CN110896291A

CN110896291A - Robot adopting motor cascade control system

Info

Publication number: CN110896291A
Application number: CN201811060233.5A
Authority: CN
Inventors: 钟川
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-12
Filing date: 2018-09-12
Publication date: 2020-03-20
Anticipated expiration: 2038-09-12
Also published as: CN113131798B; CN110896291B; CN113131798A

Abstract

A robot relates to the electromechanical field, comprising a robot main body and an electric system, wherein the electric system comprises a mechanical actuating mechanism, a motor and a motor control system; the motor control system comprises a main control end and a plurality of motor control modules, wherein the main control end is connected with each motor control module in series step by step through a signal line, each motor control module comprises a plurality of data decoding chips and a driving circuit, and each motor driving output end of each motor control module is connected to each motor. The electric motor driving controller has the advantages that a single signal wire bus connection mode is adopted, but a communication protocol is simpler, the transmission time is shorter, most importantly, the electric motor driving controllers do not need to set address codes, are identical to each other and can be used interchangeably, the address codes do not need to be modified during maintenance and replacement, and the electric motor driving controllers can be replaced and used at any time.

Description

Robot adopting motor cascade control system

The invention relates to the technical field of electromechanics, in particular to an electric robot.

Background artrobotics has developed rapidly in recent years and is widely used in the industrial, civil, and even toy fields. While robots in a broad sense include various kinds of machine devices having operation capabilities, conventional robots that are more commonly understood tend to have a human-like shape, and are capable of performing movements and performing various operations such as holding things, even some robots are capable of performing complicated operations such as cooking and nursing care. Most of the traditional robots need to use a motor as power, drive a motion mechanism and a manipulator through a mechanical transmission mechanism or a hydraulic (pneumatic) transmission mechanism, and control the mechanical motion of each joint of the head, the upper limb, the lower limb and the like of the robot to realize motion and work. Obviously, besides the technology of sensory input and intelligent control, such a robot also needs a motor control system to independently and flexibly control a great number of motors, including forward and reverse rotation and rotation speed control, so as to drive a mechanical structure to complete various actions.

The motor control system independently controls a plurality of motors, generally, a control signal is led out from a main control end to each motor to control the motors to operate. At present, the connection mode from the main control end to each motor is direct connection and bus connection.

The direct connection mode is that each motor controller leads out a group of signal wires respectively and is directly connected to each independent output port of the main control end, and the main control end outputs control signals to a specific output port to independently control the corresponding motor. The advantage is that the technology is simple and easy to realize, the disadvantage is that a large number of signal connecting lines are correspondingly needed along with the increase of the number of the controlled motors, the connection is complex and disordered, and the main control chip on the main control end is difficult to have enough output pins, so that the number of the controlled motors is limited. Therefore, in the field of robots requiring a large number of motors, the direct connection method is insufficient.

The bus connection mode is that a group of control buses are led out from the main control end and are simultaneously connected to the motor drive controllers of all the controlled motors, the input ends of all the motor drive controllers are simultaneously connected to the control buses, the main control end needs to send out address codes and data codes simultaneously when controlling, the address codes are used for identifying the corresponding motor drive controllers, and the data codes are used for driving the motors to run. The bus connection has the advantages that all motors can be controlled by only one group of control buses, and the connection is simple and convenient. The disadvantages are that: 1. the main control end and the motor drive controller need to adopt the same bus control protocol, if not, the main control end and the motor drive controller need to realize the corresponding bus protocol by themselves, the chip adopting the self-contained bus protocol has high cost, and the programming is complicated when the bus protocol is realized by itself. 2. Each group of control signals sent by the main control end needs to simultaneously contain address coding and data coding, and the complexity and the transmission time of data transmission are increased. 3. When the control distance of the bus is longer, a repeater needs to be added, otherwise, data is interfered, errors occur easily, and transmission is unstable. 4. Most importantly, the main control end needs to identify different motor drive controllers through address codes, a decoding chip of each motor drive controller needs to write or set a specific address code, the addresses of the motor drive controllers in the same motor control system are different and cannot be interchanged with each other, on one hand, when an enterprise assembles a product, the enterprise needs to write or set address codes into the motor drive controllers of the same model one by one in advance, so that the uniformity of components is poor and the processing cost is increased, on the other hand, if a certain motor drive controller is damaged and needs to be replaced in use, the motor drive controller with the same address code needs to be replaced to work, or the new motor drive controller needs to write or set a corresponding address code to work, which brings inconvenience to maintenance and field emergency repair work.

The invention aims to disclose a robot, wherein a motor control system of the robot adopts a step-by-step series connection mode, a communication protocol is simple, the transmission time is shorter, and the key is that each motor control module comprises a data decoding chip which is unified, an address code does not need to be set, and the address code does not need to be written or modified during production, maintenance and replacement and can be replaced at any time.

The robot of the present invention includes a main body of the robot and an electric system. The main body is internally provided with various component systems of the robot, such as an energy system, a sensing system, an intelligent system and an electric system. The electric system comprises a mechanical actuating mechanism, a motor and a motor control system, and the motor is used as power to control the robot to complete various mechanical actions through the mechanical actuating mechanism. The method is characterized in that: the motor control system comprises a main control end and a plurality of motor control modules, wherein the main control end is sequentially connected with each motor control module in series through a signal wire; the motor control modules are respectively arranged at different positions in the robot main body and used for carrying out centralized control on a plurality of motors near the positions; each motor control module has a plurality of motor drive outputs respectively connected to the respective motors being controlled.

The motor control module can comprise all or parts of the head motor control module, the right arm motor control module, the right hand motor control module, the right leg motor control module, the left arm motor control module and the left hand motor control module according to the working requirements of different modeling robots, and the motor control modules are respectively arranged and installed at each corresponding position of the robot, and only a plurality of motors near each position are subjected to centralized control. This can reduce the electromagnetic interference of motor control output line to the outside, reduces the electromagnetic interference that the signal line received simultaneously.

The motor control module comprises a data input end and a data output end; the control output end of the main control end is connected to the data input end of the first motor control module through a signal line, the data output end of the first motor control module is connected with the data input end of the second motor control module, the data output end of the second motor control module is connected with the data input end of the third motor control module, and therefore all the motor control modules are sequentially connected in series until the last motor control module. The main control end is connected with each motor control module in series through a signal line.

Each motor control module comprises a plurality of data decoding chips and a driving circuit, the data input end of the motor control module is connected to the data input pin of a first data decoding chip, the data output pin of the first data decoding chip is connected to the data input pin of a second data decoding chip, the data output pin of the second data decoding chip is connected to the data input pin of a third data decoding chip, and all the data decoding chips are sequentially connected until the last data decoding chip; the data output pin of the last data decoding chip is connected to the data output end of the motor control module; a control output pin of the data decoding chip is connected to a motor drive output end of the motor control module or is connected to the motor drive output end through a drive circuit; the motor drive output end is used for connecting and controlling the work of the motor. Each motor control module includes a plurality of independent motor drive control circuits and motor drive outputs.

The data decoding chip internally comprises a serial decoding circuit, a plurality of data registers, a plurality of PWM conversion circuits and a plurality of output driving circuits. The number of the data registers, the PWM conversion circuits and the output driving circuits is the same. The output of the serial decoding circuit is connected to each data register, the output of each data register is connected with a PWM (pulse-width modulation) conversion circuit, the output of the PWM conversion circuit is connected with an output driving circuit, and the output of each output driving circuit is used as a control output pin of the data decoding chip.

Because the data decoding chip contains the output driving circuit, has certain output capacity, so can directly drive the low-power motor. For a motor with larger power, an independent driving circuit can be added between a control output pin of the data decoding chip and a motor driving output end of the motor control module, and the driving circuit can be generally realized by adopting a driving chip. The driving chip can be a motor unidirectional driving chip and is used for driving and controlling the unidirectional rotation of the motor; the bidirectional motor driving chip is provided with two signal input ends which need to be connected to two control output pins of the data decoding chip at the same time, and two output ends of the bidirectional motor driving chip are used as motor driving output ends and are connected to the positive end and the negative end of the motor at the same time.

The specific control method of the motor control system comprises the following steps: 1. the control output end of the main control end generates control data to the first motor control module through a signal line; 2. after receiving control data from a data input pin, a first data decoding chip of a first motor control module fills and stores each group of control data in each register in turn according to the group (each register writes a group of 8-bit control data), but does not output temporarily; when each register of the first data decoding chip is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the control data to the data output pin of the serial decoding circuit, namely directly forwards the control data to the data input pin of the subsequent second data decoding chip; 3. after receiving the control data from the data input pin, the second data decoding chip also fills and stores the control data in each register in turn according to groups, but does not output the control data temporarily; when each register of the second data decoding chip is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the new control data to the data output pin, namely directly forwards the new control data to the data input pin of a subsequent third data decoding chip; 4. working according to the process, and filling the control data into the registers of the data decoding chips one by one in sequence; until each register of the last data decoding chip of the first motor control module is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the new control data to the data output pin, namely the data output end of the first motor control module, and forwards the new control data to the data input end of the second motor control module; 5. the second motor control module works according to the method of the first motor control module, control data are sequentially filled into registers of each data decoding chip of the second motor control module one by one until each register of the last data decoding chip is filled with the control data, new control data are not received any more, and the new control data are directly sent to a data output pin of the second motor control module, namely a data output end of the second motor control module, and are forwarded to a data input end of a third motor control module; 6. working according to the above, the control data is sequentially filled in each register of each data decoding chip of each motor control module until each register of each data decoding chip of the last motor control module is filled with the control data, or the master control end stops sending the control data; 7. the control output end of the main control end sends a synchronous output signal to the motor control module, when all the data decoding chips receive the synchronous output signal from the data input pin, on one hand, the synchronous output signal is directly transmitted to the data output pin, (namely, the synchronous output signal is not registered by any data decoding chip but is directly transmitted to all the data decoding chips of all the motor control modules), on the other hand, the control data registered in each register is output to the PWM conversion circuit which is respectively connected, is converted into the PWM output signal for controlling the motor to operate, and is output to the control output pin of the data decoding chip after being amplified by the driving circuit which is respectively connected; meanwhile, resetting the data in the register to wait for the next working process; 8. the control output pins of each data decoding chip control the work of the motor through the motor driving output end of the motor control module; or the amplified driving circuit controls the motor to work through the motor driving output end of the motor control module.

The invention has the technical effects that: 1. the robot main control end and all the motor driving modules are simple in wiring mode, and connection can be achieved only through a single data line. 2. Because the address code does not need to be set and output, only the control data required by the operation of the control motor needs to be sent, the communication protocol is simpler, the data transmission time is shorter, and the transmission efficiency is higher. 3. Because a cascade (cascade series) mode is adopted, the sent control data signals are reshaped and retransmitted to be output after passing through each data decoding chip, and each data decoding chip and the motor control module are equivalent to a signal repeater, so that the signals are not easy to attenuate or interfere due to long connection distance, and stable signal transmission can be ensured. 4. Particularly, all the data decoding chips do not need to be written with address codes, so that the address codes do not need to be written into the chips in advance during production and assembly, and different data decoding chips do not need to be distinguished, so that the production and assembly are simpler and more efficient; and each assembled motor control module is also the same, and when any motor control module is damaged in use, the same motor control module spare parts can be directly replaced without writing address codes, so that great convenience is brought to field maintenance. 4. Because the data decoding chips on the motor driving modules do not need address coding and can work correctly only by being connected in sequence, more motor driving modules and motors can be extended and accessed at any time according to working requirements, and only control data for controlling the newly added motor needs to be extended and sent at the main control end. 5. Compared with the original motor control data with address codes, the invention can simplify the control data of all motors into a two-dimensional data table because the address codes are saved and only the motor control data are needed, and the data table is easy to transplant and reuse. For example, the complex operation action of one robot is modulated repeatedly, the obtained PWM parameters of all motors can be easily transferred to the master control terminals of other robots, and the same effect is obtained as long as the same data is connected.

The robot control technology of the invention is suitable for various robots which need to use a large number of motors to complete complex operation actions, including industrial robots, civil robots and toy robots.

Description of the drawings figure 1 is a schematic view of a typical humanoid robot. Fig. 2 is a schematic diagram of a connection structure between a main control end of the motor control system and each motor control module. Fig. 3 is a schematic diagram of the line connection between the master control terminal and the motor control module. Fig. 4 is a schematic structural diagram of a motor control module. Fig. 5 is a schematic diagram of the internal components of the data decoding chip. Fig. 6 is a schematic diagram of a data structure received by the data decoding chip and its control object. Fig. 7 is a schematic diagram of a data structure of control data output by the master. Fig. 8 is a schematic circuit diagram of a motor control module for controlling forward and reverse rotation of a high current motor. Fig. 9 is a circuit schematic of the motor control module for forward rotation control of a low current motor.

The present invention will be described below with reference to the accompanying drawings.

The english abbreviation adopted by the application document of the present invention is the usage habit in the technical field, but for more accurate and unambiguous expression, the following description is given: IC: an integrated circuit chip; DI: a data input pin on the chip; DO: a data output pin on the chip; IN: a data input on the motor control module; OUT: a data output terminal on the motor control module; SC: small Current abbreviation, meaning Small Current; LC: large Current abbreviation, representing high Current; PWM: the abbreviation of Pulse width modulation, Pulse width modulation; VCC: a positive power supply terminal; VSS: a negative terminal of the power supply; GND: and a ground terminal.

Fig. 1 is a schematic diagram of a typical humanoid robot. (although the following embodiments will be described using a humanoid robot, the technical application of the robot motor control system of the present invention is not limited to the humanoid robot of course). The robot of the present invention includes a main body 1 of the robot and an electric system. The main body 1 constitutes the overall external shape of the robot, and the various constituent systems of the robot, including an energy system (such as various batteries), a sensory system (for implementing information input such as vision, hearing or temperature), an intelligent system (for controlling information input and output and various actions by programs), an electric system, and the like, are installed in the main body. The electric system comprises a mechanical actuating mechanism 2, a motor and a motor control system, and the motor is used as power to drive the robot to complete various mechanical actions through the mechanical actuating mechanism. The mechanical actuator 2 may include: a traveling mechanism (a wheel type traveling mechanism or a double lower limb traveling mechanism) for driving the robot to travel; the operating mechanism mainly comprises a manipulator mechanism for driving the arms, palms, fingers and the like of the robot to perform various operation actions to realize various works; the head movement mechanism drives the head or eyes of the robot to rotate so as to receive audio or video information in different directions. The motors include motors with various powers and positive and negative rotation, and the motors are basically direct current motors because the robots mostly work by using direct current power supplies. These are prior art and are not within the scope of the invention.

Obviously, these electric systems require a large number of motors to be installed at different positions to drive various mechanical actuators to perform various mechanical actions, for example, a large number of motors are required to drive various actions of a manipulator and a plurality of fingers. This also requires a motor control system to independently control a large number of these motors, including forward and reverse rotation and rotational speed control, to drive the mechanical actuators to coordinate and precisely perform various actions.

The invention adopts a cascade (cascade series) controlled motor control system, which comprises a main control end and a plurality of motor control modules, wherein the main control end is sequentially connected with each motor control module in series through a signal wire, and a plurality of motor drive output ends of the motor control modules are respectively connected to motors which are respectively controlled. The main control end is also a control center of the robot, is generally arranged on a body or a head, can receive signals such as voice or video and the like for input, and outputs motor control signals to each motor control module under the control of a program so as to drive an electric system to complete various mechanical actions or perform other functions such as voice response and the like.

And each motor control module is respectively arranged at each relevant position of the robot. For example, as shown in fig. 2, a main control end 3 installed on the head is sequentially connected with a head motor control module 4 (used for controlling a motor related to the mechanical movement of the head) installed at a related position through a signal line; a right arm motor control module 5 for controlling a motor associated with the mechanical movement of the right arm; a right hand motor control module 6, (for controlling the motors associated with the mechanical movement of the right palm and right fingers); a right leg motor control module 7, (for controlling the motor associated with the right leg mechanical movement); a left leg motor control module 8, (for controlling the motor associated with the mechanical movement of the left leg); a left arm motor control module 9 for controlling a motor associated with the mechanical movement of the left arm; a left flashlight control module 10, (for controlling motors associated with left palm and left finger mechanical movements); and forming a motor cascade control system, and respectively carrying out centralized control on related motors near the positions of the head, the right arm, the right hand (right palm and fingers), the right leg, the left arm, the left hand (left palm and fingers) and the like. In practical applications, all or part of the motor control modules can be adopted according to the working requirements of robots with different models.

The motor control modules arranged at different positions of the robot are only used for carrying out centralized control on the operation of the motors arranged near the positions. For example, the left flashlight control module has a plurality of motors connected and controlled by the motor output ends, and is only used for controlling the movement of the palm and fingers of the left hand. And the motor output end of the right flashlight control module is connected with and controls a plurality of motors which are only used for controlling the movement of the palm and fingers of the right hand. Therefore, the drive output line of each motor control module only needs to be connected to a nearby motor, and does not need to be connected to other motors at remote positions, so as to reduce external electromagnetic interference. And the signal wire only needs to be connected in series among all the motor control modules, and is not required to be connected to all the motors, so that the electromagnetic interference can be reduced.

Fig. 3 is a schematic diagram of the line connection between the master control terminal and the motor control module. For simplicity of the attached drawings, fig. 3 only shows two motor control modules, actually, a plurality of motor control modules are connected in series one by one, the control output end of the main control end is connected to the data input end of the first motor control module through a signal line, the data output end of the first motor control module is connected to the data input end of the second motor control module, the data output end of the second motor control module is connected to the data input end of the third motor control module, and therefore the motor control modules are sequentially connected in series until the last motor control module, and a cascade connection structure is formed. As can be seen in fig. 3, the signal lines from the master control terminal to each motor control module need only be one connection line, with the power and ground lines removed.

Fig. 4 is a schematic structural diagram of a motor control module. Each motor control module comprises a plurality of data decoding chips and a driving circuit (fig. 4 contains 4 data decoding chips), the data input end of the motor control module is connected to the data input pin of a first data decoding chip, the data output pin of the first data decoding chip is connected to the data input pin of a second data decoding chip, the data output pin of the second data decoding chip is connected to the data input pin of a third data decoding chip, and the data decoding chips are sequentially connected until the last data decoding chip; the data output pin of the last data decoding chip is connected to the data output end of the motor control module; a control output pin of the data decoding chip is connected to a motor drive output end of the motor control module or is connected to the motor drive output end through a drive circuit; the motor drive output end is used for connecting and controlling the work of the motor. Therefore, in the technique of the present invention, each motor control module includes a plurality of independent motor control channels and motor drive outputs.

Fig. 5 is a schematic diagram of an internal structure of the data decoding chip. The data decoding chip internally comprises a serial decoding circuit, a plurality of data registers, a plurality of PWM conversion circuits and a plurality of output driving circuits, and the number of the data registers, the number of the PWM conversion circuits and the number of the output driving circuits are the same. According to the embodiment of fig. 5, the data decoding chip internally comprises a serial decoding circuit, three data registers, three PWM conversion circuits, and three output driving circuits. The data decoding chip works under the control of an internally solidified program. In operation, the serial decoder circuit receives three sets of motor control data (serial Byte data) from the data input pin DI, and sequentially fills and temporarily stores the three sets of motor control data in the three registers. When the serial decoding circuit has received three sets of data, that is, three registers are sequentially filled, the serial decoding circuit does not receive new control data from the DI pin any more, but directly sends the control data to the data output pin DO and transmits the control data to other chips in the future. Then, the data decoding chip maintains the working state, and continuously sends the data received by the data input pin DI to the data output pin DO until the serial decoding circuit receives a synchronous output signal from the data input pin DI, so that on one hand, the synchronous output signal is directly sent to the data output pin DO to be transmitted to other data decoding chips, and on the other hand, the control data stored in the three registers are output to the three PWM conversion circuits, converted into the PWM signals required by the motor operation by the PWM conversion circuits, and then output to the three output driving circuits, and then output to the three control output pins OUT1, OUT2 and OUT3 through the output driving circuits, and then output as the PWM signals for controlling the motor operation. Then, the data of the register is completely cleared, and the next working process is carried out to wait for new control data from the signal line.

The synchronous output signal is a special signal, and the signal format of the synchronous output signal is obviously different from that of the control data signal, so that the data decoding chip can directly identify the signal once receiving the signal, and perform data synchronous output and register zero clearing (refreshing). The sync output signal is typically a low or high signal of a relatively long duration, which may be 10 times or more the width of the 0 and 1 signals in the data. For example, if the 0 code in the data signal is a pulse with a width of 3.5us, the 1 code is a pulse with a width of 8us, and the complete period of both the 0 code and the 1 code is 11.5us, then the synchronous output signal can be a low level or a high level signal with a width exceeding 120us, which is sufficient for reliable identification.

Thus, during a data transmission work period, each data decoding chip has a common function and only receives three groups of data of the Byte1, the Byte2 and the Byte3, (respectively A0-A7, B0-B7 and C0-C7), and the three groups of data are respectively filled and stored in three registers. Each group of Byte data is composed of 8-Bit data (8Bit), corresponding to a value of 0-255, and can be converted into PWM pulse waveforms with different duty ratios through a PWM conversion circuit, wherein the value of 0 is generally set to be corresponding to the rotating speed of 0, namely stop, and the value of 255 is corresponding to the maximum rotating speed, so that the operation of the motor is controlled. Each data decoding chip can realize decoding and control of three motor control channels. The data structure and its control objects are shown in fig. 6.

And for the control data output by the main control end of the whole control system, the control data is composed of more groups of Byte data, one motor control channel corresponds to one group of Byte, and the value of the Byte corresponds to the duty ratio of the PWM wave output by the motor control channel. If the whole control system has n motor control channels, the main control end needs to output n groups of Byte data. Since each data decoding chip simultaneously corresponds to 3 sets of Byte data, the total number n of Byte data of the entire string of data signals is a multiple of 3 in one data transmission period. The data structure of the control data is shown in fig. 7.

Because the data decoding chip comprises the output driving circuit and has certain output capacity, the data decoding chip can directly drive the low-power motor. For a motor with larger power, an independent driving circuit can be added between a control output pin of the data decoding chip and a motor driving output end of the motor control module, and the driving circuit can be generally realized by adopting a driving chip. The driving chip may be a unidirectional driving chip for driving and controlling unidirectional rotation of the motor, which belongs to the conventional art. The driving chip can also be a bidirectional driving chip which is used for driving and controlling the motor to perform bidirectional forward and reverse rotation. The motor bidirectional driving chip is provided with two signal input ends and needs to be connected to two control output pins of the data decoding chip at the same time; two output ends of the motor bidirectional driving chip are used as motor driving output ends and are simultaneously connected to the positive end and the negative end of the motor power supply input. When the negative end of the motor is fixedly arranged at a low level and the positive end of the motor inputs PWM square waves, the motor rotates forwards, and the rotating speed is controlled by the duty ratio of the PWM square waves; and inputting the PWM square wave into the negative end of the motor, and when the positive end of the motor is fixedly arranged at a low level, the motor rotates reversely, and the rotating speed is controlled by the duty ratio of the PWM square wave.

The specific control method of the motor control system comprises the following steps: 1. the control output end of the main control end sends control data to the first motor control module through a signal line; 2. after receiving control data from a data input pin, a first data decoding chip of a first motor control module fills and stores each group of control data in each register in turn according to the group (each register writes a group of 8-bit control data), but does not output temporarily; when each register of the first data decoding chip is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the control data to the data output pin of the serial decoding circuit, namely directly forwards the control data to the data input pin of the subsequent second data decoding chip; 3. after receiving the control data from the data input pin, the second data decoding chip also fills and stores the control data in each register in turn according to groups, but does not output the control data temporarily; when each register of the second data decoding chip is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the new control data to the data output pin, namely directly forwards the new control data to the data input pin of a subsequent third data decoding chip; 4. working according to the process, and filling the control data into the registers of the data decoding chips one by one in sequence; until each register of the last data decoding chip of the first motor control module is filled with control data, the serial decoding circuit does not receive new control data from the data input pin any more, but directly sends the new control data to the data output pin, namely the data output end of the first motor control module, and forwards the new control data to the data input end of the second motor control module; 5. the second motor control module works according to the method of the first motor control module, control data are sequentially filled into registers of each data decoding chip of the second motor control module one by one until each register of the last data decoding chip is filled with the control data, new control data are not received any more, and the new control data are directly sent to a data output pin of the second motor control module, namely a data output end of the second motor control module, and are forwarded to a data input end of a third motor control module; 6. working according to the above, the control data is sequentially filled in each register of each data decoding chip of each motor control module until each register of the data decoding chip of the last motor control module is filled with the control data, or the master control end stops sending the control data; 7. the control output end of the main control end sends a synchronous output signal to the motor control module, when all the data decoding chips receive the synchronous output signal from the data input pin, on one hand, the synchronous output signal is directly transmitted to the data output pin, (namely, the synchronous output signal is not registered by any data decoding chip but is directly transmitted to all the data decoding chips of all the motor control modules), on the other hand, the control data registered in each register is output to the PWM conversion circuit which is respectively connected, is converted into the PWM output signal for controlling the motor to operate, and is output to the control output pin of the data decoding chip after being amplified by the output driving circuit which is respectively connected; meanwhile, resetting the data in the register to wait for the next working process; 8. the control output pins of each data decoding chip control the work of the motor through the motor driving output end of the motor control module; or the motor drive output end of the motor control module controls the work of the motor after passing through the drive circuit.

Briefly, the motor control system of the robot comprises a main control end and a plurality of motor control modules, wherein each motor control module is arranged and installed on each key part of the robot and used for driving and controlling each motor nearby; the main control end is sequentially connected with each motor control module in series through a signal wire; each motor control module comprises a plurality of data decoding chips and a driving circuit, and the data decoding chips are connected in series according to the signal transmission direction, so that the data decoding chips of the whole motor control system adopt a cascade connection structure in which the data decoding chips are connected in series one by one. The main control end encodes the operation control signals of each motor of the control system into serial control data, and the serial control data are sequentially sent to form a series of control signal outputs; the control signal is sent to the motor control module through a signal line and sequentially filled into each register of each data decoding chip of each motor control module, one register is filled with a group of control data, the register of each data decoding chip is filled with the data and then forwarded to the next data decoding chip, and the registers of each data decoding chip are sequentially filled. And then, the main control end sends a synchronous output signal, all the data decoding chips convert the data in the register into PWM control signals after receiving the synchronous output signal, the PWM control signals are output to drive the motor to run after being buffered and amplified by the output driving circuit, and meanwhile, the data in the register is cleared to wait for the next work.

A specific working example is described. Fig. 8 and 9 are circuit schematics of two connections of one motor control module embodiment. The module comprises 4 data decoding chips of IC 1-

IC

4 and 6 driving chips of IC 5-IC 10, and can realize 12 paths of PWM output. The 12 paths of PWM output are divided into two output ports of large current and small current, SC 1-SC 12 are small current one-way output ends, and LC 1-LC 12 are large current two-way output ends. The number of the data decoding chips and the motor driving ICs can be increased or reduced according to actual needs, and if only a small-current motor which runs in a single direction is driven, the ICs 5-10 are not required to be installed. SW1 is a power switch driven by a motor and is used for uniformly closing the motor output of the whole drive plate.

Control data from the master control end is input from a data input end of the motor control module, namely an IN end of the socket CN1, is sequentially connected with a data input pin DI and a data output pin DO of the ICs 1-4, is finally connected to a data output end of the motor control module, namely an OUT end of the socket CN2, and is further connected to other motor control modules behind. After each data decoding chip receives corresponding control data, the control data is finally converted into corresponding PWM control signals according to the working description of the data decoding chip, and the PWM control signals can have two output options, namely, the PWM control signals can be directly output to drive a low-current motor through the output end of the motor, such as the output ends SC 1-SC 12; secondly, the driving current can be input into a driving chip IC 5-IC 10, and then the driving chip outputs the motors with larger driving current, such as output ends LC 1-LC 12. Each motor control channel can select large current or small current to output, but obviously can not be used simultaneously. Each path of the motor control module can independently output PWM signals without mutual interference, so that flexible control can be realized.

For clarity of description, fig. 8 only shows that the data decoding chip drives 6 large current motors M13-M18 to rotate in both directions, and fig. 9 only shows that the data decoding chip directly drives 12 small current motors M1-M12 to rotate in one direction, but actually, the small current motors and the large current motors can be mixed and matched in both directions according to requirements. The following are several specific examples of the operation of this embodiment.

Firstly, description of driving a high-current motor to work.

When a large-current motor needs to be connected, the connection method shown in fig. 8 is adopted. The connection method can realize the forward and reverse rotation bidirectional rotation control of the high-current motor, and can only control the unidirectional rotation.

The corresponding relation between the transmission data and the output channel and between the transmission data and the large-current motor is shown in the following table:

note: + represents the motor positive pole; -represents the motor negative pole.

Taking M13 as an example: as can be seen in fig. 8, LC1 is negative to M13, and LC2 is positive to M13. When LC2 is high and LC1 is low, the motor rotates forward. When LC2 is low and LC1 is high, the motor is reversed.

The Byte1 and Byte2 correspond to PWM duty cycles output by OUT1 and OUT2 of the IC1, respectively. OUT1 of IC1 is connected to IC5(L9110) IA, OUT2 of IC1 is connected to IC5(L9110) IB. IC5(L9110) OA is connected to LC2, and OB is connected to LC 1. When Byte1 is 0, the drive tube inside the OUT1 pin of IC1 is continuously turned off, current cannot flow into the OUT1 pin of IC1, IA of IC5 is maintained at high level through a pull-up resistor, when Byte2 is 255, the duty ratio is 255, that is, 100% is maximum, the drive tube inside the OUT2 pin of IC1 is continuously turned on and outputs low level, and IB of IC5 is also pulled to low level.

The L9110 input-output truth table is as follows:

IA	IB	OA	OB
				high level	Low level of electricity	High level	Low level of electricity
Low level of electricity	High level	Low level of electricity	High level
				Low level of electricity	Low level of electricity	Low level of electricity	Low level of electricity
High level	High level	Low level of electricity	Low level of electricity

The relation between the positive and negative rotation of the motors and the Byte1 and the Byte2 is obtained according to a truth table of L9110, and is shown in the following table:

Byte1

Byte2

IA

IB

LC2(OA)

LC1(OB)

electric machine

0

255

High level

Low level of electricity

High level

Low level of electricity

Forward rotation

255

0

Low level of electricity

High level

Low level of electricity

High level

Reverse rotation

255

Low level of electricity

Stop

0

High level

Low level of electricity

Stop

When Byte1 is 0 and Byte2 is 255, LC2 is high, LC1 is low, and M13 rotates forward.

When Byte1 is 255 and Byte2 is 0, LC2 is low, LC1 is high, and M13 is inverted.

Example 1 sequential control of M13-M18 Forward rotation.

Refer to the preceding example M13 for positive and negative rotation description and truth table description.

Step 01: byte1 is 0, LC2 outputs high, Byte2 is 255, LC1 outputs low, and M13 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 02: byte3 is 0, LC4 outputs high, Byte4 is 255, LC3 outputs low, and M14 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 03: byte5 is 0, LC6 outputs high, Byte6 is 255, LC5 outputs low, and M15 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 04: byte7 is 0, LC8 outputs high, Byte8 is 255, LC7 outputs low, and M16 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 05: byte9 is 0, LC10 outputs high, Byte10 is 255, LC9 outputs low, and M17 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 06: byte11 is 0, LC12 outputs high, Byte12 is 255, LC11 outputs low, and M18 rotates forward. Meanwhile, other Byte is 0, and the motor stops rotating.

The time interval of each step is 300ms, after the main control end sends data of 12 bytes, a synchronous output signal is sent again in each step, the data stored in the ICs 1-4 are output as motor control PWM signals, and from the step 01 to the step 06, the M13-M18 rotate forwards one by one and stop.

Example 2 sequence control M13-M18 Reversal.

Step 01: byte1 is 255, LC2 outputs low, Byte2 is 0, LC1 outputs high, and M13 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 02: byte3 is 255, LC4 outputs low, Byte4 is 0, LC3 outputs high, and M14 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 03: byte5 is 255, LC6 outputs low, Byte6 is 0, LC5 outputs high, and M15 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 04: byte7 is 255, LC8 outputs low, Byte8 is 0, LC7 outputs high, and M16 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 05: byte9 is 255, LC10 outputs low, Byte10 is 0, LC9 outputs high, and M17 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

Step 06: byte11 is 255, LC12 outputs low, Byte12 is 0, LC11 outputs high, and M18 is inverted. Meanwhile, other Byte is 0, and the motor stops rotating.

From step 01 to step 06, M13 to M18 are reversed one by one and then stopped.

Example 3 simultaneous control of forward and reverse rotation of M13-M18.

Step 01: the Byte1, the Byte3, the Byte5, the Byte7, the Byte9 and the Byte11 are all 0, the corresponding LC2, the LC4, the LC6, the LC8, the LC10 and the LC12 output high level, the corresponding Byte2, the Byte4, the Byte6, the Byte8, the Byte10 and the Byte12 are all 255, the corresponding LC1, the corresponding LC3, the corresponding LC5, the corresponding LC7, the corresponding LC9 and the corresponding LC11 output low level, and the M13-M18 are controlled to rotate forwards at the same time.

Step 02: the method comprises the steps of controlling M13-M18 to invert simultaneously, wherein each of the Byte1, the Byte3, the Byte5, the Byte7, the Byte9 and the Byte11 is 255, the corresponding LC2, the LC4, the LC6, the LC8, the LC10 and the LC12 output low level, the corresponding LC2, the Byte4, the Byte6, the Byte8, the Byte10 and the Byte12 are 0, the corresponding LC1, the corresponding LC3, the LC5, the corresponding LC7, the corresponding LC9 and the corresponding LC11 output high level.

And II, description of driving the low-current motor to work.

The connection of fig. 9 may be used when only low current motors need to be driven for unidirectional operation, each motor being connected to one of the ports SC 1-SC 12. This connection only enables control of the unidirectional operation of the motor.

The corresponding relationship between the transmission data and the motor output channel and the small current motor number is as follows:

taking M01 as an example: as shown in fig. 9, M01 is attached to SC 1. When the Byte1 is 255, the duty ratio is 255, namely 100% is the maximum, the drive tube in the OUT1 pin of the IC1 is continuously conducted, the SC1 outputs low level, the current flows from the VCC end to the OUT1 pin of the IC1 through the SW1 and flows back from the M01, the M01 rotates, and the voltage duty ratio at the two ends of the motor is 255, namely 100% is the maximum. When Byte1 is 0, the drive tube in the OUT1 pin of the IC1 is continuously closed, the current cannot flow into the OUT1 pin of the IC1, M01 stops, and the duty ratio of the voltage across the motor is 0.

Example 1 sequential driving of M01-M12 was controlled every 300 ms.

M01-M12 are connected to SC 1-SC 12, and corresponding PWM square waves need to be output on SC 1-SC 12 in sequence in order to control M01-M12 to rotate in sequence.

The control steps are shown in the following table:

it can be seen from the table that Byte1 is 255, SC1 outputs low level, current flows from VCC terminal through SW1 from M01 back to OUT1 pin of IC1, and M01 motor rotates. And the other Byte is 0, the corresponding SC port is in a high-impedance state and cannot be conducted to the ground, and the M02-M12 motor is stopped.

The time interval of each step is 300ms, each step is that after the main control end sends data of 12 bytes, a synchronous output signal is sent again, the data stored in the ICs 1-4 are output as motor control PWM signals, and each step only has motor driving of 1 channel, so that the sequential driving effect of M01-M12 is realized.

Claims

1. A robot adopting a motor cascade control system comprises a robot main body and an electric system; the electric system comprises a mechanical actuating mechanism, a motor and a motor control system; the method is characterized in that: the motor control system comprises a main control end and a plurality of motor control modules, wherein the main control end is sequentially connected with each motor control module through a signal wire; the motor control modules are respectively installed at each position of the robot main body and used for carrying out centralized control on a plurality of motors near each position; each motor control module has a plurality of motor drive outputs respectively connected to the motors being controlled.

2. A robot adopting a motor cascade control system according to claim 1, wherein: the motor control module comprises a data input end and a data output end; the control output end of the main control end is connected to the data input end of the first motor control module through a signal line, the data output end of the first motor control module is connected with the data input end of the second motor control module, the data output end of the second motor control module is connected with the data input end of the third motor control module, and therefore all the motor control modules are connected in series until the last motor control module.

3. A robot adopting a motor cascade control system according to claim 1, wherein: the motor control module comprises a head motor control module, a right arm motor control module, a right hand motor control module, a right leg motor control module, a left arm motor control module and all or part of the left hand motor control module, all or part of the motors are respectively arranged at corresponding positions of the robot, and only a plurality of motors near the positions are subjected to centralized control.

4. A robot adopting a motor cascade control system according to claim 2, wherein: the motor control module comprises a plurality of data decoding chips and a driving circuit, wherein the data input end of the motor control module is connected to the data input pin of a first data decoding chip, the data output pin of the first data decoding chip is connected to the data input pin of a second data decoding chip, the data output pin of the second data decoding chip is connected to the data input pin of a third data decoding chip, and all the data decoding chips are sequentially connected until the last data decoding chip; the data output pin of the last data decoding chip is connected to the data output end of the motor control module; and a control output pin of the data decoding chip is connected to a motor drive output end of the motor control module or is connected to the motor drive output end through a drive circuit.

5. A robot adopting a motor cascade control system according to claim 4, wherein: the data decoding chip internally comprises a serial decoding circuit, a plurality of data registers, a plurality of PWM conversion circuits and a plurality of output driving circuits; the output of the serial decoding circuit is connected to each data register, the output of each data register is connected with a PWM (pulse-width modulation) conversion circuit, the output of the PWM conversion circuit is connected with an output driving circuit, and the output of each output driving circuit is connected with a control output pin of the data decoding chip.

6. A robot adopting a motor cascade control system according to claim 4, wherein: a driving circuit is arranged between a control output pin of the data decoding chip and a motor driving output end of the motor control module; the driving circuit can adopt a motor unidirectional driving chip for driving and controlling unidirectional rotation of the motor; a motor bidirectional driving chip can also be adopted for driving and controlling the motor to perform bidirectional forward and reverse rotation.

7. A robot adopting a motor cascade control system according to claim 6, wherein: the motor bidirectional driving chip is provided with two signal input ends and is simultaneously connected to two control output pins of the data decoding chip; two output ends of the motor bidirectional driving chip are used as motor driving output ends and are simultaneously connected to the positive end and the negative end of the motor power supply input.

8. A robot adopting a motor cascade control system according to any one of claims 1 to 7, wherein the motor control system is operated by the steps comprising:

⑴, the control output end of the main control end sends control data to the first motor control module through a signal line;

⑵, after the first data decoding chip of the first motor control module receives the control data from the data input pin, the first data decoding chip fills and stores each group of control data in each register according to the group, but does not output temporarily;

⑶, after receiving control data from the data input pin, the second data decoding chip also fills in and stores the control data in each register according to group, but does not output temporarily, when each register of the second data decoding chip is filled with control data, the serial decoding circuit does not receive new control data from the data input pin, but directly sends the new control data to the data output pin, that is, directly forwards to the data input pin of the subsequent third data decoding chip;

⑷, working according to the process, the control data are filled into the registers of each data decoding chip one by one in sequence, until each register of the last data decoding chip of the first motor control module is filled with the control data, the serial decoding circuit does not receive new control data from the data input pin, but directly sends the new control data to the data output pin, namely the data output end of the first motor control module, and forwards the new control data to the data input end of the second motor control module;

⑸, the second motor control module works according to the method of the first motor control module, the control data are sequentially filled and written into the registers of each data decoding chip of the second motor control module one by one until each register of the last data decoding chip is filled with the control data, the new control data are not received any more, but the new control data are directly sent to the data output pin, namely the data output end of the second motor control module, and are forwarded to the data input end of the third motor control module;

⑹, working in turn, the control data is filled in each register of each data decoding chip of each motor control module in turn until each register of the data decoding chip of the last motor control module is filled with the control data, or the master control end stops sending the control data;

⑺, the control output end of the main control end sends a synchronous output signal to the motor control module, when all the data decoding chips receive the synchronous output signal from the data input pin, on one hand, the synchronous output signal is directly transmitted to the data output pin, on the other hand, the control data stored in each register is output to the PWM conversion circuit connected with each other and converted into the PWM output signal for controlling the motor to operate, and after the PWM output signal is amplified by the driving circuit connected with each other, the control data stored in each register is cleared to wait for the next working process;

⑻, the control output pin of each data decoding chip controls the work of the motor through the motor drive output end of the motor control module, or controls the work of the motor through the motor drive output end of the motor control module after passing through the drive circuit.