of the three-phase bridge, and outputting the PWM information to the three-phase bridge, so that the brushless direct current motor is driven to reach a given position.
When the system is started, the two brushless direct current motors are controlled by respective motor drivers, the two brushless direct current motors respectively control the two connecting rods, the tail ends of the two connecting rods are connected together, the motor driver with the magnetic encoder can acquire angle information of the brushless direct current motors, the motor drivers send commands to the brushless direct current motors, the speed and the angle of the brushless direct current motors can be controlled, the tail ends can be controlled to reach any point in an effective two-dimensional space, motion planning is carried out, and the tail ends can be used as tail end execution mechanisms of the mechanical arm or foot parts of the multi-legged robot.
This application adopts above-mentioned technical scheme, compares with prior art and has following advantage:
1. the motor driver comprising the magnetic encoder is fixed at the tail end of the brushless direct current motor, so that the speed and the position of the brushless direct current motor can be conveniently controlled.
2. This application adopts two brushless DC motor drive in parallel, compares in the robot joint that uses single motor drive, and power is bigger, and whole robot joint has bigger moment of torsion and instantaneous power, can provide bigger instantaneous explosive force, makes things convenient for the robot to do nimble action.
3. This application uses the connecting rod as robot transmission structure, compares in using other as transmission structure, uses the connecting rod simpler, saves accessories such as ring flange, and easy to maintain changes the saving cost easily.
4. This application uses four simple straight connecting rods as transmission structure, and is simpler to robot system modeling, and the kinematics of robot is solved, and motion control is also simpler.
5. This application adopts the design of modularization joint, uses this robot joint to assemble by oneself for the arm, biped robot, various robots such as four-footed machine dog.
6. In a word, the system has the advantages of simple structure, easy and flexible control, high system integration and cost saving.
Drawings
Fig. 1 is a schematic structural diagram of the present application.
Fig. 2 is a schematic view of the connection state of the brushless dc motor and the motor driver according to the present invention.
Fig. 3 is a schematic diagram of the control method of the present application.
Detailed Description
The technical scheme of the application is described in detail below with reference to the accompanying drawings:
as shown in fig. 1, a robot joint driven by two parallel brushless dc motors comprises two long connecting rods 6, one ends of the two long connecting rods 6 are connected through a fixing screw 7, the other ends of the two long connecting rods are respectively connected with one ends of short connecting rods 4 through fixing bolts 5, the other end of each short connecting rod 4 is connected with one brushless dc motor 2, a motor driver 3 is fixed on the outer end face of each brushless dc motor 2, and a connecting rod 1 is arranged between the two brushless dc motors 2.
As shown in fig. 2, a magnetic steel 8 is adsorbed at one end of a bearing of the brushless dc motor 2 close to the motor driver 3, and a magnetic encoder 9 is arranged on the motor driver 3.
As shown in fig. 2, the magnetic encoder 9 of the present application is located in the middle of the motor driver 3.
As shown in FIG. 2, the magnetic encoder 9 of the present application corresponds to the magnetic steel 8, and the magnetic encoder 9 is located right above the magnetic steel 2.
As shown in fig. 3, according to the control method for driving a robot joint by connecting two brushless dc motors in parallel according to the present application, firstly, the magnetic encoder 9 acquires angle information of the brushless dc motor 2 through the magnetic steel 8, and the motor driver 3 calculates rotation speed information of the brushless dc motor 2 according to the angle information acquired by the magnetic encoder 9; then, the motor driver 3 performs AD sampling to obtain two-phase current information of the brushless direct current motor 2, performs Clark conversion and Park conversion, and calculates electrical angle information of flux linkage rotation by combining the mechanical angle information of the motor obtained by the magnetic encoder 4; then, the motor driver 3 obtains given position information, namely the angle position to which the motor is turned, the given position and the angle are calculated to obtain angle deviation, the angle deviation is calculated with the motor speed through a position PID controller to obtain speed deviation, quadrature axis current is obtained through a speed PI controller, and meanwhile, direct axis current is obtained through a flux linkage PI controller according to a given flux linkage of the motor driver 3; finally, the quadrature-axis current and the direct-axis current are subjected to Park inverse transformation and Clark inverse transformation to obtain PWM information of the three-phase bridge, and the PWM information is output to the three-phase bridge, so that the brushless direct current motor 2 is driven to reach a given position.
The utility model provides a two parallelly connected driven robot joints of brushless DC motor start-up backs, two brushless DC motor are controlled by respective motor drive, two connecting rods are controlled respectively to two brushless DC motor, the end of two connecting rods links together, the motor drive who contains magnetic encoder can acquire brushless DC motor's angle information, motor drive sends the order for brushless DC motor, can control brushless DC motor's speed and angle, thereby can control terminal any point that reaches in the effective two-dimensional space, carry out the motion planning, the end can regard as the terminal actuating mechanism of arm or the plantar part of polypod robot.
Claims (4)
1. The utility model provides a two brushless DC motor parallel drive's robot joint, its characterized in that includes two long connecting rods (6), the one end of two long connecting rods (6) is passed through clamping screw (7) and is connected, the other end passes through fixing bolt (5) with the one end of short connecting rod (4) respectively and is connected, a brushless DC motor (2) is all connected to the other end of every short connecting rod (4), fixed motor driver (3) on the outer terminal surface of every brushless DC motor (2), arrange connecting rod (1) between two brushless DC motor (2).
2. The robot joint driven by two brushless DC motors connected in parallel according to claim 1, wherein the bearing of the brushless DC motor (2) is attached with a magnetic steel (8) at one end close to the motor driver (3), and the motor driver (3) is provided with a magnetic encoder (9).
3. The robot joint driven by the parallel connection of the double brushless DC motors according to claim 2, characterized in that the magnetic encoder (9) is located in the middle of the motor driver (3).
4. The robot joint driven by the double brushless direct current motors in parallel according to claim 2 or 3, wherein the magnetic encoder (9) corresponds to the magnetic steel (8), and the magnetic encoder (9) is positioned right above the magnetic steel (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822263931.7U CN209868644U (en) | 2018-12-31 | 2018-12-31 | Robot joint driven by double brushless direct current motors in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822263931.7U CN209868644U (en) | 2018-12-31 | 2018-12-31 | Robot joint driven by double brushless direct current motors in parallel |
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| CN209868644U true CN209868644U (en) | 2019-12-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773825A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | The joint of robot and its control method of double brshless DC motor parallel drives |
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2018
- 2018-12-31 CN CN201822263931.7U patent/CN209868644U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773825A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | The joint of robot and its control method of double brshless DC motor parallel drives |
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