CN109600074A - Self-adapting type driver, adjusting method and servo drive system - Google Patents
Self-adapting type driver, adjusting method and servo drive system Download PDFInfo
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- CN109600074A CN109600074A CN201811467754.2A CN201811467754A CN109600074A CN 109600074 A CN109600074 A CN 109600074A CN 201811467754 A CN201811467754 A CN 201811467754A CN 109600074 A CN109600074 A CN 109600074A
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- Prior art keywords
- drive circuit
- circuit die
- die set
- power supply
- mould group
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000033228 biological regulation Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical fields of robot, disclose self-adapting type driver, adjusting method and servo drive system, including further including power supply mould group and multiple drive circuit die sets for the interface with external multiple communications；Each drive circuit die set is connected to the interface, the independent drive control for realizing motor described in specific quantity；The power supply mould group is connected to each drive circuit die set, and is equipped with the detection module for obtaining the drive circuit die set working condition and the control module for adjusting each drive circuit die set power supply.The present invention not only reduces number of parts, and reduces the study and purchase cost of buyer, and user, which only needs as needed voluntarily purchase to combine, can be used directly.
Description
Technical field
The present invention relates to servo-controlled technical fields more particularly to self-adapting type driver, adjusting method and servo to drive
Dynamic system.
Background technique
Driver is equipment indispensable in servo drive system, according to its specific circuit structure, can drive certain number
The motor of amount.For example, articulated robot is exactly a kind of typical more motor servo drive systems, not according to specific structure
Together, such as three-axis robot, wu-zhi-shan pig etc., in practical applications, the quantity of different axis corresponds to different numbers of motors,
Demand to driver is not also identical.
There is the model of a variety of drivers on the market, user is in exploitation or in use, according to the actual needs of oneself
Select corresponding drive products.Since driver in the prior art can only provide certain amount of motor driven, such as two
A motor, three motors etc., application range is relatively narrow, when user demand changes, can only buy again and select new driver, make
At the promotion of application cost.
Summary of the invention
The purpose of the present invention is to provide self-adapting type driver, adjusting method and servo drive systems, it is intended to solve existing
Have more than the driver type in technology and applicability is narrow, the problem for causing robot research and development application at high cost.
The invention is realized in this way provide self-adapting type driver, including for being connect with external multiple communications
Mouthful, it further include power supply mould group and multiple drive circuit die sets；
Each drive circuit die set is connected to the interface, the independent drive control for realizing motor described in specific quantity；
The power supply mould group is connected to each drive circuit die set, and is equipped with for obtaining the drive circuit die set work
Make the detection module of state and the control module for adjusting each drive circuit die set power supply.
Further, each drive circuit die set includes communications module, and the detection module is each described logical by obtaining
Believe that the feedback information of mould group obtains working condition.
Further, the power supply mould group includes basic courses department and multiple extensions, is equipped with the detection in the extension
Module, each extension is corresponding to be electrically connected to a drive circuit die set, and the control module includes being set to each institute
State the switch module in extension.
Further, the power supply mould group includes mounting base, and the basic courses department is fixedly installed in the mounting base, multiple
The extension is detachable to be installed on the mounting base, is equipped in the mounting base in parallel for forming each extension
The circuit structure of connection.
Further, grafting position is set in each mounting base, the circuit structure includes being set to each grafting position
Electrode, the extension are fixed on the grafting position by connection-peg and are electrically connected to the electrode.
The present invention also provides adaptive regulation methods, special for adjusting the power of driver in drive control work
Sign is that the driver includes power supply mould group and muti-piece drive circuit die set, and each drive circuit die set independently realizes spy
The drive control of fixed number amount motor, the adaptive regulation method the following steps are included:
The working condition for obtaining each drive circuit die set, adjusts the power supply of the drive circuit die set.
Further, each drive circuit die set includes communication module, each drive circuit die set of acquisition
Working condition specifically includes:
It is communicated with each communication module foundation, reads the feedback information of each communication module, to obtain each described
The working condition of drive circuit die set.
Further, the power supply for adjusting the drive circuit die set specifically includes:
According to the feedback information of the communication module, the power consumption of the drive circuit die set is determined, be based on the power consumption and work
Its power supply is adjusted as state.
Further, the power supply for adjusting the drive circuit die set specifically includes:
Cutting has neither part nor lot in the power supply of the drive circuit die set of drive control.
The present invention also provides servos to control system, including controller, the actuating station with multiple motors and above-mentioned
Self-adapting type driver, the associating power supply formula actuator assembly are connected between the control and the actuating station.
Compared with prior art, self-adapting type driver, adjusting method and servo drive system provided in the present invention, energy
The quantity of enough actual needs independent assortment drive circuit die sets according to user when in use, constitutes the driver met the requirements,
Reduce number of parts, there is wider applicability.For manufacturer, not without the robot development for the different number of axle
The driver of same type reduces relevant exploitation and production cost.For a user, without the various drivers of research
Performance, it is only necessary to which voluntarily purchase combination as needed also reduces the study of buyer and the cost of buying.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of self-adapting type driver provided in an embodiment of the present invention；
Fig. 2 and 3 is power module structure schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As shown in Figure 1 to Figure 3, self-adapting type driver is provided in the present embodiment, including is used for and external multiple motors
The interface of communication and including power supply mould group 32 and multiple drive circuit die sets 1.
Wherein, each drive circuit die set 1 is connected to interface, can independently realize the drive control of specific quantity motor.
Drive circuit die set 1 includes that can be realized the basic electricity structure of drive control, can independently realize the drive of specific quantity motor
Dynamic control, specific electricity structure are this field routine techniques, the relevant element of integrated design as needed, in design
It determines the number of motors that can specifically drive, such as drive control is carried out to a motor or driving control is carried out to two motors
System, infra for convenient for narration, using " n axis version " as distinguishing, wherein n is the number of motors that can actually drive.
Power supply mould group 32 is connected to each drive circuit die set 1, and is equipped with for obtaining 1 working condition of drive circuit die set
Detection module and the control module powered for adjusting each drive circuit die set 1.Working condition may include the driving circuit mould
Whether group 1 work normally, is capable of driving motor quantity, quantity of practical driving motor etc., according to the adjustment of its working condition
Power supply to the drive circuit die set 1 can also adjust on the basis of not changing hardware configuration according to actual use state
Whole power supply, to adapt to the power supply needs of the self-adapting type driver of different model, different working condition.
For example, user, in exploitation three-axis robot, expected future can develop wu-zhi-shan pig, the drive circuit die set of selection
1 includes two two axis versions and a uniaxial version.In early period in use, needing to control three-axis robot, in other words, not
Whole drive circuit die sets 1 take part in the process of drive control, and due to the version of drive circuit die set 1 difference, power supply is needed
Ask also different.It can be planned to, a two axis version drive circuit die sets 1 and a uniaxial version drive circuit die set 1 carry out simultaneously
Work, at this time according to the working condition of acquisition, cutting is not involved in the power supply of another two axis version drive circuit die set 1 of driving,
And the power supply of uniaxial version drive circuit die set 1 is adjusted to adapt to its actual needs.Or choose two two axis version driving circuits
Mould group 1 participates in work, then cuts off the power supply of uniaxial version drive circuit die set 1.When needing to control wu-zhi-shan pig, then
The open power supply to all three drive circuit die sets 1, to meet the requirements.
The self-adapting type driver provided in the present embodiment is provided from above-mentioned realization process, it can be in use
Adjustment power supply strategy does not change hardware configuration under the premise of guaranteeing to control, and adjusts power supply power supply power, avoids meaningless
Power consumption, realize it is dynamical it is backward compatible control quantity, meet it is different control needs, there is certain applicability, thus most
The cost of the low user of final decline.
In the present embodiment, each drive circuit die set 1 includes communications module, and communications module is communicated with detection module foundation
Afterwards, the working condition of corresponding drive circuit die set 1, namely automatic acquisition can directly be fed back.In other examples, may be used
To check the working condition of drive circuit die set 1 in upper computer end, and information is directly inputted into using in a manner of passively obtaining
In detection module, so that it carries out judgement planning.
Power supply mould group 32 in the present embodiment includes basic courses department 321 and multiple extensions 322, and detection mould is equipped in extension
Block, each correspondence of extension 322 are electrically connected to one drive circuit mould group 1, and control module includes being set in each extension 322
Switch module is the electric power thus supplied of controllable corresponding drive circuit die set 1 by control module.
Preferably, power supply mould group 32 includes 323, and basic courses department 321 is fixedly installed in mounting base 323, multiple extensions 322
It is detachable to be installed on mounting base 323, it is equipped in mounting base 323 for each extension 322 to be formed the circuit knot being connected in parallel
Structure.It in use, can be according to the quantity of drive circuit die set 1, the quantity of additions and deletions extension 322, the power supply mould group 32 of change
Power supply capacity, to adapt to power reguirements.Due to the circuit structure being arranged inside mounting base 323,322 groups of each extension can be made
At parallel circuit, to guarantee that each extension 322 can export identical voltage.322 lower end of extension is equipped with groove 3221, in order to
It is coupled seat 323.
Further, grafting position is set in each mounting base, circuit structure includes the electrode for being set to each grafting position, extension
Portion 322 is fixed on grafting position by connection-peg and is electrically connected to electrode.It is realized in structure in grafting extension 322
Fixation and installation electrically, reduce the difficulty of assembly and installation.
In content above-mentioned, circuit structure, electrode, grafting position, connecting line, parallel circuit etc. are normal in electricity field
See, mature structure, therefore do not do and limit and repeat in detail, does not also provide diagram, those skilled in the art can be according to these
Technology ranking explicitly recognizes its corresponding specific part and assembled connecting method.
Adaptive driving adjusting method is additionally provided in the present embodiment, for adjusting the function of driver during drive control
Rate, driver include muti-piece drive circuit die set 1 and power supply mould group 32, and each drive circuit die set 1 is independent to realize specific quantity electricity
The drive control of machine, it is adaptive drive adjusting method the following steps are included:
The working condition of each drive circuit die set 1 is obtained, the power supply of drive circuit die set 1 is adjusted.
Such as corresponding drive circuit die set 1 is uniaxial version, then can reduce its supply voltage.Such as corresponding driving circuit
Mould group 1 has neither part nor lot in practical driving, can be directly by it for being electrically cut off, to meet the needs of.
The working condition for detecting each drive circuit die set 1 includes: to detect the number of motors of outside need control, and configuration participates in
The drive circuit die set 1 of drive control cuts off the power supply of idle drive circuit die set 1.
As can be seen that the adaptive driving adjusting method provided in the present embodiment can be adjusted under the premise of not changing hardware
Whole power supply strategy, to meet the power reguirements of the driver of different structure.
In step: each drive circuit die set 1 is including communication module 24, in the working condition for obtaining each drive circuit die set 1,
It specifically includes:
It is communicated with the foundation of each communication module 24, the feedback information of each communication module 24 is read, to obtain each driving circuit
The working condition of mould group 1.
Namely establish electrical communication and obtain working condition automatically, it is planned automatically.It in other examples, can also be with
After thering is operator to detect working condition, manually enter to communication module 24.
In step: in the power supply of adjustment drive circuit die set 1, specifically include:
According to the feedback information of communication module 24, the power consumption of drive circuit die set 1 is determined, be based on the power consumption and working condition
Adjust its power supply.
Servo drive system is additionally provided in the present embodiment, including controller, the actuating station with multiple motors, Yi Jiqian
The self-adapting type driver stated.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. self-adapting type driver, including for the interface with external multiple communications, which is characterized in that further include power supply mould
Group and multiple drive circuit die sets；
Each drive circuit die set is connected to the interface, for realizing the drive control of motor described in specific quantity；
The power supply mould group is connected to each drive circuit die set, and is equipped with for obtaining the drive circuit die set work shape
The detection module of state and the control module powered for adjusting each drive circuit die set.
2. self-adapting type driver as described in claim 1, which is characterized in that each drive circuit die set includes communication mould
Group, the detection module obtain working condition by obtaining the feedback information of each communications module.
3. self-adapting type driver as described in claim 1, which is characterized in that the power supply mould group includes basic courses department and multiple
Extension, the detection module is equipped in the extension, and each extension correspondence is electrically connected to a driving circuit
Mould group, the control module include the switch module being set in each extension.
4. self-adapting type driver as claimed in claim 3, which is characterized in that the power supply mould group includes mounting base, described
Basic courses department is fixedly installed in the mounting base, and multiple extensions are detachable to be installed on the mounting base, the installation
It is equipped in seat for each extension to be formed the circuit structure being connected in parallel.
5. self-adapting type driver as claimed in claim 4, which is characterized in that grafting position is set in each mounting base, it is described
Circuit structure includes the electrode for being set to each grafting position, and the grafting position and electricity are fixed on by connection-peg in the extension
It is connected to the electrode.
6. adaptive regulation method, for adjusting the power of driver in drive control work, which is characterized in that the driver
Including power supply mould group and muti-piece drive circuit die set, each drive circuit die set independently realizes the driving control of specific quantity motor
System, the adaptive regulation method the following steps are included:
The working condition for obtaining each drive circuit die set, adjusts the power supply of the drive circuit die set.
7. adaptive regulation method as claimed in claim 6, which is characterized in that each drive circuit die set includes communication mould
Block, the working condition for obtaining each drive circuit die set specifically include:
It is communicated with each communication module foundation, the feedback information of each communication module is read, to obtain each driving
The working condition of circuit module.
8. adaptive regulation method as claimed in claim 7, which is characterized in that adjust the power supply tool of the drive circuit die set
Body includes:
According to the feedback information of the communication module, the power consumption of the drive circuit die set is determined, based on the power consumption and work shape
State adjusts its power supply.
9. adaptive regulation method as claimed in claim 6, which is characterized in that adjust the power supply tool of the drive circuit die set
Body includes:
Cutting has neither part nor lot in the power supply of the drive circuit die set of drive control.
10. servo controls system, including controller, the actuating station with multiple motors, which is characterized in that further include claim
1 to 5 described in any item self-adapting type drivers, the associating power supply formula actuator assembly are connected to the control and hold with described
Between row end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467754.2A CN109600074A (en) | 2018-12-03 | 2018-12-03 | Self-adapting type driver, adjusting method and servo drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811467754.2A CN109600074A (en) | 2018-12-03 | 2018-12-03 | Self-adapting type driver, adjusting method and servo drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109600074A true CN109600074A (en) | 2019-04-09 |
Family
ID=65960613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811467754.2A Pending CN109600074A (en) | 2018-12-03 | 2018-12-03 | Self-adapting type driver, adjusting method and servo drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109600074A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1326261A (en) * | 2000-05-29 | 2001-12-12 | 欧姆龙株式会社 | Power device and power module therewith |
| CN102331724A (en) * | 2011-06-02 | 2012-01-25 | 西南大学 | Driving combined mechanism |
| CN209514340U (en) * | 2018-12-03 | 2019-10-18 | 深圳市越疆科技有限公司 | Self-adapting type driver and servo drive system |
-
2018
- 2018-12-03 CN CN201811467754.2A patent/CN109600074A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1326261A (en) * | 2000-05-29 | 2001-12-12 | 欧姆龙株式会社 | Power device and power module therewith |
| CN102331724A (en) * | 2011-06-02 | 2012-01-25 | 西南大学 | Driving combined mechanism |
| CN209514340U (en) * | 2018-12-03 | 2019-10-18 | 深圳市越疆科技有限公司 | Self-adapting type driver and servo drive system |
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