CN110171016A - A kind of complete Modular Flexible joint based on high-speed serial communication - Google Patents
A kind of complete Modular Flexible joint based on high-speed serial communication Download PDFInfo
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- CN110171016A CN110171016A CN201910430608.0A CN201910430608A CN110171016A CN 110171016 A CN110171016 A CN 110171016A CN 201910430608 A CN201910430608 A CN 201910430608A CN 110171016 A CN110171016 A CN 110171016A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to Robot Modular Joint technical fields, disclose a kind of complete Modular Flexible joint based on high-speed serial communication；Hollow shaft including brushless DC servomotor, hollow type brake, hollow type harmonic speed reducer, disk brake, hollow type encoder, hollow type torque sensor, hollow type input/output axis and cable protection; one piece of integrated power supply is devised in intra articular, drives and be controlled in integrated pcb board; the independently-powered of joint, motor driven and real-time control are realized with this, reach complete modularization.The internal structure placement-and-routing in entire joint of the invention is reasonable, light weight, performance are high and interchangeability is good, it is suitble to carry out robot assembling according to demand undetermined, joint communicates rapidly with the internal and external world, mating suitable for the mechanical arm of man-machine collaboration and the joint of other intelligent robots.
Description
Technical field
The invention belongs to modularized joint technical field more particularly to a kind of complete modularizations based on high-speed serial communication
Flexible joint.
Background technique
Currently, the immediate prior art: up to the present from Germany's proposition in 2013 industrial 4.0 epoch, industrial machinery
The development of arm is advanced by leaps and bounds, and major colleges and universities, research institute and science-and-technology enterprise both domestic and external constantly research and develop mechanical arm
And update, many manufacturing enterprises all use industrial machinery arm instead of people to complete the operation under some adverse circumstances, industrial machine
The development of tool arm has had reached a kind of stage of relative maturity.With the development of the society, innovation and the human demand of science and technology
Raising, traditional industry manufacture machine people is unable to satisfy some medium-sized and small enterprises and computer, communication, the big science and technology of consumer electronics three
The short cycle of the emerging markets such as the information electrical appliance industry of product integration application, customization, the requirement of Collaborative.Therefore, cleverer
Living, intelligent, integrated level height, the simple and safe cooperation robot of assembly come into being, and penetrate into every profession and trade.So far,
Headed by four big family, robot Fa Nake of the whole world, library card, peace river motor, ABB, in addition leading enterprise, domestic robot represents
New pine and outstanding enterprise, robot, Denmark are especially proud etc., have had resulted in cooperation machine man-based development overbearing tide.And it is mechanical in cooperation
In the design of arm, most important is exactly the design in joint, its main feature is that it is flexible, integrated level is high, safe and reliable, modularization
Deng.Relative to the industrial robot of traditional single, fixed work, cooperation robot is to pass through different companies by modularized joint
Bar assembles, thus it is more flexible, diversification, adaptable, and replaceability and maintainability are all more preferable.
In conclusion problem of the existing technology is: intra-articular integrated level is high not enough, one it is intra-articular should
The integrated complete power-supply system other than basic mechanical system, driving control system, not up to completely integrated it is small-sized,
Dexterous and safety joint of mechanical arm, so that joint can not carry out freely being completed operation according to demand.
Intra-articular data collection system is incomplete, not fast enough for collected information processing rate, so joint
Communication control system it is to be improved for the acquisition of data and processing speed.It is integrated that the above problem can further result in joint
Spend not high enough, internal data acquisition system is incomplete, and collected position, speed and moment information transmission speed are inadequate
Height, and how to combine with drive control, communication control plate is taken up too much space.It is integrated in intra-articular control communication system
System would generally be integrated on several pieces of pcb boards, shared to have space larger, be unfavorable for the integrated and layout cabling of integral joint.
And after data acquisition, transmission and processing, how to carry out integrated drive control.
Solve the difficulty of above-mentioned technical problem: how difficulty be reasonably in view of flexibility, small and exquisite property, fully-integrated
Change and reliability requirements go the structure in layout completely integrated joint, is closed so that forming the good complete modularization of interchangeability
Section, achievees the purpose that freely to be assembled according to demand；Take which kind of scheme improve intra-articular data acquisition, transmission and
The speed and accuracy of processing, after by data processing how in conjunction with driving and control section, so that reaching driving and control
System integration.
It solves the meaning of above-mentioned technical problem: first consisting in a kind of the fully integrated of the high-speed communication for completing rational deployment
The speed of the joint of mechanical arm of change, intra-articular acquisition data is fast and accurate, CPU can be provided data to rapidly, so that drive control
Plate can be such that the response speed in joint reaches very with quick obtaining to effective intra-articular position, speed and moment information
Height solves joint applied to the safety problem and flexibility problem when interacting after mechanical arm with people.Next is to have reached above-mentioned
It can be carried out freely being completed operation according to demands of individuals after effect, can be applied to many aspects of man-machine collaboration in life.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of, and the complete modularization based on high-speed serial communication is soft
Property joint.
The invention is realized in this way a kind of complete Modular Flexible joint based on high-speed serial communication, the base
Include: motor importation, control drive part, be driven output section in the complete Modular Flexible joint of high-speed serial communication
Point；
Motor importation includes static articular shell, the direct current brushless servo motor of hollow type, input high speed shaft, depth
Ditch ball bearing, brake and photoelectric encoder；
Direct current brushless servo motor makes motor stator and articular shell and electricity by using the mode of structure glue bond
It installs and fixes between machine rotor and high speed shaft, the left end of motor carries out axially position, articular shell and input by articular shell
It is connected between high speed shaft by deep groove ball bearing；Two pieces of friction plates of brake and the shell three of coil are bolted
Together, coil is installed in shell, and the rotor portion of brake is fixedly connected with input high speed shaft, and coil case passes through peace
It is connected and fixed between cartridge screw and static rear casing；
The code-disc of photoelectric encoder by screw be fixed on input high speed shaft right end, acquisition device with it is static hollow
Axis carries out interference fit connection；
Control drive part includes static rear casing and integrated power supply, control, driving in the pcb board of one；
Drive control plate is fixed by the internal structure of static rear casing, carries out pcb board by three stretching long axis
Fixation；
Rotating output par, c includes harmonic speed reducer, flexbile gear output flange, torque sensor, magnetic encoder and output
Shell；
The wave producer of harmonic speed reducer carry out with input high speed shaft by spline it is connected, firm gear by mounting screw with it is electric
Machine shell is installed；Flexbile gear output flange and flexbile gear are attached by screw；The inner ring and flexbile gear of torque sensor export
It is fixedly connected between flange by bolt and nut, outer ring and joint output shell are connected also by bolt and nut
It connects；Magnetic encoder is positioned and fixed on flexbile gear output flange by the shaft shoulder, is exported and is relatively rotated between shell and motor housing.
Further, the quiet shell of motor in the complete Modular Flexible joint based on high-speed serial communication and it is static after it is outer
Fixation is connected through a screw thread between shell.
Further, the static hollow shaft in the complete Modular Flexible joint based on high-speed serial communication passes through self tapping spiral shell
Nail is fixed on static rear casing.
Further, the direct current brushless servo motor in the complete Modular Flexible joint based on high-speed serial communication, humorous
Wave retarder, brake, photoelectric encoder, drive control plate and torque sensor are all center hole structures；
It inputs high speed shaft and flexbile gear output flange is hollow structure, realize the cabling between intra-articular and joint.
Further, the pcb board in the complete Modular Flexible joint based on high-speed serial communication includes:
FPGA control chip and its firmware, by fpga chip and burning enter chip control other modules hardware electricity
Road composition；
Power configuration module, by power supply terminal progress+24V power supply power supply, power configuration module by sectional pressure element will+
24V voltage is divided into+24V ,+3.3V, five road voltage of+5.5V ,+5V and 1.2V；
Motor drive module, the full-bridge circuit of the driving chip comprising motor and MOSFET composition, receives and comes from FPGA
Pwm control signal to generate pulse, carry out the driving of motor；
Memory module selects DDR 3 as storage chip, reaches the high speed storing and reading of data；
PCIE bus interface module, the DMA cascade structure interface that the IP kernel based on PCIE is realized, the high speed number with host computer
According to interaction；
Signal conditioning module completes disappearing for acquisition signal and trembles, filters and enhanced processing, it is ensured that obtains precisely reliable close
Save real time data；
AD conversion module realizes this module based on AD conversion chip, completes the analog-to-digital conversion of analog signal；
Clock configuration module, include clock chip and clock conditioning circuit, to bus interface module, AD conversion module,
FPGA and memory module provide clock signal and guarantee that stablizing for clock signal inputs.
Further, the FPGA control chip in the complete Modular Flexible joint based on high-speed serial communication includes；
AD control circuit, for completing the control of AD conversion chip；
SPI communication driving circuit, this functional circuit is used for the bottom module of AD control circuit, for completing SPI communication
Control；
DDR3 control circuit, for completing the control of high speed storing chip；
PCIE serial bus controlling circduit, the data for completing control interface are transmitted, complete to pass with the data of host computer
It is defeated；
Motor drive ic control circuit, for carrying out the control of motor drive ic；
Another object of the present invention is to provide a kind of complete Modular Flexibles based on described based on high-speed serial communication
The data transmission method in joint, the data transmission method include: to pass through SPI after from sensor collection to corresponding data
Communication interface reaches the control conditioning circuit of control driving plate, and Transistor-Transistor Logic level signal can be directly to up to CPU, and analog signal passes through AD
It is transferred to CPU again after being converted into digital signal；After CPU is handled, data control the driving circuit that IP kernel is realized in DDR 3
Driving under reach 3 chip of DDR in cached, MIG realize for DDR 3 reading control, data are completed in DDR 3
After caching, when FPGA receives order, data are read out from DDR 3；Then in the way of cascade structure DMA interface
PCIE bus transfer controller, realize the high-speed transfer of data.
Further, the comparison operation of motor control algorithms is realized when the data of the data transmission method pass through CPU,
In conjunction with the control signal that host computer transmits, pwm control signal is generated based on the controller in CPU and is produced to control driving circuit
Raw corresponding pulse signal.
Another object of the present invention is to provide the complete Modular Flexibles described in a kind of application based on high-speed serial communication
The industrial manufacturing machines people in joint.
In conclusion advantages of the present invention and good effect are as follows: the present invention is to realize high precision position control and soft
Pliable design requirement is starting point, considers that the data for needing to acquire which joint reach control requirement to pass controller back, so
The place and route for comprehensively considering every kind of sensor again afterwards reaches succinct, high performance requirement, then comprehensively considers integrated pass
The placement-and-routing of components and the design of other connectors in saving, make joint have versatility and interchangeability, reduce mechanical arm
Assembly difficulty, convenient for the extending transversely of product and update.
The present invention is based on high-speed serial bus to realize that servo joint module servo-system can realize the rapid transmission of data,
So that joint reaches the requirement such as high-performance；Realize high performance complete modularized joint so as to voluntarily mounter people or application
It is mating in the joint of intelligent machine arm.
The present invention is integrated in intra articular by different assembly methods, so that entirely pass section layout orderliness is clear, letter
Bright efficient, integral layout is compact-sized, easy for installation；Intra-articular integrated high speed shaft photoelectric encoder, output shaft magnetic code
Device and torque sensor can be realized the measurement of intra-articular position, speed and torque, with realize accurate position control with
And flexibility of joint；The dexterity and versatility in joint allow this joint to have the characteristics that freely to expand, and can utilize difference according to demand
Link mechanism carry out joint between combine, different working environments is adapted to this；For the modularization of a completely integrated
For joint of mechanical arm, a motor is integrated in each joint, what is selected in the scheme in this design joint is BLDC motor, from
From the point of view of on model, the control of position ring is the basis of motor control, is all by three ring nestings inside the motor control ring of mainstream
It forms, it be torque ring, penetralia is speed ring that outermost, which is position ring, centre, realizes three closed loop PID/feedback controllers, generates
Corresponding pwm control signal carries out the drive control of motor to servo motor driving circuit, and the accurate control of motor may be implemented,
The response of raising system, enhancing system is for extraneous resistivity；
The present invention selects FPGA to have as the advantages of control chip:
1, fpga chip carries out parallel processing in a manner of pure hardware, can be internally embedded microprocessor, can achieve phase
When high performance, design the peripheral circuit of FPGA according to their own needs, by conditioning circuit, driving circuit, communication interface and
A/D converter circuit etc. is integrated on one chip, has sizable advantage in miniaturization design aspect；
2, position, the speed, Torque Control that this programme is completed in the design aspect of controller, carry out module based on this
The controller design for changing joint is becoming the mainstream of servo controller Integration Design；FPGA is by fpga chip and relevant matches
Circuits composition is responsible for integrated scheduling and the control of whole system modules；PCIE bus is selected to transmit as with host computer
The bus of data, PCIE bus have faster data transmission bauds, good compatibility and expansion compared to conventional bus,
Therefore, high-speed data acquistion system of the design based on PCIE is of great significance；
3, after from sensor collection to corresponding data, Transistor-Transistor Logic level signal is into after having crossed signal condition, it then follows SPI
Communication protocol carries out data transmission with FPGA.Analog signal reaches A/D converter circuit after it have passed through signal conditioning circuit, by mould
After quasi- signal is converted into digital circuit, it then follows SPI communication agreement and FPGA carry out data interaction.After FPGA is handled, number
According to DDR 3 control IP kernel based on driving circuit driving under reach 3 chip of DDR in cached, MIG realize for
The reading of DDR 3 controls, after data are completed caching by DDR 3, when FPGA receives reading order, by data from DDR
It is read out in 3, then the PCIE bus transfer controller in the way of cascade structure DMA interface, it then follows PCIE communication protocol is real
Now with the high speed data transfer of host computer.
Detailed description of the invention
Fig. 1 is the structural representation in the complete Modular Flexible joint provided in an embodiment of the present invention based on high-speed serial communication
Figure；
Fig. 2 is the overall structure in the complete Modular Flexible joint provided in an embodiment of the present invention based on high-speed serial communication
Schematic diagram；
Fig. 3 is the conceptual scheme of signal acquisition and drive control plate provided in an embodiment of the present invention；
Fig. 4 is power supply provided in an embodiment of the present invention, driving, the integrated hardware arrangement design drawing of control；
Fig. 5 is the firmware control logic design drawing of master controller provided in an embodiment of the present invention；
In figure: 1, direct current brushless servo motor；2, articular shell；3, brake；4, photoelectric encoder；5, pcb board；6, quiet
Only rear casing；7, static hollow shaft；8, the viscous circle of motor；9, deep groove ball bearing；10, harmonic speed reducer；11, flexbile gear output flange；
12, torque sensor；13, magnetic encoder；14, high speed shaft is inputted；15, shell is exported.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Structure and placement-and-routing inside the modularized joint of existing mechanical arm be relative complex and the flexibility in joint also
It is to be improved；The communication control system performance in joint is to be improved；The purpose of the present invention is reach accurate position control and
On the basis of flexibility of joint, integrated Servo System Design is controled based on intra articular is realized by high-speed serial bus.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, the complete Modular Flexible joint provided in an embodiment of the present invention based on high-speed serial communication includes:
Motor importation, control drive part, rotation output par, c.
Motor importation includes static articular shell 2, the direct current brushless servo motor 1 of hollow type, input high speed shaft
14, deep groove ball bearing 9, brake 3 and photoelectric encoder 4；Control drive part includes static rear casing 6 and integrated electricity
Source, control, driving are in the pcb board 5 of one；Rotation output par, c includes harmonic speed reducer 10, flexbile gear output flange 11, torque biography
Sensor 12, magnetic encoder 13 and output shell 15.
Intra-articular rimless motor makes motor stator and articular shell and electricity by using the mode of structure glue bond
Installation between machine rotor and high speed shaft is fixed, and the left end of motor carries out axially position, articular shell by articular shell 2
It is connected between 2 and input high speed shaft 14 by deep groove ball bearing 9.
Two pieces of friction plates of brake 3 and the shell three of coil are bolted on together, and coil is installed on it
In shell, the rotor portion of brake 3 is fixedly connected with input high speed shaft 14, coil case by mounting screw and it is static after
It is connected and fixed between shell 6.
The code-disc of photoelectric encoder 4 by screw be fixed on input high speed shaft 14 right end, acquisition device with it is static
Hollow shaft 15 carries out interference fit connection.
It is connected through a screw thread fixation between the quiet shell of motor and static rear casing 6, to keep the stationary state of the two.
Static hollow shaft 15 is fixed on static rear casing 6 by tapping screw, is realized between intra articular and joint
The purpose of cabling.
Drive control plate is fixed by the internal structure of static rear casing 6, carries out pcb board by three stretching long axis
5 fixation, to complete the acquisition and processing of data.
The wave producer of harmonic speed reducer 10 carries out connected, flexbile gear conduct output with input high speed shaft 14 by spline, just
Wheel is installed by mounting screw and motor housing, to achieve the purpose that deceleration.
Flexbile gear output flange 11 and flexbile gear are attached by screw, reach the transmitting effect of output.
It is fixed between the inner ring and flexbile gear output flange 11 of the torque sensor 12 of strain-type by bolt and nut
Connection, outer ring and joint output shell are attached also by bolt and nut, to realize the measurement of torque.
Magnetic encoder 13 is positioned and fixed on flexbile gear output flange 11 by the shaft shoulder, realizes that the speed of slow-speed shaft output is surveyed
Amount.
It is relatively rotated between output shell 15 and motor housing.
Direct current brushless servo motor 1, harmonic speed reducer 10, brake 3, photoelectric encoder 4, drive control plate 5 and power
Square sensor 12 is all center hole structure.
It inputs high speed shaft 14 and flexbile gear output flange 11 is also hollow structure, realize walking between intra-articular and joint
Line facilitates the transmission of data and the control of motor.
In a preferred embodiment of the invention:
Collecting sensor signal scheme: position sensor (speed end photoelectric encoder), speed biography are integrated with intra-articular
Sensor (output end magnetic encoder), torque sensor (being fixed on output end cap).
Position sensor: incremental optical-electricity encoder selects the differential digital ABZ output with subdivision, belongs to Transistor-Transistor Logic level letter
Number, AD conversion is decided whether according to the type of control chip, this sensor supports SPI communication agreement, assists by SPI communication
View carries out data transmission with control driving plate.
Velocity sensor: absolute type magnetic encoder, this sensor support SPI communication agreement, and sensor and control drive
The data transmission of plate uses SPI communication agreement.
The output signal standard of torque sensor is frequency signal, exports analog signal with ifq circuit Integration Design, then
It needs to improve it, then be AD converted, it is logical with SPI between FPGA after converting analog signals into digital signal
Data interaction is carried out based on letter agreement.
In order to reach high-speed data processing and reading, it is integrated with 3 high-speed data processing device of DDR in control driving plate, is deposited
Communicated under the driving of driving circuit between reservoir and FPGA based on the IP kernel of DDR 3, realize data storage and
It reads；
Control driving plate is communicated with the communication of host computer using 4.0 agreement of PCIE, is connect by this high-speed serial bus
Receive the control instruction of host computer and to host computer feedback collection information；
Integration is controled to realize, is integrated with MOSFET driving circuit in control driving plate, generates electromagnetic pulse letter
The driving of number carry out motor；
Data transmission route line: after from sensor collection to corresponding data, control driving plate is reached by SPI communication interface
Control conditioning circuit, Transistor-Transistor Logic level signal is being transferred to FPGA after conditioning, and analog signal is after AD conversion, by mould
Quasi- signal is transferred to FPGA after being converted into digital circuit again, and after FPGA is handled, it is driving that data, which control IP kernel by DDR 3,
It reaching and is cached in 3 chip of DDR, MIG realizes that the reading for DDR 3 controls, after data are completed caching by DDR 3,
When FPGA receives order, data are read out from DDR 3, then the PCIE in the way of cascade structure DMA interface is total
Line transmission control unit (TCU) realizes the high-speed transfer of data；
The comparison operation of motor control algorithms may be implemented in data when passing through CPU, transmit in conjunction with host computer
Signal is controlled, pwm control signal is generated based on the controller in CPU to control driving circuit and generates corresponding electromagnetic pulse
Signal；
The signal acquisition in joint and scheme such as Fig. 3 of drive control, the high-speed transfer of data can be realized by this scheme
And the control of motor；
The hardware arrangement of pcb board is broadly divided into following sections:
1, FPGA control chip and its firmware, the composition of this part are the control of chip of being entered by fpga chip and burning
The hardware circuit of other modules forms, and is the core of entire hardware circuit；
2, power configuration module, by power supply terminal progress+24V power supply power supply, power configuration module passes through sectional pressure element
+ 24V voltage is divided into+24V (to motor and torque sensor) ,+3.3V (to AD conversion chip, signal conditioning circuit and is deposited
Memory chip) ,+5.5V (give two kinds of encoders) ,+5V (giving motor-drive circuit driving) and five roads 1.2V (to FPGA) electricity
Pressure；
3, motor drive module, this module include the driving chip of motor and the full-bridge circuit of MOSFET composition, are received
Pwm control signal from FPGA carries out the driving of motor to generate pulse；
4, memory module selects DDR 3 as storage chip, reaches the high speed storing and reading of data；
5, PCIE bus interface module, the DMA cascade structure interface that IP kernel based on PCIE is realized, with this realize with it is upper
The high-speed data interaction of machine；
6, clock configuration module, this module contain clock chip and clock conditioning circuit, give bus interface module, AD
Conversion module, FPGA and memory module provide clock signal and guarantee that stablizing for clock signal inputs；
Collection power supply drives, is controlled in integrated hardware arrangement design as shown in Figure 4；
According to hardware design above, the internal circuit exploitation for carrying out FPGA is inputted by design, is completed inside controller
The design of firmware mainly includes following sections；
1, AD control circuit, this control circuit are based on SPI communication protocol realization, design this firmware circuitry and complete AD conversion core
The control of piece；
2, DDR3 control circuit based on this control circuit is based on the soft IP kernel of DDR3, designs this firmware circuitry and completes height
The control of fast storage chip；
3, PCIE serial bus controlling circduit based on the soft core of IP of this control circuit based on PCIE, designs this firmware electricity
The data transmission of control interface is completed on road, completes to transmit with the data of host computer；
4, motor drive ic control circuit, this control circuit are based on based on motor drive ic, design this firmware electricity
Road click the control of driving chip；
The firmware control logic design of master controller is as shown in Figure 5.
In conjunction with the firmware control logic figure of the drive control scheme figure of appeal, hardware arrangement design drawing and design, this pass
The control process of section are as follows: position sensor, velocity sensor and torque sensor carry out the acquisition of joint data, and pass through string
The mode of row Peripheral Interface is transferred to the front end conditioning circuit of control driving plate in the form of differential signal, and data are disappeared
Tremble, filter and programmable automation controller processing after, obtain accurate complete signal, the A/D chip being transferred on plate is rear to input
To the pin of FPGA, the data transmission of this process follows SPI transport protocol, and electric according to AD control is carried out based on this agreement
The design on road, wherein the position and speed signal being transferred on plate can be directly inputted due to being Transistor-Transistor Logic level without analog to digital conversion
To the pin of FPGA, the built-in with CPU of FPGA will do it the storage of data, while data can be based on DDR3 controls IP kernel
Be transferred under the driving of DDR3 controller in DDR3 carry out data caching, FPGA receive read information when, by data from
DDR3 is read out, and data are transferred to host computer by PCIE high-speed serial bus with the PCIE interface that IP kernel is realized, is carried out
The real-time monitoring of data, this process follow PCIE bus protocol；Control algolithm is downloaded in CPU, this control algolithm root
According to position, speed and torque data, in conjunction with the control signal that host computer transmits, carry out speed, torque and position three are closed
Ring feedback control, accurately and effectively pulse-width modulation control signal arrives motor control driving circuit, and then the corresponding arteries and veins of generation for output
Rush the real-time control that signal carries out motor.Entirely the time of control process realization is extremely short, can reach very fast response speed
The precision of degree and high precision ensure that high-precision and safety.
Complete its structure composition of Modular Flexible joint such as Fig. 1 provided in an embodiment of the present invention based on high-speed serial communication
It is shown, it communicates and controls for convenience, by the way of centre bore cabling.Modularized joint has been broadly divided into three parts:
Rotate output par, c, motor importation and control drive part.The transmission principle in joint are as follows: given in power supply plate 5
After BLDC motor 1 is powered, rotor portion drives high speed shaft 14 to rotate, the input as articular system.Electricity described in figure
Magnetic driving brake 3 includes electromagnet, spring, two blocks of friction plates, rotors, and the rotor portion of brake is fixed on high speed shaft 14
The right, the rest part of brake are fixed by bolts on static rear casing 6.When motor works normally, at electromagnet
In the state of energization, generates electromagnetic force and friction plate is adsorbed, rotor portion is normally as high speed shaft rotates.When breaking down
When power down, electromagnet power-off, friction plate loses the absorption of electromagnet, so that spring pops up outward, friction column is by two pieces
The extruding of friction plate, is in contact with friction plate, frictional force is generated under the relative motion for compressing and rubbing against column of the two, to produce
Raw braking moment, brake carry out axially position plus a space washer, prevent it from axial movement occurs.In the design
Intra-articular addition brake can guarantee promptly protect behaviour by mechanical braking when delivery institute energy emergency situations
Author avoids injury, and is connected on the left side of high speed shaft 14 with harmonic speed reducer 10, and such harmonic speed reducer is suitable for light-type
Joint is made of wave producer, flexbile gear, firm gear three parts, has small-sized, light weight, precision height, high torque (HT) capacity, quiet operation
The features such as, wave producer and the high speed shaft of harmonic speed reducer are fixed, and flexbile gear and firm gear all can serve as the output of retarder, with this
Achieve the purpose that deceleration, the module of this design uses flexbile gear as output, is connected with ring flange 11.In order to make joint reach certain
Flexibility joined torque sensor in the design in this joint, so the inner ring of output flange 11 and torque sensor 12 is solid
Even, the outer ring of torque sensor and the output flange 15 in this joint are connected, the output as integral joint.
Come integrated driving, control and power-supply system on one piece of pcb board the present invention is based on high-speed serial bus, Fig. 1 institute
The component 5 shown is fixed with rear casing, and the same structure for using centre bore realizes the quick transmission of data, convenient
The acquisition of information and the drive control of motor.Traditional joint Integrated design mechanical part design do not consider mechanically and electrically it
Between influence to control of connection and Machine Design, needed if the set goal is not achieved in the servo performance in joint constantly
Control strategy is modified, or even the replacement of section layout components is closed in modification.In some traditional joint of mechanical arm in design,
Controller is not integrated in intra-articular, or intra-articular power supply is carried out by external power supply, be not easy to update and repair etc.
Problem.The task and working environment of light-type man-machine collaboration mechanical arm are changeable, may work in dangerous field, may be with people
Class has intimate contact, and therefore, safety is the matter of utmost importance to be considered of this joint.So in addition to realizing traditional position control
Other than system, it is also necessary to which the flexibility having had prevents from causing to damage to operator when mechanical arm is in contact with people, herein
Design arrangement position sensor, velocity sensor and torque sensor carry out the acquisition of joint corresponding data inside joint,
Control driving plate is transferred to realize the flexible control in joint.Traditional modularized joint will realize the driving, control, electricity in joint
Source three parts separate, and corresponding function, more, the present mould in occupied intra-articular space are realized on three pieces of pcb board
The developing direction in block joint is to tend to that high speed data transfer, miniaturization, lightweight, highly-safe, interchangeability is strong.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of complete Modular Flexible joint based on high-speed serial communication, which is characterized in that described logical based on high speed serialization
The complete Modular Flexible joint of letter includes: motor importation, control drive part, transmission output par, c；
Motor importation includes static articular shell, the direct current brushless servo motor of hollow type, input high speed shaft, deep-groove ball
Bearing, brake and photoelectric encoder；
Direct current brushless servo motor turns motor stator and articular shell and motor by using the mode of structure glue bond
It installs and fixes between son and high speed shaft, motor left end carries out axially position, articular shell and input high speed shaft by articular shell
Between pass through deep groove ball bearing connect；The shell three of the two pieces of friction plates and coil of brake is bolted on together,
Coil is installed in shell, and the rotor portion of brake is fixedly connected with input high speed shaft, and coil case passes through mounting screw
It is connected and fixed between static rear casing；
The code-disc of photoelectric encoder is fixed on the right end of input high speed shaft by screw, acquisition device and static hollow shaft into
Row interference fit connection；
Control drive part includes static rear casing and integrated power supply, control, driving in the pcb board of one；
Drive control plate is fixed by the internal structure of static rear casing, is stretched out long axis by three and is carried out consolidating for pcb board
It is fixed；
Transmission output par, c includes that harmonic speed reducer, flexbile gear output flange, torque sensor, magnetic encoder and output are outer
Shell；
The wave producer of harmonic speed reducer carry out with input high speed shaft by spline it is connected, firm gear by mounting screw with outside motor
Shell is installed；Flexbile gear output flange and flexbile gear are attached by screw；The inner ring and flexbile gear output flange of torque sensor
Between be fixedly connected by bolt and nut, outer ring and joint output shell be attached also by bolt and nut；Magnetic
Property encoder be positioned and fixed on flexbile gear output flange by the shaft shoulder, export and relatively rotated between shell and motor housing.
2. the complete Modular Flexible joint based on high-speed serial communication as described in claim 1, which is characterized in that the base
It is connected through a screw thread between the quiet shell of motor and static rear casing in the complete Modular Flexible joint of high-speed serial communication solid
It is fixed.
3. the complete Modular Flexible joint based on high-speed serial communication as described in claim 1, which is characterized in that the base
Static hollow shaft in the complete Modular Flexible joint of high-speed serial communication is fixed on static rear casing by tapping screw.
4. the complete Modular Flexible joint based on high-speed serial communication as described in claim 1, which is characterized in that the base
It is compiled in the direct current brushless servo motor in the complete Modular Flexible joint of high-speed serial communication, harmonic speed reducer, brake, photoelectricity
Code device, drive control plate and torque sensor are all center hole structures；
It inputs high speed shaft and flexbile gear output flange is hollow structure, realize the cabling between intra-articular and joint.
5. the complete Modular Flexible joint based on high-speed serial communication as described in claim 1, which is characterized in that the base
Pcb board in the complete Modular Flexible joint of high-speed serial communication includes:
FPGA control chip and its firmware, by fpga chip and burning enter chip control other modules hardware circuit group
At；
Power configuration module, by power supply terminal progress+24V power supply power supply, power configuration module passes through sectional pressure element for+24V
Voltage is divided into+24V ,+3.3V, five road voltage of+5.5V ,+5V and 1.2V；
Motor drive module, the full-bridge circuit of the driving chip comprising motor and MOSFET composition, receives the PWM from FPGA
Signal is controlled to generate pulse, carries out the driving of motor；
Memory module selects DDR3 as storage chip, realizes the high speed storing and reading of data；
PCIE bus interface module, the DMA cascade structure interface that the IP kernel based on PCIE is realized are handed over the high-speed data of host computer
Mutually；
Signal conditioning module completes disappearing for acquisition signal and trembles, filters and enhanced processing, it is ensured that it is real to obtain precisely reliable joint
When data；
AD conversion module realizes this module based on AD conversion chip, completes the analog-to-digital conversion of analog signal；
Clock configuration module includes clock chip and clock conditioning circuit, gives bus interface module, AD conversion module, FPGA
And memory module provides clock signal and guarantees that stablizing for clock signal inputs.
6. the complete Modular Flexible joint based on high-speed serial communication as claimed in claim 5, which is characterized in that the base
FPGA control chip in the complete Modular Flexible joint of high-speed serial communication includes；
SPI communication driving circuit, for completing the control of SPI communication；
AD control circuit, for completing the control of AD conversion chip；
DDR3 control circuit, for completing the control of high speed storing chip；
PCIE serial bus controlling circduit, the data for completing control interface are transmitted, complete to transmit with the data of host computer；
Motor drive ic control circuit, for carrying out the control of motor drive ic.
7. a kind of transmission side data based on the complete Modular Flexible joint described in claim 1 based on high-speed serial communication
Method, which is characterized in that the data transmission method includes: to be connect after from sensor collection to corresponding data by SPI communication
The control conditioning circuit of drive control plate is transported in oral instructions, and Transistor-Transistor Logic level signal directly reaches CPU, and analog signal first passes through AD conversion
At being transferred to CPU again after digital circuit；After CPU is handled, data control the driving realized based on IP kernel electricity by DDR3
It reaches under the driving on road and is cached in DDR3 chip, MIG realizes that the reading for DDR3 controls, and completes to delay by data in DDR3
After depositing, when FPGA receives order, data are read out from DDR3；Then in the way of cascade structure DMA interface
PCIE bus transfer controller realizes the high-speed transfer of data with host computer.
8. data transmission method as claimed in claim 7, which is characterized in that the data of the data transmission method pass through CPU
When realize motor control algorithms comparison operation, in conjunction with host computer transmit control signal, using the controller in CPU as base
Plinth generates pwm control signal to control the corresponding pulse signal of driving circuit generation and control motor.
9. data transmission method as claimed in claim 7, which is characterized in that the signal in the joint of the data transmission method is adopted
The scheme of collection and drive control realizes the high-speed transfer of data and the real-time control of motor.
10. a kind of complete Modular Flexible joint using described in claim 1~6 any one based on high-speed serial communication
Industrial manufacturing machines people.
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