CN114714353B - Joint motor driving circuit of cooperative robot - Google Patents
Joint motor driving circuit of cooperative robot Download PDFInfo
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- CN114714353B CN114714353B CN202210373298.5A CN202210373298A CN114714353B CN 114714353 B CN114714353 B CN 114714353B CN 202210373298 A CN202210373298 A CN 202210373298A CN 114714353 B CN114714353 B CN 114714353B
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Classifications
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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 driving circuit of a cooperative robot, which is characterized by comprising the following components: 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 is used for carrying out parameter exchange between the upper computer and the MCU control unit when the cooperative robot is in a debugging stage; the EtherCAT slave station controller is connected with the first SPI interface and is used for exchanging information of position control instructions with the external controller when the cooperative robot is in a working state. According to the application, the CAN communication protocol and the etherCat communication protocols are used for respectively carrying out information transmission at different stages, so that the high-precision control of 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 of flood of manufacturing industry transformation and upgrading, intelligent robots will go deeper and deeper into our work and life. The cooperative robot, as the name implies, can cooperate with the human on the production line to fully exert the efficiency of the robot and the intelligence of the human. Due to the flexibility, high precision, safety and good perceptibility of the cooperative robot in production, the cooperative robot is widely used in the field of industrial production and manufacturing, and even has a development trend of being used as medical equipment in the medical field in the future.
The working principle of the cooperative robot is that electric energy is converted into mechanical energy, and the mechanical arm motion with 4-7 degrees of freedom is realized. In the prior art, under the condition of realizing the high degree of freedom of the mechanical arm, the stability performance 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, as the communication between the joint modules is serial communication, the time for receiving the instruction is in sequence, and the modules for executing the instruction are also in 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 not high, 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 not high, and the action is dithered.
Disclosure of Invention
The embodiment of the application provides a joint motor driving circuit of a cooperative robot, which is provided with two communication protocols, namely CAN communication and etherCat, wherein parameter exchange between an upper computer and an MCU control unit is performed in a debugging stage through CAN communication, and exchange of position related information and instructions between the cooperative robot and an external controller is performed through an EtherCAT protocol with higher communication frequency, so that high-precision control of a mechanical arm of the cooperative robot is realized, and the multi-joint synchronization rate is improved.
Based on the above background technical problems, an embodiment of the present application provides a driving circuit for a joint motor of a cooperative robot, which is characterized by comprising:
A cooperative robot joint motor drive circuit, comprising:
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 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 carrying out parameter exchange 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 a first SPI interface;
The EtherCAT slave station controller is used for receiving a control instruction of the external controller through the signal input end and sending the control instruction to the MCU control unit through the signal output end when the cooperative robot is in a working state;
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 transmitting the position information to the external controller through the signal output end.
Further, the motor driving circuit is also included;
The motor driving circuit comprises a driving signal input end and a driving signal output end, wherein the driving signal input end is connected with the MCU control unit in a signal manner, 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 output to the joint motor.
Further, the motor driving circuit comprises an MOS inverter circuit, wherein 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 PWM instructions output by the MCU control unit and sending the PWM instructions to the MOS inverter circuit.
Further, 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 externally exposed to the interface; 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 motor shaft position 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 60 degrees of motor shaft resolution and sending the absolute angle to the MCU control unit through the GPIO interface;
The signal input end of the incremental encoder is connected with the motor shaft position 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 control unit;
the signal input end of the absolute value encoder is connected with the output shaft of the joint motor in a signal way, 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 control unit through the second SPI interface.
Further, the device also comprises an analog measurement 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 measurement 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 obtaining 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 measurement module comprises a current detection unit, and the current detection 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 obtaining the current analog quantity output by the current detection unit, converting the current analog quantity into a digital signal and transmitting the digital signal to the MCU control unit.
Further, 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 overlarge, 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 voltage dividing resistor is connected with the output end of the MOS inverter circuit, the other end of the voltage dividing 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 obtaining the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and transmitting the digital signal to the MCU control unit.
Further, the power supply module comprises a first voltage reducing circuit, a second voltage reducing circuit, a third voltage reducing circuit and a fourth voltage reducing 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 the upper computer and the MCU control unit is carried out during the debugging stage through the CAN communication, and exchange between position related information and instructions between the cooperative robot and an external controller is carried out through the EtherCAT protocol with higher communication frequency, so that the tracking capability of the mechanical arm on the position instructions is greatly improved, the high-precision control of 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 through the position sensor acquisition module, so that the stability and the accuracy 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 by the overcurrent protection mechanism.
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Drawings
FIG. 1 is a schematic circuit block diagram of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 2 is a schematic circuit diagram of a CAN communication interface of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 3 is a schematic circuit diagram of an EtherCAT protocol slave controller of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 4 is a schematic circuit diagram of a memory of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 5 is a schematic diagram of an Ethernet transformer of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 6 is a schematic circuit diagram of a motor drive circuit of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 7 is a schematic diagram of a two-way MOS tube controller for a cooperative robot joint motor drive circuit, provided in an exemplary embodiment;
FIG. 8 is a schematic circuit diagram of an incremental encoder of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 9 is a schematic circuit diagram of an absolute value encoder of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 10 is a schematic circuit diagram of a Hall sensor of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 11 is a schematic circuit diagram of a current detection unit of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 12 is a schematic circuit diagram of a voltage detection unit of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 13 is a circuit schematic of a first voltage step-down circuit and a second voltage step-down circuit of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
FIG. 14 is a circuit schematic of a third voltage step-down circuit of a cooperative robot joint motor drive circuit provided in one exemplary embodiment;
Fig. 15 is a circuit schematic of a fourth voltage step-down 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 apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the application, are intended to be within the scope of the embodiments of the present application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the application. As used in 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 or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application as detailed in the accompanying claims. In the description of the present application, it should be understood that the terms "first," "second," "third," and the like are used merely to distinguish between similar objects and are not necessarily used to describe a particular order or sequence, nor should they be construed to indicate or imply relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
EtherCAT, the ethernet control automation technology, is a deterministic industrial ethernet. The EtherCAT protocol is optimized for program data, and uses standard IEEE 802.3 Ethernet frame transmission, ethertype is 0x88a4, its data sequence is irrelevant to the physical sequence of equipment on the website, and the addressing sequence is not limited. In the EtherCAT network, when a data frame passes through EtherCAT nodes, the nodes copy data and transmit the data to the next node, and meanwhile, the data corresponding to the node is identified and processed correspondingly; if the node needs to send out data, 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, only one frame of data is used for all nodes on the network to transmit and receive data. In industrial application, the microprocessor of the EtherCAT slave station does not need to process the Ethernet packet, so that the data update time (period time) is very 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 a joint motor driving circuit of a cooperative robot, which combines two communication of a CAN communication protocol and the EtherCAT communication protocol, performs communication between a joint and an upper computer through the CAN protocol, performs communication between the joint and a controller and an encoder through the EtherCAT protocol, improves the multi-joint synchronization rate of the cooperative robot, and prevents the action of a mechanical arm from shaking.
As shown in fig. 1, the joint motor driving circuit of the cooperative robot according to the embodiment of the present application includes a DSP digital signal processor, a CAN transceiver, an EtherCAT slave station controller, an analog measurement module, a position sensor module, a motor driving circuit, and a power module (not shown). The DSP digital signal processor externally comprises a plurality of interfaces, including 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 each digital signal processing module are connected with the MCU control unit of the DSP digital signal processor in a signal way. 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 measurement 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 for each module.
As shown in fig. 2, fig. 2 is a circuit schematic 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 the 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 obtains the level signals CAN_Tx1 and CAN_Rx4 sent by the CAN transceiver through a CAN interface and reads parameters. Meanwhile, the MCU control unit feeds relevant state information in the joint motor driving circuit back to an external upper computer through the CAN transceiver and the CAN interface. Namely, the MCU realizes data exchange with the upper computer through the CAN protocol. In this embodiment, the data exchanged by the CAN transceiver is generally a relevant parameter during the commissioning phase of the robotic arm of the collaborative robot, and the model of the CAN transceiver is a TJA1050TCAN transceiver.
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 the 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 and sending the control instruction to the MCU control unit through the signal output end when the cooperative robot is in a working state; the EtherCAT slave station controller is further configured to receive, when the cooperative robot is in a working state, the position information output by the MCU control unit through the signal output end, and send the position information to the external controller through the signal output end, where 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 also includes memory interfaces EESDA/TMS and EESCL/TCK for storing a portion of the data in memory while receiving 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 IIC.
In a preferred embodiment, the EtherCAT slave station controller is also connected to an ethernet transformer as shown in fig. 5 for signal transmission, impedance matching, waveform restoration, signal clutter suppression, high voltage isolation, etc. In this embodiment, the Ethernet transformer is 30F-51NL.
As shown in fig. 6, fig. 6 is a circuit schematic diagram of a motor driving circuit, the motor driving circuit comprises a MOS inverter circuit, the MOS inverter circuit comprises a MOS transistor controller and a MOS transistor, and the MOS transistor controller is connected with the MOS transistor and is used for controlling on-off of the MOS transistor; the DSP digital signal processor also comprises an ePWM module; one end of the ePWM module is connected with the MCU control unit in a signal way, 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 PWM instructions output by the MCU control unit and sending the PWM instructions to the MOS inverter circuit.
In this embodiment, as shown in fig. 7, the MOS transistor controller includes three two-way MOS transistor controllers, which totally control 6 MOS transistors VT1-6 to modulate the three-phase alternating current. The model of the two-way MOS tube controller is IRS2005STRPBF two-way 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 motor shaft position 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 resolution of 60 degrees and sending the absolute angle to the MCU control unit through the GPIO interface.
The signal input end of the incremental encoder is connected with the motor shaft position 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 after the motor shaft rotates and sending position information in a pulse form to the QEP module; the QEP module is used for decoding the information output by the incremental encoder and the Hall sensor, acquiring the absolute position information of the motor shaft and transmitting the absolute position information to the MCU control unit.
The signal input end of the absolute value encoder is connected with the output shaft of the joint motor in a signal way, and the signal output end of the absolute value encoder is connected with the SPIA; the absolute value encoder is used for sending the obtained output shaft position information to the MCU control unit through the SPIA.
The analog measurement module includes a current detection unit as shown in fig. 11 and a voltage detection 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 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 overlarge, and the comparison signal is used for triggering the MCU control unit to stop outputting PWM instructions.
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 obtaining the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and transmitting the digital signal to the MCU control unit.
The power supply module includes a first voltage step-down circuit and a second voltage step-down circuit as shown in fig. 13, a third voltage step-down circuit as shown in fig. 14, and a fourth voltage 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 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; the output end of the third voltage reduction circuit is used for supplying power to the analog measurement module.
The following describes a joint motor driving circuit of a cooperative robot and its working principle according to an embodiment of the present application 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 ultra-fast rectifier power supply to be transformed into 24V, the transformed 24V power supply is divided into two paths, one path of the power supply voltage is changed into 5V through an LMR14020 rectifying circuit, and the other path of the power supply voltage is changed into 12V through an MC7812ACTG linear voltage-stabilizing tube circuit. The 5V power supply is changed into 3.3V through a linear voltage stabilizing tube AMS1117-3.3 circuit. The 12V direct current is used for supplying power to the DSP digital signal processor and the EtherCAT slave station controller, the 5V direct current is used for supplying power to the CAN transceiver, the motor driving circuit and the position sensor module, and the 3.3V direct current is used for supplying power to the analog measuring module.
When the power module starts to supply power and the cooperative robot is in a debugging stage, the DSP digital signal processor exchanges parameters with the upper computer in the debugging stage through the CAN transceiver, and when the debugging stage is finished, the CAN transceiver stops exchanging parameters.
The position sensor module obtains the position of a motor shaft and the position of an output shaft after the motor shaft is output by the speed reducer. The purpose of obtaining the motor shaft position is to prepare for motor driving, in this embodiment, the driving motor is a permanent magnet synchronous motor, and the permanent magnet synchronous motor needs the absolute position of the motor shaft to operate. Thus, an incremental encoder combined with a hall position sensor is used to obtain the absolute position. The incremental encoder is powered up without knowledge of the current absolute position, but the hall position sensor can provide an absolute position with a resolution of 60 °, i.e. it has 6 states for one revolution. When the power-on is performed, an absolute position is obtained according to the Hall state, and the incremental encoder is initialized at the position, so that the incremental encoder can have an absolute position with the accuracy of plus or minus 30 degrees and can be driven by a motor for use. The accurate absolute position can be obtained after the incremental encoder acquires the Z signal after the motor drive shaft rotates for at most one circle. The output shaft position is acquired for joint position control. Because the speed reducer has a certain return clearance and deformation, if the motor shaft angle is directly converted into the output shaft angle, the accuracy is not high, and therefore the absolute value position sensor is independently used for measuring the position of the output shaft. The incremental encoder sends the obtained position information embodied in the pulse form to the QEP module for decoding, and the decoded data is sent to the MCU control unit. The absolute value encoder sends the acquired information to the MCU control unit through the SPIA interface.
When the cooperative robot is in a working state, the LAN9252I/PT slave station controller acquires control instructions output by an external controller and an encoder 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 slave controller also receives measurement information including, but not limited to, analog data inside the driving circuit transmitted 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 MCU control unit executes a joint driving algorithm according to the above information after acquiring the debugging parameters sent by the upper computer and the control instruction sent by the LAN9252I/PT slave station controller, and 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. According to the PWM command, the motor driving circuit controls the on-off of the 6 MOS tubes through the 3 IRS2005STRPBF double-circuit MOS tube controllers to carry out PWM modulation, and converts the 12V direct current obtained from the power supply module into three-phase alternating current for driving the motor.
The analog measurement module is connected with the lower bridge arm of the MOS inverter circuit, and the amplifying circuit outputs the voltage to the ADC module through the interval of 0-3.3V amplified by the amplifier INA240A1PW in the negative voltage circuit. 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 the relevant signal feedback of the three-phase alternating current in real time. When the three-phase alternating current is overlarge, the comparator triggers a protection function in the MCU control unit, and the MCU control unit sends a control instruction for stopping PWM output. Thus, the control of the motor and the overcurrent protection of the motor are realized through the detection of the current and the voltage of the motor.
The measuring frequency of the analog quantity measuring module is the same as the control frequency 15k of the motor, the analog quantity measuring module is triggered by the hardware of the MCU control unit, and the ADC module is triggered to collect analog quantity when the MCU control unit controls the generation of PWM.
The measuring frequency of the position sensing module is the same as the motor control frequency and is 15k. The external software is used for controlling and triggering the acquisition of the position information, and the interruption software is triggered to read the 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 the upper computer and the MCU control unit is carried out during the debugging stage through the CAN communication, and exchange between position related information and instructions between the cooperative robot and an external controller is carried out through the EtherCAT protocol with higher communication frequency, so that the tracking capability of the mechanical arm on the position instructions is greatly improved, the high-precision control of 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 through the position sensor acquisition module, so that the stability and the accuracy 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 by the overcurrent protection mechanism.
It is to be understood that the embodiments of the application are not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of embodiments of the application is limited only by the appended claims.
The above examples merely represent a few implementations of the present examples, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made to the present application without departing from the spirit of the embodiments of the application.
Claims (10)
1. A cooperative robot joint motor drive circuit, comprising:
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 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 carrying out parameter exchange 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 a first SPI interface;
The EtherCAT slave station controller is used for receiving a control instruction of the external controller through the signal input end and sending the control instruction to the MCU control unit through the signal output end when the cooperative robot is in a working state;
The EtherCAT slave station controller is also used for receiving the position information output by the MCU control unit through the signal output end and transmitting the position information to the external controller through the signal input end when the cooperative robot is in a working state, and the EtherCAT slave station controller is used for communicating the joint with the external controller through the EtherCAT protocol.
2. The cooperative robot joint motor drive circuit of claim 1, wherein:
the motor driving circuit is also included;
The motor driving circuit comprises a driving signal input end and a driving signal output end, wherein the driving signal input end is connected with the MCU control unit in a signal manner, 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 output to the joint motor.
3. The cooperative robot joint motor drive circuit according to claim 2, wherein:
the motor driving circuit comprises an MOS inverter circuit, wherein 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 PWM instructions output by the MCU control unit and sending the PWM instructions to the MOS inverter circuit.
4. A cooperative robot joint motor drive circuit as claimed in claim 3, wherein:
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 externally exposed to the interface; 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 motor shaft position 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 60 degrees of motor shaft resolution and sending the absolute angle to the MCU control unit through the GPIO interface;
The signal input end of the incremental encoder is connected with the motor shaft position 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 control unit;
the signal input end of the absolute value encoder is connected with the output shaft of the joint motor in a signal way, 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 control unit through the second SPI interface.
5. The cooperative robot joint motor drive circuit of claim 4, wherein:
The system 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 measurement 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 obtaining 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 of claim 5, wherein:
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 obtaining the current analog quantity output by the current detection unit, converting the current analog quantity into a digital signal and transmitting the digital signal to the MCU control unit.
7. The cooperative robot joint motor drive circuit of claim 6, wherein:
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 overlarge, 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 of claim 5, wherein:
the analog quantity measuring module comprises a voltage detecting unit, wherein the voltage detecting unit comprises a divider resistor and a filter circuit;
One end of the voltage dividing resistor is connected with the output end of the MOS inverter circuit, the other end of the voltage dividing 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 obtaining the voltage analog quantity output by the voltage detection unit, converting the voltage analog quantity into a digital signal and transmitting the digital signal to the MCU control unit.
9. The cooperative robot joint motor drive circuit of claim 5, wherein: the power supply module is also included;
the power supply module comprises a first voltage reducing circuit, a second voltage reducing circuit, a third voltage reducing circuit and a fourth voltage reducing 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 of claim 1, wherein:
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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