Rotation mechanic equipment

1 . A rotating mechanical equipment, comprising:

a micro control circuit used to receive a position command then generates a control signal based on the position command to control a rotation frequency; and

a rotation module comprising:

a motor coupled to the micro control circuit to receive the control signal then operates at the rotation frequency based on the control signal;

a first encoder connected to the motor to detect the rotation frequency of the motor then generates a first detection signal;

a reducer connected to the motor through the first encoder to operate at a circled frequency based on the rotation frequency of the motor;

a second encoder connected to the reducer to detect the circled frequency of the reducer then generates a second detection signal to the micro control circuit; and

a detection circuit configured to detect vibration based on an amplitude of the second detection signal at a frequency equal to 2 times the rotation frequency.

2 . The rotating mechanical equipment according to claim 1 , wherein the rotating mechanical equipment detects the vibration of the reducer based on 2 times the rotation frequency.

3 . The rotating mechanical equipment according to claim 1 , wherein the micro control circuit comprises:

a first differential circuit used to receive the position command then outputs a first differential signal based on the position command; and

a position circuit coupled to the first differential circuit to receive the first differential signal then outputs a position output signal based on the first differential signal;

a second differential circuit coupled to the position circuit to receive the position output signal then generates a second differential signal based on the position output signal;

a speed circuit coupled to the second differential circuit to receive the second differential signal then generates a speed output signal based on the second differential signal;

a third differential circuit coupled to the speed circuit to receive the speed output signal then generates a third differential signal based on the speed output signal; and

a current controller coupled to the third differential circuit to receive the third differential signal then generates the control signal based on the third differential signal.

4 . The rotating mechanical equipment according to claim 1 , comprising:

a robotic arm; and

a gravity sensor arranged on the robotic arm to generate a gravity signal based on the rotation frequency and coupled to a micro control circuit to transmit the gravity signal to the micro control circuit to adjust the rotation frequency.

5 . A rotating mechanical equipment, comprising:

a detection circuit used to receive a position command then generates a detection signal based on the position command; and

a vibration suppression circuit coupled to the detection circuit to receive the detection signal to suppress a vibration,

wherein the detection circuit comprises:

a command operation circuit used to receive the position command to calculate a command speed of the position command; and

a judgment circuit coupled to the command operation circuit to receive the command speed then compares the command speed with a command threshold to generate a judgment signal;

wherein the detection circuit starts a detection based on the judgment signal and generates the detection signal when an amplitude whose frequency is detected as 2 times a rotation frequency.

6 . A rotating mechanical equipment, comprising:

a detection circuit used to receive a position command then generates a detection signal based on the position command; and

a vibration suppression circuit coupled to the detection circuit to receive the detection signal to suppress a vibration, wherein the detection circuit detects the vibration based on 2 times a rotation frequency to generate the detection signal,

wherein the vibration suppression circuit comprises a compensation coefficient and is coupled to a first encoder and a second encoder to receive a first detection signal and a second detection signal then calculates a compensation signal based on the compensation coefficient, the first detection signal and the second detection signal to compensate a torque control loop.