CN114714353A - Joint motor driving circuit of cooperative robot - Google Patents
Joint motor driving circuit of cooperative robot Download PDFInfo
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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
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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
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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
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application relates to a joint motor drive circuit of a cooperative robot, which is characterized by comprising: the controller comprises a DSP digital signal processor, a CAN transceiver and an EtherCAT slave station controller; the DSP digital signal processor comprises a CAN interface, a first SPI interface and an MCU control unit, wherein the CAN interface and the first SPI interface are respectively connected with the MCU control unit; the CAN transceiver is connected with the CAN interface and used for exchanging parameters between the upper computer and the MCU when the cooperative robot is in a debugging stage; the EtherCAT slave station controller is connected with the first SPI interface and used for exchanging information of position control commands with an external controller when the cooperative robot is in a working state. According to the invention, information transmission at different stages is respectively carried out through two communication protocols of CAN communication and etherCat, so that high-precision control on the mechanical arm of the cooperative robot is realized, and the multi-joint synchronization rate is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a joint motor driving circuit of a cooperative robot.
Background
In the era flood of transformation and upgrading of the manufacturing industry, the intelligent robot can be more and more deep into work and life of people. The cooperative robot, as the name implies, is that the robot and the human can fight cooperatively on the production line, and the efficiency of the robot and the intelligence of the human are fully exerted. The cooperative robot is widely used in the industrial production and manufacturing field due to its flexibility, high precision, safety and good perception capability in the production work, and has a development trend of being used as a medical device in the medical field in the future.
The working principle of the cooperative robot is to convert electric energy into mechanical energy and realize mechanical arm movement with 4-7 degrees of freedom. In the prior art, under the condition of realizing high degree of freedom of a mechanical arm, the stability of the mechanical arm is often sacrificed. Taking a common 6-degree-of-freedom mechanical arm as an example, the mechanical arm comprises 6 joint modules, each joint module receives a corresponding position instruction and controls the joint to rotate by a corresponding angle, however, because the communication among the joint modules is serial communication, the time for receiving the instruction has a sequence, and thus the modules for executing the instruction also have a sequence. In addition, the common joint module of the cooperative robot generally adopts CAN communication or 485 communication, the communication speed of the two communication protocols is low, the communication frequency reaches the millisecond level at most, the synchronization performance is in the microsecond level, the tracking capability of the mechanical arm on the position instruction CAN be reduced, the operation precision of the mechanical arm is low, and the movement shakes.
Disclosure of Invention
The embodiment of the application provides a joint motor driving circuit of a cooperative robot, which is respectively provided with two communication protocols of CAN communication and etherCat, wherein parameter exchange between an upper computer and an MCU control unit is carried out during a debugging stage through CAN communication, and position related information and instructions are exchanged between the upper computer and an external controller when the cooperative robot works through an EtherCAT protocol with higher communication frequency, so that high-precision control over a robot arm of the cooperative robot is realized, and the multi-joint synchronization rate is improved.
Based on the foregoing background technical problem, an embodiment of the present application provides a joint motor driving circuit for a cooperative robot, including:
a cooperative robot joint motor drive circuit, comprising:
the controller comprises a DSP digital signal processor, a CAN transceiver and an EtherCAT slave station controller;
the DSP digital signal processor comprises a CAN interface, a first SPI interface and an MCU control unit, and the CAN interface and the first SPI interface are respectively connected with the MCU control unit;
the CAN transceiver comprises an external port and an internal port, the external port is connected with an upper computer, the internal port is connected with the CAN interface, and the CAN transceiver is used for exchanging parameters between the upper computer and the MCU control unit when the cooperative robot is in a debugging stage;
the EtherCAT slave station controller comprises a signal input end and a signal output end, wherein the signal input end is in signal connection with an external controller, and the signal output end is in signal connection with the first SPI interface;
the EtherCAT slave station controller is used for receiving a control instruction of the external controller through the signal input end when the cooperative robot is in a working state, and sending the control instruction to the MCU control unit through the signal output end;
the EtherCAT slave station controller is also used for receiving the position information output by the MCU control unit through the signal output end when the cooperative robot is in a working state, and sending the position information to the external controller through the signal output end.
Further, the device also comprises a motor driving circuit;
the motor driving circuit comprises a driving signal input end and a driving signal output end, the driving signal input end is in signal connection with the MCU control unit, and the driving signal output end is connected with the driving motor; the motor driving circuit is used for receiving the driving control signal output by the MCU control unit, generating a three-phase alternating current and outputting the three-phase alternating current to the joint motor.
Further, the motor driving circuit comprises an MOS inverter circuit, the MOS inverter circuit comprises an MOS tube controller and an MOS tube, and the MOS tube controller is connected with the MOS tube and used for controlling the on-off of the MOS tube;
the DSP digital signal processor also comprises an ePWM module;
one end of the ePWM module is in signal connection with the MCU control unit, the other end of the ePWM module is connected with the input end of the MOS inverter circuit, and the ePWM module is used for receiving the PWM instruction output by the MCU control unit and sending the PWM instruction to the MOS inverter circuit.
The device further comprises a position sensor module, wherein the position sensor module comprises an incremental encoder, an absolute value encoder and a Hall sensor;
the DSP digital signal processor also comprises a second SPI interface, a GPIO interface and a QEP module, wherein one end of the QEP module is connected with the MCU control unit, and the other end of the QEP module is exposed to the outside; the second SPI interface and the GPIO interface are respectively connected with the MCU control unit;
the signal input end of the Hall sensor is connected with the position of a motor shaft of the joint motor, the signal output end of the Hall sensor is connected with the GPIO interface, and the Hall sensor is used for acquiring an absolute angle of the motor shaft with the resolution of 60 degrees and sending the absolute angle to the MCU through the GPIO interface;
the signal input end of the incremental encoder is connected with the position of a motor shaft of the joint motor, and the signal output end of the incremental encoder is connected with the QEP module; the incremental encoder is used for acquiring a Z signal and sending position information in a pulse form to the QEP module after the motor shaft rotates;
the QEP module is used for decoding information output by the incremental encoder and the Hall sensor, acquiring absolute position information of the motor shaft and sending the absolute position information to the MCU;
the signal input end of the absolute value encoder is in signal connection with the output shaft of the joint motor, the signal output end of the absolute value encoder is connected with the second SPI interface, and the absolute value encoder is used for acquiring the angle position information of the output shaft and sending the angle position information to the MCU through the second SPI interface.
Furthermore, the device also comprises an analog quantity measuring module;
the DSP digital signal processor also comprises an ADC module; one end of the ADC module is in signal connection with the MCU control unit, and the other end of the ADC module is in signal connection with the analog quantity measuring module;
the signal input end of the analog quantity measuring module is connected with the output end of the MOS inverter circuit, and the output end of the analog quantity measuring module is connected with the ADC module; the ADC module is used for acquiring the analog quantity output by the analog quantity measuring module, converting the analog quantity into a digital signal and sending the digital signal to the MCU control unit.
Further, the analog quantity measuring module comprises a current detecting unit, and the current detecting unit comprises an amplifying circuit;
the signal input end of the amplifying circuit is connected with the lower bridge arm of the MOS inverter circuit, and the output end of the amplifying circuit is connected with the ADC module; the amplifying circuit is used for amplifying the negative voltage of the MOS inverter circuit to a specified interval and sending the negative voltage to the ADC module; the ADC module is used for acquiring the current analog quantity output by the current detection unit, converting the current analog quantity into a digital signal and sending the digital signal to the MCU control unit.
Further, the current detection unit further includes a comparator;
the signal input end of the comparator is connected with the signal output end of the amplifying circuit, the signal output end of the comparator is connected with the ADC module, the comparator is used for outputting a comparison signal to the ADC module when the current value of the amplifying circuit is too large, and the comparison signal is used for triggering the MCU control unit to stop outputting the PWM instruction.
Further, the analog quantity measuring module comprises a voltage detecting unit, and the current detecting unit comprises a voltage dividing resistor and a filter circuit;
one end of the divider resistor is connected with the output end of the MOS inverter circuit, the other end of the divider resistor is connected with the input end of the filter circuit, and the output end of the filter circuit is connected with the input end of the ADC module; the ADC module is used for acquiring the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and sending the digital signal to the MCU control unit.
Further, the power module comprises a first voltage reduction circuit, a second voltage reduction circuit, a third voltage reduction circuit and a fourth voltage reduction circuit;
the input end of the first voltage reduction circuit is connected with a power bus, and the output end of the first voltage reduction circuit is connected with the input ends of the second voltage reduction circuit and the third voltage reduction circuit; the input end of the fourth voltage reduction circuit is connected with the output end of the second voltage reduction circuit, and the output end of the fourth voltage reduction circuit is used for supplying power to the DSP digital signal processor and the EtherCAT slave station controller; the output end of the second voltage reduction circuit is used for supplying power to the CAN transceiver, the motor driving circuit and the position sensor module; and the output end of the third voltage reduction circuit is used for supplying power to the analog quantity measurement module.
Further, the DSP digital signal processor is a DSP28069M digital signal processor;
the EtherCAT slave station controller is a LAN9252I/PT slave station controller;
the CAN transceiver is a TJA1050T signal transceiver.
In the embodiment of the application, two communication protocols of CAN communication and etherCat are respectively set, parameter exchange between an upper computer and an MCU control unit is carried out during a debugging stage through CAN communication, position related information and instructions between the cooperative robot and an external controller are exchanged during the working process through an etherCAT protocol with higher communication frequency, the tracking capacity of the mechanical arm on the position instructions is greatly improved, the high-precision control on the mechanical arm of the cooperative robot is realized, and the multi-joint synchronization rate is improved; meanwhile, the absolute positions of the motor shaft and the output shaft are accurately measured by the position sensor acquisition module, so that the stability and the precision of the motor during working are ensured; the current and voltage feedback in the working process of the driving circuit is received through the simulator measuring circuit, the mechanical arm in real-time working can be adjusted in operation, and the safety of the driving circuit is greatly improved through an overcurrent protection mechanism.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Drawings
FIG. 1 is a schematic block circuit diagram of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
FIG. 2 is a circuit schematic of a CAN communication interface of a cooperative robotic joint motor drive circuit provided in an exemplary embodiment;
FIG. 3 is a circuit schematic diagram of an EtherCAT protocol slave station controller for a cooperative robotic joint motor drive circuit provided in an exemplary embodiment;
FIG. 4 is a circuit schematic of a memory of a cooperative robot joint motor drive circuit provided in an exemplary embodiment;
FIG. 5 is a circuit schematic of an Ethernet transformer of a cooperative robotic joint motor drive circuit provided in an exemplary embodiment;
FIG. 6 is a schematic circuit diagram of a motor drive circuit of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
FIG. 7 is a schematic diagram of a dual MOS tube controller for a cooperative robotic joint motor drive circuit provided in an exemplary embodiment;
FIG. 8 is a circuit schematic of an incremental encoder of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
FIG. 9 is a circuit schematic of an absolute value encoder of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
FIG. 10 is a circuit schematic of a Hall sensor of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
FIG. 11 is a circuit schematic of a current sensing unit of a cooperative robot joint motor drive circuit provided in an exemplary embodiment;
FIG. 12 is a circuit schematic of a voltage detection unit of a cooperative robot joint motor drive circuit provided in an exemplary embodiment;
FIG. 13 is a circuit schematic of a first voltage reduction circuit and a second voltage reduction circuit of a cooperating robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 14 is a circuit schematic of a third voltage reduction circuit of a cooperative robotic joint motor drive circuit provided in one exemplary embodiment;
fig. 15 is a circuit schematic diagram of a fourth voltage reduction circuit of a cooperative robot joint motor drive circuit provided in an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the claims that follow. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
EtherCAT, ethernet control automation technology, is a deterministic industrial ethernet network. The EtherCAT protocol is optimized for program data, and uses standard IEEE 802.3 Ethernet frame transmission, Ethertype is 0x88a4, and the data sequence is independent of the physical sequence of the devices on the website, and the addressing sequence is not limited. In the EtherCAT network, when a data frame passes through an EtherCAT node, the node can copy data and then transmit the data to the next node, and meanwhile, the data corresponding to the node is identified and corresponding processing is carried out; if a node needs to send data out, the data to be sent out is also inserted into the data to be sent to the next node. Each node receives and transmits data in less than 1 microsecond, and generally uses only one frame of data to transmit and receive data from all nodes on the network. In industrial application, the microprocessor of the EtherCAT slave station does not need to process the packet of the ethernet, so that the data updating time (cycle time) is short, and the data synchronization performance is greatly improved.
Based on the technical problems mentioned in the background art and the characteristics of the EtherCAT communication protocol, the embodiment of the application provides the joint motor driving circuit of the cooperative robot, the communication between the joint and the upper computer is carried out through the combination of the CAN communication protocol and the EtherCAT communication protocol, the communication between the joint and the controller and the encoder is carried out through the CAN protocol, the multi-joint synchronization rate of the cooperative robot is improved, and the mechanical arm action jitter is prevented.
As shown in fig. 1, a cooperative robot joint motor driving circuit according to an embodiment of the present disclosure includes a DSP digital signal processor, a CAN transceiver, an EtherCAT slave station controller, an analog quantity measurement module, a position sensor module, a motor driving circuit, and a power supply module (not shown). The DSP digital signal processor comprises a plurality of interfaces comprising an SPIA interface, an SPIB interface, a GPIO interface and a CAN interface; the DSP digital signal processor is also integrated with a plurality of digital signal processing modules, including a QEP module, an ADC module and an ePWM module. Each interface and the digital signal processing module are in signal connection with the MCU control unit of the DSP digital signal processor. The CAN transceiver is in signal connection with the CAN interface; the EtherCAT slave station controller is in signal connection with the SPIB interface; the analog quantity measuring module is in signal connection with the ADC module; one end of the motor driving circuit is connected with the joint motor, and the other end of the motor driving circuit is connected with the ePWM module; the sensor position module is in signal connection with the SPIA interface, the GPIO interface and the QEP module; the MCU control unit is used for receiving data sent by external equipment and analog quantity data in the circuit, executing a joint driving algorithm and outputting a motor driving control signal. The power module provides direct current power supply for the modules.
As shown in fig. 2, fig. 2 is a schematic circuit diagram of the CAN transceiver and the CAN interface. The CAN transceiver comprises an external port and an internal port, the external port is connected with an upper computer, differential CAN signals CAN _ H and CAN _ L sent by the upper computer are received and converted into level signals CAN _ TX1 and CAN _ RX4 which CAN be read by the DSP digital signal processor, and the MCU control unit acquires the level signals sent by the CAN transceiver through the CAN interface and reads the level signals CAN _ TX1 and CAN _ RX4 and parameters. Meanwhile, the MCU control unit feeds back related state information in the joint motor driving circuit to an external upper computer through the CAN transceiver and the CAN interface. That is, the MCU control unit realizes data exchange with the upper computer through the CAN protocol. In this embodiment, the data exchanged by the CAN transceiver is generally related to parameters during the debugging phase of the cooperating robot arm, and the model of the CAN transceiver is TJA1050TCAN transceiver.
The EtherCAT slave station controller comprises a signal input end and a signal output end, the signal input end is in signal connection with an external controller, and the signal output end is in signal connection with the first SPI interface; the EtherCAT slave station controller is used for receiving a control instruction of the external controller through the signal input end when the cooperative robot is in a working state, and sending the control instruction to the MCU control unit through the signal output end; the EtherCAT slave station controller is further configured to receive, through the signal output terminal, the position information output by the MCU control unit when the cooperative robot is in an operating state, and send the position information to the external controller through the signal output terminal, in this embodiment, as shown in fig. 3, the EtherCAT slave station controller is a LAN9252I/PT slave station controller, and a chip of the EtherCAT slave station controller includes two parts, i.e., U1A and U1B.
In a preferred embodiment, as shown in fig. 4, the LAN9252I/PT slave station controller further includes memory interfaces EESDA/TMS and EESCL/TCK for storing part of the data in the memory while receiving the control information sent by the external controller. In this embodiment, the memory is CAT24C512YI-GT3 EEPROM, which is connected to the LAN9252I/PT slave station controller through the IIC.
In a preferred embodiment, the EtherCAT slave station controller is also connected to ethernet transformers as shown in fig. 5 for signal transmission, impedance matching, waveform repair, signal clutter suppression, high voltage isolation, etc. In this embodiment, the Ethernet transformer is 30F-51NL in type.
As shown in fig. 6, fig. 6 is a schematic circuit diagram of a motor driving circuit, the motor driving circuit includes an MOS inverter circuit, the MOS inverter circuit includes an MOS transistor controller and an MOS transistor, and the MOS transistor controller is connected to the MOS transistor and is configured to control on/off of the MOS transistor; the DSP digital signal processor also comprises an ePWM module; one end of the ePWM module is in signal connection with the MCU control unit, the other end of the ePWM module is connected with the input end of the MOS inverter circuit, and the ePWM module is used for receiving a PWM instruction output by the MCU control unit and sending the PWM instruction to the MOS inverter circuit.
In the embodiment, the MOS transistor controller shown in fig. 7 includes three two-way MOS transistor controllers, and totally controls 6 MOS transistors VT1-6 to modulate three-phase alternating current. The model of the double-circuit MOS tube controller is IRS2005STRPBF double-circuit MOS tube controller.
The position sensor module includes an incremental encoder as shown in fig. 8, an absolute value encoder as shown in fig. 9, and a hall sensor as shown in fig. 10.
The signal input end of the Hall sensor is connected with the position of a motor shaft of the joint motor, the signal output end of the Hall sensor is connected with the GPIO interface, and the Hall sensor is used for acquiring the absolute angle of the motor shaft with the resolution of 60 degrees and sending the absolute angle to the MCU through the GPIO interface.
The signal input end of the incremental encoder is connected with the position of a motor shaft of the joint motor, and the signal output end of the incremental encoder is connected with the QEP module; the incremental encoder is used for acquiring a Z signal and sending position information in a pulse form to the QEP module after the motor shaft rotates; and the QEP module is used for decoding information output by the incremental encoder and the Hall sensor, acquiring absolute position information of a motor shaft and sending the absolute position information to the MCU control unit.
The signal input end of the absolute value encoder is in signal connection with the output shaft of the joint motor, and the signal output end of the absolute value encoder is connected with the SPIA; and the absolute value encoder is used for transmitting the acquired output shaft position information to the MCU control unit through the SPIA.
The analog quantity measuring module includes a current detecting unit as shown in fig. 11 and a voltage detecting unit as shown in fig. 12.
The current detection unit comprises an amplifying circuit and a comparator;
the signal input end of the amplifying circuit is connected with the lower bridge arm of the MOS inverter circuit and used for amplifying the negative voltage of the MOS inverter circuit to a designated interval, the signal input end of the comparator is connected with the signal output end of the amplifying circuit, the signal output end of the comparator is connected with the ADC module, the comparator is used for outputting a comparison signal to the ADC module when the current value of the amplifying circuit is too large, and the comparison signal is used for triggering the MCU control unit to stop outputting a PWM instruction.
The voltage detection unit comprises a divider resistor and a filter circuit;
one end of the divider resistor is connected with the output end of the MOS inverter circuit, the other end of the divider resistor is connected with the input end of the filter circuit, and the output end of the filter circuit is connected with the input end of the ADC module; the ADC module is used for acquiring the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and sending the digital signal to the MCU control unit.
The power supply module includes a first step-down circuit and a second step-down circuit as shown in fig. 13, a third step-down circuit as shown in fig. 14, and a fourth step-down circuit as shown in fig. 15.
The input end of the first voltage reduction circuit is connected with the power bus, and the output end of the first voltage reduction circuit is connected with the input ends of the second voltage reduction circuit and the third voltage reduction circuit; the input end of the fourth voltage reduction circuit is connected with the output end of the second voltage reduction circuit, and the output end of the fourth voltage reduction circuit is used for supplying power to the DSP and the EtherCAT slave station controller; the output end of the second voltage reduction circuit is used for supplying power to the CAN transceiver, the motor driving circuit and the position sensor module; and the output end of the third voltage reduction circuit is used for supplying power to the analog quantity measurement module.
A cooperative robot joint motor driving circuit and an operating principle thereof according to an embodiment of the present application will be described with reference to a specific embodiment.
One end of the power supply module is connected with a bus power supply voltage of 48V, the bus power supply voltage enters a synchronous buck converter LM5164DATA circuit through a MURA220T3G ultrafast rectifier power supply and is transformed into 24V, the transformed 24V power supply is divided into two paths, one path of the 24V power supply is changed into 5V power supply voltage through an LMR14020 rectifying circuit, and the other path of the 24V power supply voltage is changed into 12V power supply voltage through an MC7812ACTG linear voltage regulator tube circuit. The 5V power supply is changed into 3.3V through a linear voltage regulator tube AMS1117-3.3 circuit. The 12V direct current is used for supplying power for the DSP and the EtherCAT slave station controller, the 5V direct current voltage is used for supplying power for the CAN transceiver, the motor driving circuit and the position sensor module, and the 3.3V direct current is used for supplying power for the analog quantity measuring module.
After the power module starts to supply power, when the cooperative robot is in a debugging stage, the DSP digital signal processor performs parameter exchange in the debugging stage with the upper computer through the CAN transceiver, and after the debugging stage is finished, the CAN transceiver stops parameter exchange.
The position sensor module acquires the position of a motor shaft and the position of an output shaft output by the speed reducer. The motor shaft position is obtained in preparation for motor driving, and in this embodiment, the driving motor is a permanent magnet synchronous motor, which requires an absolute position of the motor shaft to operate. Therefore, the absolute position is obtained by using a combination of an incremental encoder and a hall position sensor. Incremental code power-up is not known about the current absolute position, but the hall position sensor can provide an absolute position with a resolution of 60 °, i.e. 6 states for one turn. Therefore, when the incremental encoder is powered on, an absolute position with the accuracy of plus or minus 30 degrees can be used for driving the motor. And after the motor driving shaft rotates for at most one circle, the incremental encoder acquires the Z signal to obtain an accurate absolute position. The purpose of acquiring the output shaft position is to perform joint position control. Because the speed reducer has certain return clearance and deformation, if the angle of the motor shaft is directly converted to be used as the output shaft, the precision of the angle of the output shaft is not high, and therefore the absolute value position sensor is used for measuring the position of the output shaft independently. And the incremental encoder sends the acquired position information embodied in a pulse form to the QEP module for decoding, and the decoded data is sent to the MCU control unit. And the absolute value encoder transmits the acquired information to the MCU control unit through the SPIA interface.
When the cooperative robot is in a working state, the LAN9252I/PT acquires control instructions output by an external controller and an encoder from a station controller and sends the control instructions to the MCU control unit, wherein part of control instruction data is stored in a memory CAT24C512YI-GT3 EEPROM; the LAN9252I/PT receives measurement information including but not limited to analog data from the MCU control unit and feeds back to the external controller.
At this time, after acquiring the relevant position information sent by the position sensor module, the debugging parameters sent by the upper computer and the control instruction sent by the LAN9252I/PT slave station controller, the MCU control unit executes a joint driving algorithm according to the information, generates a control instruction and sends the control instruction to the ePWM module, and the ePWM module generates a PWM instruction according to the control instruction. The motor driving circuit controls the on-off of 6 MOS tubes to perform PWM modulation through 3 IRS2005STRPBF dual-channel MOS tube controllers according to the PWM instruction, and converts 12V direct current acquired from a power module into three-phase alternating current to drive the motor.
The analog quantity measuring module is connected with a lower bridge arm of the MOS inverter circuit, and the amplifier circuit outputs the voltage amplified to the interval of 0-3.3V to the ADC module by the amplifier INA240A1PW in the negative voltage circuit through bias. The ADC module converts the analog signal into a digital signal and sends the digital signal to the MCU control unit, and the MCU control unit can obtain related signal feedback of three-phase alternating current in real time. When the three-phase alternating current is overlarge, the comparator triggers a protection function inside the MCU control unit, and the MCU control unit sends a control instruction for stopping PWM output. Therefore, the control of the motor and the overcurrent protection of the motor are realized by detecting the current and the voltage of the motor.
The measurement frequency of the analog quantity measurement module is the same as the control frequency 15k of the motor, the measurement frequency is triggered by hardware of the MCU control unit, and when the MCU control unit controls and generates PWM, the ADC module is triggered to collect analog quantity.
The measuring frequency of the position sensing module is the same as the control frequency of the motor and is 15 k. The acquisition of position information is triggered by external software control, and interrupt software is triggered to read a position sensor result after the acquisition of the ADC module is completed.
In the embodiment of the application, two communication protocols of CAN communication and etherCat are respectively set, parameter exchange between an upper computer and an MCU control unit is carried out during a debugging stage through CAN communication, position related information and instructions between a cooperative robot and an external controller are exchanged during working through an etherCAT protocol with higher communication frequency, the tracking capacity of the mechanical arm on the position instructions is greatly improved, high-precision control on the mechanical arm of the cooperative robot is realized, and the multi-joint synchronization rate is improved; meanwhile, the absolute positions of the motor shaft and the output shaft are accurately measured by the position sensor acquisition module, so that the stability and the precision of the motor during working are ensured; the current and voltage feedback in the working process of the driving circuit is received through the simulator measuring circuit, the mechanical arm in real-time working can be adjusted in operation, and the safety of the driving circuit is greatly improved through an overcurrent protection mechanism.
It is to be understood that the embodiments of the present application are not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the following claims.
The above-mentioned embodiments only express a few embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, variations and modifications can be made without departing from the concept of the embodiments of the present application, and these embodiments are within the scope of the present application.
Claims (10)
1. A cooperative robot joint motor drive circuit, comprising:
the system comprises a DSP digital signal processor, a CAN transceiver and an EtherCAT slave station controller;
the DSP digital signal processor comprises a CAN interface, a first SPI interface and an MCU control unit, and the CAN interface and the first SPI interface are respectively connected with the MCU control unit;
the CAN transceiver comprises an external port and an internal port, the external port is connected with an upper computer, the internal port is connected with the CAN interface, and the CAN transceiver is used for exchanging parameters between the upper computer and the MCU control unit when the cooperative robot is in a debugging stage;
the EtherCAT slave station controller comprises a signal input end and a signal output end, wherein the signal input end is in signal connection with an external controller, and the signal output end is in signal connection with the first SPI interface;
the EtherCAT slave station controller is used for receiving a control instruction of the external controller through the signal input end when the cooperative robot is in a working state, and sending the control instruction to the MCU control unit through the signal output end;
the EtherCAT slave station controller is also used for receiving the position information output by the MCU control unit through the signal output end when the cooperative robot is in a working state, and sending the position information to the external controller through the signal output end.
2. The cooperative robot joint motor drive circuit according to claim 1, characterized in that:
the motor driving circuit is also included;
the motor driving circuit comprises a driving signal input end and a driving signal output end, the driving signal input end is in signal connection with the MCU control unit, and the driving signal output end is connected with the driving motor; the motor driving circuit is used for receiving the driving control signal output by the MCU control unit and generating three-phase alternating current to be output to the joint motor.
3. The cooperative robot joint motor drive circuit according to claim 2, characterized in that:
the motor driving circuit comprises an MOS inverter circuit, the MOS inverter circuit comprises an MOS tube controller and an MOS tube, and the MOS tube controller is connected with the MOS tube and used for controlling the on-off of the MOS tube;
the DSP digital signal processor also comprises an ePWM module;
one end of the ePWM module is in signal connection with the MCU control unit, the other end of the ePWM module is connected with the input end of the MOS inverter circuit, and the ePWM module is used for receiving the PWM instruction output by the MCU control unit and sending the PWM instruction to the MOS inverter circuit.
4. The cooperative robot joint motor drive circuit according to claim 1, characterized in that:
the device also comprises a position sensor module, wherein the position sensor module comprises an incremental encoder, an absolute value encoder and a Hall sensor;
the DSP digital signal processor also comprises a second SPI interface, a GPIO interface and a QEP module, wherein one end of the QEP module is connected with the MCU control unit, and the other end of the QEP module is exposed to the outside; the second SPI interface and the GPIO interface are respectively connected with the MCU control unit;
the signal input end of the Hall sensor is connected with the position of a motor shaft of the joint motor, the signal output end of the Hall sensor is connected with the GPIO interface, and the Hall sensor is used for acquiring an absolute angle of the motor shaft with the resolution of 60 degrees and sending the absolute angle to the MCU through the GPIO interface;
the signal input end of the incremental encoder is connected with the position of a motor shaft of the joint motor, and the signal output end of the incremental encoder is connected with the QEP module; the incremental encoder is used for acquiring a Z signal and sending position information in a pulse form to the QEP module after the motor shaft rotates;
the QEP module is used for decoding information output by the incremental encoder and the Hall sensor, acquiring absolute position information of the motor shaft and sending the absolute position information to the MCU;
the signal input end of the absolute value encoder is in signal connection with the output shaft of the joint motor, the signal output end of the absolute value encoder is connected with the second SPI interface, and the absolute value encoder is used for acquiring the angle position information of the output shaft and sending the angle position information to the MCU through the second SPI interface.
5. The cooperative robot joint motor drive circuit according to claim 1, characterized in that:
the device also comprises an analog quantity measuring module;
the DSP digital signal processor also comprises an ADC module; one end of the ADC module is in signal connection with the MCU control unit, and the other end of the ADC module is in signal connection with the analog quantity measuring module;
the signal input end of the analog quantity measuring module is connected with the output end of the MOS inverter circuit, and the output end of the analog quantity measuring module is connected with the ADC module; the ADC module is used for acquiring the analog quantity output by the analog quantity measuring module, converting the analog quantity into a digital signal and sending the digital signal to the MCU control unit.
6. The cooperative robot joint motor drive circuit according to claim 5, characterized in that:
the analog quantity measuring module comprises a current detecting unit, and the current detecting unit comprises an amplifying circuit;
the signal input end of the amplifying circuit is connected with the lower bridge arm of the MOS inverter circuit, and the output end of the amplifying circuit is connected with the ADC module; the amplifying circuit is used for amplifying the negative voltage of the MOS inverter circuit to a designated interval and sending the negative voltage to the ADC module; the ADC module is used for acquiring the current analog quantity output by the current detection unit, converting the current analog quantity into a digital signal and sending the digital signal to the MCU control unit.
7. The cooperative robot joint motor drive circuit according to claim 6, characterized in that:
the current detection unit further comprises a comparator;
the signal input end of the comparator is connected with the signal output end of the amplifying circuit, the signal output end of the comparator is connected with the ADC module, the comparator is used for outputting a comparison signal to the ADC module when the current value of the amplifying circuit is too large, and the comparison signal is used for triggering the MCU control unit to stop outputting the PWM instruction.
8. The cooperative robot joint motor drive circuit according to claim 5, characterized in that:
the analog quantity measuring module comprises a voltage detecting unit, and the current detecting unit comprises a divider resistor and a filter circuit;
one end of the divider resistor is connected with the output end of the MOS inverter circuit, the other end of the divider resistor is connected with the input end of the filter circuit, and the output end of the filter circuit is connected with the input end of the ADC module; the ADC module is used for acquiring the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and sending the digital signal to the MCU control unit.
9. The cooperative robot joint motor drive circuit according to claim 1, characterized in that:
the power supply module comprises a first voltage reduction circuit, a second voltage reduction circuit, a third voltage reduction circuit and a fourth voltage reduction circuit;
the input end of the first voltage reduction circuit is connected with a power bus, and the output end of the first voltage reduction circuit is connected with the input ends of the second voltage reduction circuit and the third voltage reduction circuit; the input end of the fourth voltage reduction circuit is connected with the output end of the second voltage reduction circuit, and the output end of the fourth voltage reduction circuit is used for supplying power to the DSP digital signal processor and the EtherCAT slave station controller; the output end of the second voltage reduction circuit is used for supplying power to the CAN transceiver, the motor driving circuit and the position sensor module; and the output end of the third voltage reduction circuit is used for supplying power to the analog quantity measurement module.
10. The cooperative robot joint motor drive circuit according to claim 1, characterized in that:
the DSP digital signal processor is a DSP28069M digital signal processor;
the EtherCAT slave station controller is a LAN9252I/PT slave station controller;
the CAN transceiver is a TJA1050T signal transceiver.
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