CN114895631B - Servo driver, servo system and robot - Google Patents
Servo driver, servo system and robot Download PDFInfo
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- CN114895631B CN114895631B CN202210502576.2A CN202210502576A CN114895631B CN 114895631 B CN114895631 B CN 114895631B CN 202210502576 A CN202210502576 A CN 202210502576A CN 114895631 B CN114895631 B CN 114895631B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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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
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Abstract
The application relates to a servo driver, a servo system and a robot, which comprise a master controller, a slave controller and a parameter acquisition module, wherein the master controller is connected with the slave controller; the main controller sends a first motor turn-off signal to the servo motor according to the stop signal to stop the operation of the servo motor; the parameter acquisition module acquires motor operation parameters of the servo motor and sends the motor operation parameters to the slave controller; the slave controller judges whether the servo motor stops running under the control of the first motor turn-off signal according to the motor running parameters, if not, the slave controller sends out the second motor turn-off signal to stop running of the servo motor, and simultaneously sends out an abnormal control command to stop the main controller, so that potential safety hazards and equipment life reduction caused by directly triggering turn-off of the band-type brake are avoided, meanwhile, the control function is finished through the double controllers of different structures, common cause failure is avoided, and the running safety of the robot is ensured.
Description
Technical Field
The present disclosure relates to the field of servo drives, and in particular, to a servo drive, a servo system, and a robot.
Background
With the development of industrial automation technology, servo systems are increasingly used in various industries of industrial control. Particularly in the control field of equipment such as industrial robots and cooperative robots, servo drivers are often adopted to control servo motors to work in a position, speed, torque and other modes, so that mechanical parts in the equipment such as the industrial robots and the cooperative robots are driven to operate, and high-precision movement and positioning are realized.
However, with the popularization of applications, higher requirements are also put on the safety of the operation process of the servo system, especially in the field of cooperative robots. When the traditional servo driver needs emergency stop, the contracting brake is usually triggered to be turned off, so that the motor stops running under the action of the brake. However, as the reaction time for triggering to turn off the band-type brake is longer, when the motor runs at a high speed, the band-type brake is to be triggered to turn off until the motor is completely stopped, and the motor has run for a longer time, so that unpredictable danger is caused, and the motor has a larger potential safety hazard.
Disclosure of Invention
Based on this, it is necessary to provide a servo driver, a servo system and a robot aiming at the problem that the conventional servo driver has a great potential safety hazard in the operation process.
A servo driver, comprising: the system comprises a master controller, a slave controller and a parameter acquisition module, wherein the master controller and the slave controller are controllers with different construction types, the master controller is connected with the slave controller, the master controller and the slave controller are both connected with a servo motor of a servo system, and the parameter acquisition module is connected with the slave controller and the servo motor;
the main controller is used for sending a first motor turn-off signal to the servo motor according to a stop signal so as to stop the servo motor from running;
the parameter acquisition module is used for acquiring motor operation parameters of the servo motor and sending the motor operation parameters to the slave controller;
and the slave controller is used for sending a second motor turn-off signal to the servo motor to stop the servo motor when judging that the servo motor is not stopped under the control of the first motor turn-off signal according to the motor operation parameters, and sending an abnormal control instruction to the master controller to stop the master controller.
In one embodiment, the master controller and the slave controller are also connected with a brake of the servo system;
the main controller is also used for sending a first band-type brake control signal to the brake when the stop signal is an emergency stop signal so as to enable the brake band-type brake to brake;
and the slave controller is also used for sending a second band-type brake control signal to the brake when the servo motor is not controlled by the first motor turn-off signal to stop running, so that the brake band-type brake is braked.
In one embodiment, the first motor turn-off signal and the second motor turn-off signal are both used for sending to a three-phase bridge of the servo motor, so that a lower bridge of the three-phase bridge is conducted for a preset duration at a first preset time interval until the servo motor stops running.
In one embodiment, the master controller and the slave controller are both connected with a control device of the robot, and the master controller is also connected with the parameter acquisition module;
the master controller is also used for receiving a motion instruction sent by the control device, calculating a first motion control signal according to the motion instruction and the motor operation parameter, and sending the first motion control signal to the servo motor and the slave controller;
the slave controller is further configured to receive a motion command sent by the control device, calculate a second motion control signal according to the motion command and the motor operation parameter, compare the second motion control signal with the first motion control signal to obtain a comparison result, and send the abnormal control command to the master controller when the comparison result is inconsistent, so that the master controller stops working.
In one embodiment, the slave controller is further configured to send an alarm message to the control device when the servo motor is not stopped under the control of the first motor off signal, or when the comparison result is inconsistent.
In one embodiment, the parameter acquisition module includes an electrical parameter acquisition unit and an action parameter acquisition unit, where the electrical parameter acquisition unit and the action parameter acquisition unit are connected to the master controller, the slave controller and the servo motor.
In one embodiment, the electrical parameter obtaining unit includes a current sensor and a current conversion circuit, the current sensor is connected to the servo motor and the current conversion circuit, and the current conversion circuit is connected to the master controller and the slave controller.
In one embodiment, the motion parameter obtaining unit includes a motor encoder, a speed reducer encoder and a code conversion circuit, the motor encoder is connected with the motor of the servo motor and the code conversion circuit, the speed reducer encoder is connected with the speed reducer of the servo motor and the code conversion circuit, and the code conversion circuit is connected with the master controller and the slave controller.
In one embodiment, a servo system is provided, which comprises a servo motor, a brake and any one of the servo drivers, wherein the servo motor is connected with the brake, the servo driver and a mechanical part of a robot, and the servo driver is connected with the brake and a control device of the robot.
In one embodiment, a robot is provided, which includes a control device and the above-mentioned servo system, and further includes two or more mechanical components, where the control device is connected to each of the mechanical components through the servo system.
Above-mentioned servo driver, servo and robot, adopt main control unit when receiving stop signal, send first motor shut-off signal and make servo motor stop operation, follow the motor operating parameter of controller monitoring servo motor stop operation in-process, judge whether servo motor stop operation under main control unit's control, if not, follow the control right that the controller shut-off and connect main control unit, send second motor shut-off signal and make servo motor stop operation, avoid direct trigger to shut-off the potential safety hazard and the equipment life-span reduction that the hard shut-off mode of band-type brake caused, accomplish servo control function through two controllers of different frameworks simultaneously, avoid the common cause to become invalid, guarantee the security of robot in-process of operation.
Drawings
FIG. 1 is a system block diagram of a servo driver in one embodiment;
FIG. 2 is a control flow diagram of a servo driver in one embodiment;
FIG. 3 is a system block diagram of a servo system in one embodiment;
FIG. 4 is a system block diagram of a servo system in another embodiment;
fig. 5 is a system block of a robot in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first resistance may be referred to as a second resistance, and similarly, a second resistance may be referred to as a first resistance, without departing from the scope of the present application. Both the first resistor and the second resistor are resistors, but they are not the same resistor.
It is to be understood that in the following embodiments, "connected" is understood to mean "electrically connected", "communicatively connected", etc., if the connected circuits, modules, units, etc., have electrical or data transfer between them.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.
As described in the background art, the servo system is increasingly used in various industries of industrial control, but with the popularization of the application, the safety of the operation process also puts higher demands, especially in the field of cooperative robots. The servo system comprises a servo motor, a brake and a servo driver. The servo motor is an engine in the servo system for controlling mechanical parts of the robot to operate; the brake can tightly hold the servo motor under the condition of no power so as to stop the motion of the servo motor; the servo driver can control the servo motor to work in modes of position, speed, moment and the like, so that mechanical parts of the robot are driven to operate, and high-precision movement and positioning are realized.
When the existing servo driver needs emergency stop, the contracting brake is usually triggered to be turned off, so that the motor stops running under the action of the brake. However, as the reaction time for triggering to turn off the band-type brake is longer, when the motor runs at a high speed, the band-type brake is to be triggered to turn off until the motor is completely stopped, and the motor has run for a longer time, so that unpredictable danger is caused, and the motor has a larger potential safety hazard. Meanwhile, the hard turn-off mode can greatly reduce the service life of the band-type brake. When the servo motor is provided with a speed reducer, the speed reducer is suddenly increased by several times due to axial force, and the mechanical life is greatly reduced.
Based on this, this embodiment of the application provides a servo driver, servo system and robot, adopt main control unit when receiving stop signal, send first motor shut-off signal and make servo motor stop operation, follow the motor operating parameter of controller monitoring servo motor stop operation in-process, judge whether servo motor stop operation under main control unit's control, if not, follow the control right that the controller shut-off and connect main control unit, send second motor shut-off signal and make servo motor stop operation, avoid direct triggering to turn off the potential safety hazard and the equipment life-span reduction that the hard shut-off mode that the band-type brake caused, accomplish servo system's control function through two controllers of different structures simultaneously, avoid common cause to lose efficacy, guarantee the security of robot in-process.
In one embodiment, as shown in fig. 1, a servo driver 230 is provided, which includes a master controller 231, a slave controller 232 and a parameter obtaining module 233, wherein the master controller 231 and the slave controller 232 are controllers with different architecture types, the master controller 231 is connected with the slave controller 232, the master controller 231 and the slave controller 232 are both connected with a servo motor 210 of the servo system 20, and the parameter obtaining module 233 is connected with the slave controller 232 and the servo motor 210; the main controller 231 is configured to send a first motor shutdown signal to the servo motor 210 according to the stop signal, so that the servo motor 210 stops running; the parameter obtaining module 233 is configured to obtain a motor operation parameter of the servo motor 210, and send the motor operation parameter to the slave controller 232; the slave controller 232 is configured to send a second motor shutdown signal to the servo motor 210 to stop the servo motor 210 when it is determined that the servo motor 210 is not stopped under the control of the first motor shutdown signal according to the motor operation parameter, and send an abnormal control instruction to the master controller 231 from the slave controller 232 to stop the master controller 231.
The stop signal is a signal for stopping the servo driver 230 from controlling the servo motor 210 or the entire servo system 10. The source of the stop signal is not unique, and may be determined by the servo driver 230 according to the motor operation parameter or the external sensor state parameter acquired by the parameter acquisition module 233, or may be determined by an external device according to data and then input to the servo driver 230. For example, the control device 10 of the robot may be input to the servo driver 230, or an external scram device added to the robot system may be input to the servo driver 230. The type of the STOP signal varies depending on the actual operation of the robot, and may be, for example, an emergency STOP (E-STOP), a safety STOP1 (Safe STOP1, SS 1), a safety STOP 2 (SS 2), a safety STOP 3 (SS 2), a Speed Limit (SLS), or the like. The process of obtaining the stop signal according to the parameters can refer to the conventional means of those skilled in the art, and will not be described in detail.
Specifically, the stop signal may act on the master controller 231 and the slave controller 232 of the servo driver 230. The master controller 231 is used as an operation CPU (Central Processing Unit ) for controlling the servo motor 210 according to the stop signal, the slave controller 232 is used as a monitoring CPU for controlling the servo motor 210 according to the stop signal, so as to monitor whether the control process of the master controller 231 is effective, and if not, the control of the master controller 231 on the servo motor 210 can be cut off and taken over at any time. It is understood that the master controller 231 and the slave controller 232 may be controllers of architecture types such as FPGA (Field Programmable Gate Array ), DSP (Digital Signal Process, digital signal processor), ARM (Advanced RISC Machine, RISC microprocessor) or MCU (Micro Controller Unit, micro control unit). But the master controller 231 and the slave controller 232 are two different architecture type controllers. For example, the main controller 231 may be an FPGA, the slave controller 232 may be a DSP, the main controller 231 may be an ARM, and the slave controller 232 may be an FPGA, without limitation.
Further, after the main controller 231 obtains the stop signal, the first motor turn-off signal is sent to the servo motor 210 according to the stop signal, so that the servo motor 210 stops running. Meanwhile, in the process that the servo motor 210 stops operating according to the first motor off signal, the parameter acquisition module 233 acquires motor operation parameters of the servo motor 210 in real time and transmits the motor operation parameters to the slave controller 232. The slave controller 232 monitors whether the servo motor 210 is stopped under the control of the first motor off signal based on the received motor operation parameter. If not, a second motor-off signal is sent from the controller 232 to the servo motor 210 to stop the servo motor 210, and an abnormal control command is sent from the controller 232 to the main controller 231 to stop the main controller 231.
The manner of monitoring, by the slave controller 232, whether the servo motor 210 is stopped under the control of the first motor shutdown signal according to the received motor operation parameter is not unique, and may be determined by monitoring a change rate of the motor operation parameter in a unit time, or by monitoring whether the motor operation parameter changes to a set threshold value in a preset time, and the specific manner may be determined according to a type of an actual servo motor and a type of the motor operation parameter. For example, in the present embodiment, when the motor operation parameter is the rotational speed of the motor, the slave controller 232 may determine whether the servo motor 210 achieves the stop operation under the control of the first motor off signal by monitoring whether the rotational speed of the motor has a decreasing trend within 1 ms. Further, an abnormal control command issued from the controller 232 may be used to cut off a power supply signal or an enable signal of the main controller 231 to stop the main controller 231 from operating.
The first motor turn-off signal and the second motor turn-off signal are used for sending to the servo motor 210 to stop the operation. It will be appreciated that the servo motor 210 normally drives the mechanical parts of the robot to operate by the servo driver's main controller 231 sending motion control signals to the servo motor 210. The first motor-off signal or the second motor-off signal may correspond to the main controller 231 or the slave controller 232 stopping sending the motion control signal to the servo motor 210 to stop the operation thereof, further stopping the operation of the mechanical parts driving the robot.
Correspondingly, the first motor turn-off signal and the second motor turn-off signal are consistent with the motion control signal, and are both used for being sent to the three-phase bridge of the servo motor 210, controlling the on state of the MOS tube in the three-phase bridge of the servo motor 210, and further controlling the running state of the servo motor 210. Specifically, after receiving the stop signal, the main controller 231 sends a first motor turn-off signal to turn off all MOS transistors of the upper bridge of the three-phase bridge of the servo motor 210, and simultaneously turns on all MOS transistors of the lower bridge of the three-phase bridge of the servo motor 210. At this time, the servo motor 210 is converted from the original consumed power to a generator due to the rotation of inertia, and a reverse electromotive force opposite to the running direction of the motor is generated inside the generator. When the rotation speed is higher, the reverse electromotive force is higher, and the resistance for preventing the rotation is higher, so that the aim of rapid speed reduction is fulfilled.
Further, to avoid damaging the MOS transistors in the three-phase bridge due to excessive reverse current, in one embodiment, the first motor turn-off signal is used to cause the lower bridge of the three-phase bridge of the servomotor 210 to be turned on for a preset period of time at a first preset time interval until the servomotor 210 stops running. The specific values of the first preset time interval and the preset time length are not unique, and can be set according to actual requirements. For example, in this embodiment, the first preset time interval and the preset duration are both set to 1ms, after receiving the stop signal, the main controller 231 sends a first motor turn-off signal to turn off all MOS tubes of the upper bridge of the three-phase bridge of the servo motor 210 within the first 1ms duration, and simultaneously turn on all MOS tubes of the lower bridge of the three-phase bridge of the servo motor 210; then, in the second 1ms duration, all MOS tubes of an upper bridge and a lower bridge of the three-phase bridge of the servo motor 210 are turned off; and turning off all MOS tubes of an upper bridge of the three-phase bridge of the servo motor 210 within the third 1ms duration, and simultaneously turning on all MOS tubes of a lower bridge of the three-phase bridge of the servo motor 210, so that the cycle is performed until the servo motor 210 stops running. In this embodiment, the purpose of stopping the motor rapidly is achieved by conducting the lower bridge of the three-phase bridge of the servo motor 210 at intervals, and damage to motor equipment is avoided.
Similarly, when the slave controller 232 determines that the servo motor 210 does not realize the stop operation under the control of the first motor shutdown signal according to the motor operation parameter, the function of the second motor shutdown signal sent is consistent with the limitation of the first motor shutdown signal described above, and details are not repeated. The communication method between the master controller 231 and the slave controller 232 is not limited to the single method, and may be realized by SPI, RS232 serial port, or parallel communication.
According to the servo driver, when the main controller receives the stop signal, the first motor turn-off signal is sent to stop the servo motor, the slave controller monitors motor operation parameters in the stop operation process of the servo motor, whether the servo motor stops operation under the control of the main controller is judged, if not, the slave controller turns off and takes over the control right of the main controller, the second motor turn-off signal is sent to stop the servo motor, potential safety hazards and equipment life reduction caused by a hard turn-off mode of directly triggering turn-off band-type brake are avoided, meanwhile, the control function of the servo system is finished through two controllers of different structures, common cause failure is avoided, and the safety in the operation process of the robot is ensured.
It will be appreciated that different stop signal types may be required for the servo system to make different stop actions. For example, when the Stop signal is a safety Stop1 (ss1) signal sent by a door switch, a safety light curtain, or the like, the servo driver 230 may be configured to control the servo motor 210 to Stop completely and then disconnect the band-type brake. When the stop signal is an emergency stop signal that triggers the emergency stop switch, i.e. the Safe Torque Off (STO), the servo driver 230 needs to send a band-type brake control signal to disconnect the band-type brake while controlling the servo motor 210 to stop according to the stop signal.
Thus, in one embodiment, as shown in FIG. 1, master controller 231 and slave controller 232 are also connected to brake 220 of servo 20; the main controller 231 is further configured to send a first band-type brake control signal to the brake 220 when the stop signal is an emergency stop signal, so that the brake 220 band-type brake brakes; the slave controller 232 is further configured to send a second band-type brake control signal to the brake 220 when the servo motor 210 is not under the control of the first motor turn-off signal to stop running, so as to enable the brake 220 to band-type brake.
Specifically, the master controller 231 and the slave controller 232 are connected with the band-type brake MOS tube in the brake 220, and output a band-type brake control signal to the band-type brake MOS tube in the brake 220, so as to control the suction and the closing of the band-type brake MOS tube, and further control the brake 220 to hold the servo motor 210 tightly, so that the servo motor 210 is in a non-enabled state.
Further, when the stop signal is an emergency stop signal, the main controller 231 sends a first motor shutdown signal and a first band-type brake control signal to the brake 220. Because of the inductance of the brake 220, the brake is held tightly against the servo motor 210 according to the first band-type brake control signal, and the operation stop time of the servo motor 210 according to the first motor turn-off signal is longer than that of the brake. It will be appreciated that at the time when the brake 220 is holding the servo motor 210 according to the first band-type brake control signal, the rotational speed of the servo motor 210 is already reduced due to the first motor turn-off signal, the kinetic energy is smaller, and the brake 220 can quickly implement the band-type brake.
Meanwhile, when the slave controller 232 determines that the servo motor 210 is not stopped under the control of the first motor off signal according to the motor operation parameter, the slave controller 232 also sends a second band-type brake control signal to the brake 220, so that the brake 220 band-type brakes. It can be appreciated that the process of controlling the brake 220 by the second brake control signal is consistent with the first brake control signal, which will not be described in detail.
In addition, in the case that the stop signal is not an emergency stop signal, the main controller 231 may send a first band-type brake control signal to the brake 220 to enable the brake 220 to band-type brake when it is determined that the servo motor 210 has stopped operating according to the motor operating parameter acquired by the parameter acquisition module 233.
In this embodiment, by controlling the servo motor to reduce the rotation speed and then making the brake band-type brake to be attracted and turned off, the band-type brake friction of the brake can be reduced, so that the service life of the brake is prolonged, meanwhile, the axial force of the speed reducer caused by sudden braking can be effectively reduced, and the mechanical service life of the speed reducer is prolonged.
In one embodiment, as shown in fig. 1, the master controller 231 and the slave controller 232 are both connected to the control device 10 of the robot, and the master controller 231 is further connected to the parameter obtaining module 233; the master controller 231 is further configured to receive a motion command sent by the control device 10, calculate a first motion control signal according to the motion command and a motor operation parameter, and send the first motion control signal to the servo motor 210 and the slave controller 232; the slave controller 232 is further configured to receive a motion command sent by the control device 10, calculate a second motion control signal according to the motion command and the motor operation parameter, compare the second motion control signal with the first motion control signal to obtain a comparison result, and send an abnormal control command to the master controller 231 when the comparison result is inconsistent, so that the master controller 231 stops working.
It will be appreciated that the servo driver 230 may send a motion control signal to the servo motor 210 according to a motion command sent by the control device 10 of the robot, so that the servo motor 210 normally drives the mechanical components of the robot to move along a track expected by the motion command sent by the control device 10. The movement command may be a command indicating that the mechanical part of the driving robot reaches a predetermined position, or a command indicating that the mechanical part of the driving robot moves a predetermined distance in a predetermined direction.
Specifically, the main controller 231 may receive the motion command sent by the control device 10, perform motion control calculation according to the motion command and the motor operation parameter, obtain a first motion control signal, and send the first motion control signal to the servo motor 210, so that the servo motor 210 normally drives the mechanical parts of the robot to operate along the track expected by the motion command sent by the control device 10.
Further, the slave controller 232 may also receive a motion command sent by the control device 10, and perform motion control calculation according to the motion command and the motor operation parameter, so as to obtain a second motion control signal. The slave controller 232 may perform timing comparison verification on the second motion control signal and the first motion control signal to obtain a comparison result. If the comparison result is inconsistent, an abnormal control command is sent to the main controller 231, so that the main controller 231 stops working.
In the embodiment, in the normal motion driving process of the servo driver to the robot, two controllers of different structures have the function of mutual verification, so that the aim of safety control is fulfilled, and potential safety hazards in the operation process of the robot are reduced.
In one embodiment, the slave controller 232 is also configured to send an alarm message to the control device 10 when the servo motor 210 is not achieving a stop under the control of the first motor off signal, or when the comparison is inconsistent. It can be understood that the alarm information is beneficial to timely checking the fault reasons, avoiding the same abnormal state from happening again, and further improving the safety performance of the robot and the servo system.
In one embodiment, as shown in fig. 1, the parameter obtaining module 233 includes an electrical parameter obtaining unit and an action parameter obtaining unit, where the electrical parameter obtaining unit and the action parameter obtaining unit are connected to the master controller 231, the slave controller 232, and the servo motor 210.
Specifically, the electrical parameter obtaining unit is configured to connect to the servo motor 210 and obtain an electrical parameter during an operation process of the servo motor, and then determine an operation state of the servo motor 210 according to the electrical parameter. The specific structure of the electrical parameter acquisition unit may be determined according to the type of electrical parameter. For example, in one embodiment, when the electrical parameter is a current signal of the servo motor 210, the electrical parameter obtaining unit includes a current sensor and a current conversion circuit, the current sensor is connected to the servo motor 210 and the current conversion circuit, and the current conversion circuit is connected to the master controller 231 and the slave controller 232. The current sensor is connected with a bus of the servo motor 210 and acquires a current signal in the operation process of the current sensor. In other embodiments, the electrical parameter acquisition unit may include only a current conversion circuit, and the current sensor may be implemented using a current sensor already in the existing servo system 20 connected to the servo motor 210. The type of the current sensor may be a resistive sampling sensor or a hall sampling sensor. The current conversion circuit can convert the analog current signal obtained by the current sensor into a digital current signal, and then output the digital current signal to the master controller 231 and the slave controller 232.
Further, the action parameter obtaining unit is configured to connect the servo motor 210 and obtain an operation position, a rotation speed, an operation direction, etc. during the operation process of the servo motor, and then determine an operation state of the servo motor 210 according to the action parameter. The operating position, rotation speed, and operating direction of the servo motor 210 are generally collected by an encoder, for example, in this embodiment, the encoder is mounted on the motor to measure the information such as the magnetic pole position, the rotation angle, and the rotation speed. In addition, in order to increase the output torque of the motor, the servo motor 210 may be provided with a speed reducer, or an encoder may be installed on the speed reducer side to measure information such as the magnetic pole position, the rotation angle, and the rotation speed of the speed reducer.
Therefore, in one embodiment, the action parameter acquiring unit includes a motor encoder, a speed reducer encoder and a code conversion circuit, the motor encoder is connected with the motor and the code conversion circuit of the servo motor, the speed reducer encoder is connected with the speed reducer and the code conversion circuit of the servo motor, and the code conversion circuit is connected with the master controller and the slave controller.
Wherein, the motor encoder and the speed reducer encoder can be an incremental encoder, an absolute encoder or a rotary encoder. The code conversion circuit is a conversion circuit with double encoder interfaces, and different conversion functions can be set according to specific types of the motor encoder and the speed reducer encoder. For example, if the encoder is a digital encoder, the code conversion circuit converts the digital differential signal into a single-ended signal, and then performs level conversion to output to the master controller and the slave controller; if the encoder is an analog quantity encoder, the code conversion circuit converts the analog quantity difference signal into a digital quantity signal, and then carries out level conversion and outputs the digital quantity signal to the master controller and the slave controller; if the encoder is an incremental encoder, the code conversion circuit converts the digital differential signal into a digital single-ended signal, and then performs level conversion and outputs the digital single-ended signal to the master controller and the slave controller; if the encoder is a rotary encoder, the code conversion circuit converts the analog differential signal into a digital single-ended signal, and then performs level conversion and outputs the signal to the master controller and the slave controller. It will be appreciated that the purpose of the level shifting is to shift to an interface level that is consistent with the master and slave. Also, in other embodiments, the motion parameter obtaining unit may include only a transcoding circuit, and the motor encoder and the speed reducer encoder may be implemented by encoders existing in the existing servo system 20.
The control principle of the servo driver provided in the embodiment of the present application is explained below by taking the flowchart of fig. 2 as an example.
When the safety torque is turned off (when the stop signal is an emergency stop signal), as shown in fig. 3, the safety master (control device) of the robot transmits a STO stop command to the two CPUs of the servo driver through EtherCAT. The running CPU receives the command and then turns off the PWM motor control signal, and the monitoring CPU monitors whether the PWM of the running CPU is turned off or not after receiving the command. The CPU is operated to receive the STO signal and connect the STO signal in parallel to the input control end of the band-type brake, so that the purpose of controlling the on-off of the band-type brake is achieved, and the SBC (Safe Brake Control) function is realized.
When the function of stopping SS1 (Safe Stop 1) is realized, as shown in fig. 3, when the EtherCAT master station is in control, the running CPU sends a motor turn-off signal to request the servo motor to Stop, meanwhile, the Stop of the servo motor is detected through the encoder, and after the servo motor stops, the running CPU sends an instruction of turning off the band-type brake. As shown in fig. 4, when the STO is externally input, the running CPU sends a motor-off signal to request the servo motor to stop, and at the same time, the stop signal is sent to the SBC circuit through hardware delay by detecting the stop of the servo motor through the encoder, so when the hardware delay time arrives, the band-type brake is opened to allow the band-type brake to be attracted to stop the motor, regardless of whether the software control is to stop the motor or not.
Further, the monitoring CPU monitors the whole stopping process, monitors the motor current, and the motor encoder and the speed reducer side code. When the CPU is monitored to run in a specified time according to a specified command, the control device starts the take-over right, forcibly turns off the PWM of the motor, turns off the brake band-type brake and sends out abnormal control information to the control device, so that redundant control is achieved, and control failure is avoided.
In one embodiment, as shown in fig. 5, a servo system 20 is provided, which includes a servo motor 210, a brake 220 and a servo driver 230, wherein the servo motor 210 is mechanically connected with the brake 220, the servo driver 230 and a mechanical part 30 of the robot, and the servo driver 230 is connected with the brake 220 and a control device 10 of the robot.
Specifically, the servo motor 210 is an engine in the servo system 20 that controls the operation of the mechanical part 30 of the robot. The brake 220 may hold the servo motor 210 against movement without power. The electromagnetic band-type brake can be a firing pin type band-type brake, and the control mode can be a level type or pulse modulation type. The servo driver 230 can control the servo motor 210 to work in a position, speed, moment and other modes according to the motion command sent by the control device 10 of the robot, so that the servo motor 210 normally drives the mechanical parts of the robot to run along the track expected by the motion command sent by the control device 10.
When the master controller receives the stop signal, the servo driver 230 sends a first motor turn-off signal to stop the servo motor 210, the slave controller monitors motor operation parameters in the stop operation process of the servo motor, judges whether the servo motor stops operating under the control of the master controller, if not, the slave controller turns off and takes over the control right of the master controller, and sends a second motor turn-off signal to stop the servo motor.
In this embodiment, the structure of the servo driver after improvement can avoid the potential safety hazard and the reduction of equipment life caused by the direct triggering and shutting off of the hard shutdown mode of the band-type brake, and simultaneously the control function of the servo system is completed through the two controllers with different frameworks, so that common cause failure is avoided, and the safety in the operation process of the robot is ensured.
Based on the same inventive concept, the implementation scheme of the servo system for solving the problem provided by the embodiment of the present application is similar to the implementation scheme described in the servo driver, so the specific limitation in the embodiment of the servo system may be referred to the limitation of the servo driver hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 5, a robot is provided, which includes a control device 10 and the above-mentioned servo system 20, and further includes two or more mechanical components 30, and the control device 10 is connected to each mechanical component 30 through the servo system 20.
Specifically, the control device 10 is an algorithm software and hardware platform and a display operation platform for controlling the three-dimensional space operation of the robot, and has an interface or an IO port for communicating with an external device. The control device 10 can send motion instructions to the servo system 20, so that the servo system 20 drives the mechanical part 30 of the robot to move along a track expected by the motion instructions sent by the control device 10.
The control device 10 can also send a stop signal to the servo system 20 after the emergency stop switch is triggered, so that the servo system 20 stops driving the mechanical part 30 of the robot to move, thereby avoiding safety accidents and ensuring the safety of the robot in the operation process.
Based on the same inventive concept, the implementation scheme of the servo system for solving the problem provided by the embodiment of the present application is similar to the implementation scheme described in the servo driver, so the specific limitation in the embodiment of the servo system may be referred to the limitation of the servo driver hereinabove, and will not be repeated herein.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A servo driver, comprising: the device comprises a master controller, a slave controller and a parameter acquisition module, wherein the master controller and the slave controller are controllers with different construction types, the master controller is connected with the slave controller, the master controller and the slave controller are both connected with a servo motor of a servo system, the parameter acquisition module is connected with the master controller, the slave controller and the servo motor, and the master controller and the slave controller are both connected with a control device of a robot;
the main controller is used for sending a first motor turn-off signal to the servo motor according to a stop signal so as to stop the servo motor from running;
the parameter acquisition module is used for acquiring motor operation parameters of the servo motor and sending the motor operation parameters to the slave controller and the master controller;
the slave controller is used for sending a second motor turn-off signal to the servo motor to stop the servo motor when judging that the servo motor is not stopped under the control of the first motor turn-off signal according to the motor operation parameters, and sending an abnormal control instruction to the master controller to stop the master controller;
the master controller is also used for receiving a motion instruction sent by the control device, calculating a first motion control signal according to the motion instruction and the motor operation parameter, and sending the first motion control signal to the servo motor and the slave controller;
the slave controller is further configured to receive a motion command sent by the control device, calculate a second motion control signal according to the motion command and the motor operation parameter, compare the second motion control signal with the first motion control signal to obtain a comparison result, and send the abnormal control command to the master controller when the comparison result is inconsistent, so that the master controller stops working.
2. The servo drive of claim 1 wherein the master controller and the slave controller are further connected to a brake of the servo system;
the main controller is also used for sending a first band-type brake control signal to the brake when the stop signal is an emergency stop signal so as to enable the brake band-type brake to brake;
and the slave controller is also used for sending a second band-type brake control signal to the brake when the servo motor is not controlled by the first motor turn-off signal to stop running, so that the brake band-type brake is braked.
3. The servo driver of claim 1 wherein the first motor off signal and the second motor off signal are both used to send to a three-phase bridge of the servo motor to cause a lower bridge of the three-phase bridge to be turned on for a preset period of time at a first preset time interval until the servo motor stops operating.
4. The servo driver of claim 1 wherein the slave controller determines whether the servo motor is achieving a shutdown under control of the first motor shutdown signal by monitoring whether the motor operating parameter changes to a set threshold within a preset time.
5. A servo drive as claimed in claim 1 wherein the slave controller is further configured to send an alarm message to the control means when the servo motor is not brought to a stop under control of the first motor off signal or when the comparison is inconsistent.
6. The servo drive of claim 1 wherein the parameter acquisition module comprises an electrical parameter acquisition unit and an action parameter acquisition unit, the electrical parameter acquisition unit and the action parameter acquisition unit each connecting the master controller, the slave controller, and the servo motor.
7. The servo driver of claim 6 wherein the electrical parameter acquisition unit comprises a current sensor and a current conversion circuit, the current sensor connecting the servo motor and the current conversion circuit, the current conversion circuit connecting the master controller and the slave controller.
8. The servo driver according to claim 6, wherein the motion parameter obtaining unit includes a motor encoder, a speed reducer encoder, and a code conversion circuit, the motor encoder connecting a motor of the servo motor and the code conversion circuit, the speed reducer encoder connecting a speed reducer of the servo motor and the code conversion circuit, the code conversion circuit connecting the master controller and the slave controller.
9. A servo system comprising a servo motor, a brake and a servo driver according to any one of claims 1 to 8, wherein the servo motor is connected to the brake, the servo driver and mechanical parts of a robot, and wherein the servo driver is connected to the brake and a control device of the robot.
10. A robot comprising a control device and the servo system of claim 9, and further comprising two or more mechanical parts, wherein the control device is connected to each of the mechanical parts through the servo system.
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| CN105834829A (en) * | 2016-04-21 | 2016-08-10 | 江苏宏达数控科技股份有限公司 | Special controller for direct-driven tool rest |
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| CN109981027A (en) * | 2019-04-19 | 2019-07-05 | 博能传动(苏州)有限公司 | A kind of servo-driver based on three chip architectures |
| CN113894778B (en) * | 2021-07-19 | 2022-08-12 | 北京精密机电控制设备研究所 | Dexterous hand servo system and fault detection, control and protection method thereof |
| CN114337462B (en) * | 2022-01-07 | 2023-08-29 | 深圳市大族机器人有限公司 | Servo driving circuit, driving method and device |
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