CN115946125A - Robot servo drive and motion control integrated system - Google Patents
Robot servo drive and motion control integrated system Download PDFInfo
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- CN115946125A CN115946125A CN202310092224.9A CN202310092224A CN115946125A CN 115946125 A CN115946125 A CN 115946125A CN 202310092224 A CN202310092224 A CN 202310092224A CN 115946125 A CN115946125 A CN 115946125A
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Abstract
The application provides a robot servo drive and motion control integrated system, which comprises a control panel, a servo drive board, a control power board and a main power board; the control panel is provided with a plurality of functional modules and integrates all control signals of the system, and comprises a core panel and a control bottom plate, wherein the core panel is responsible for robot motion control, servo motor control and external interface communication; the core board is interconnected with the control bottom board through the connector to perform data interaction; the control board performs data interaction with the servo drive board through the connector; the control panel outputs PWM signals to control an inverter circuit of an IPM module of the servo drive board, and then the servo motor is controlled to rotate. The system has the advantages that internal wiring is simple, the integration level is high, the forming volume of the robot is greatly reduced, and the manufacturing cost of the robot is effectively reduced; meanwhile, the flexible expansibility of the robot system is improved, and the practicability is better.
Description
Technical Field
The application relates to the technical field of computers, in particular to a robot servo drive and motion control integrated system.
Background
At present, traditional industrial robot motion control and drive separation, traditional industrial robot adopts an independent motion control ware and a plurality of independent servo driver's form usually, need pass through the field bus communication between motion control ware and the independent servo driver, the stability of communication will receive the very big restriction that hardware set up, the line is walked to the outside having increased simultaneously for the whole cost of manufacture of robot system is very high, therefore traditional robot has the low, bulky, with high costs problem of integrated level.
Disclosure of Invention
In order to solve the problems of low integration level, large size and the like of the existing robot, the application provides a robot servo drive and motion control integrated system.
The application provides a servo drive of robot and motion control integrated system, with servo drive and motion control integrated into one body, through set up internal bus in the core component of control panel for high-speed data communication between servo drive of robot and the motion control, its system architecture includes: the control panel, the servo drive board, the control power board and the main power board; the control panel is a core control part of the system, is provided with a plurality of functional modules and integrates all control signals of the system, and comprises a core panel and a control bottom plate, wherein the core panel adopts an SOC chip and is responsible for robot motion control, servo motor control and external interface communication; the core board is interconnected with the control bottom board through an industrial connector to perform data interaction;
the control power panel is responsible for supplying power to each functional module of the system; the main power panel is responsible for providing energy for the servo driving board; the control board performs data interaction with the servo drive board through a connector; the control board is integrated with PWM signals, and the servo drive board is provided with an IPM module for driving a servo motor; and the control panel outputs a PWM signal to control an inverter circuit of the IPM module so as to control the rotation of the servo motor.
Preferably, a DC-DC power module is arranged on the control bottom plate, the DC-DC power module includes a DC-DC chip, and the output voltage of the control power board is converted into a plurality of low voltages through the DC-DC chip for supplying power to a plurality of functional modules of the system; and the control bottom plate is also provided with a brake control module which is in charge of controlling the brake opening or the brake of the servo motor.
Preferably, the control bottom plate is further provided with a PWM signal control module, the PWM signal control module includes a buffer, and the PWM signal output from the core plate is buffered by the buffer and is interactively communicated with the servo drive plate through a signal adapter plate; and the control bottom plate is also provided with a phase current sampling module which is responsible for sending phase current sampling signals output by the servo drive plate to the core plate.
Preferably, a switch power supply is arranged on the control power supply board, and the switch power supply converts alternating current into multi-path low-voltage direct current to supply power to each functional module of the system; the switching power supply of the control power supply board adopts a flyback switching power supply; the main power panel is provided with a rectifying circuit, and the rectifying circuit rectifies alternating current into a direct current bus by arranging a rectifying bridge; the main power panel is also provided with a switching power circuit for supplying power to the brake of the servo motor; the switching power supply of the main power supply board adopts a flyback topology structure.
Preferably, the PWM signal sent by the control board is sent to the servo drive board through a signal adapter board, an isolation chip is arranged on the servo drive board, and the PWM signal between the control board and the servo drive board is electrically isolated through the isolation chip; the switch power supply of the control power supply board supplies power to a drive circuit arranged in the IPM module, and a direct current bus output by the main power supply board is connected to a servo drive board to provide power for the IPM module; meanwhile, phase current during the operation of the servo motor is acquired by serially connecting sampling resistors on two phase output lines of a UVW (three groups of windings of the motor), and is fed back to the control board for current loop control.
Preferably, the control bottom plate of the control panel is provided with a real-time clock circuit, the real-time clock circuit comprises an RTC chip, and a real-time clock signal generated by the RTC chip is transmitted to the core board; the control bottom plate is also provided with an SD card for system storage; and the control bottom plate is also provided with a JTAG debugging port which is used for providing a real-time debugging interface for the core plate.
Preferably, the control bottom plate is further provided with a servo motor communication circuit, which is used for transmitting encoder data of a servo motor to the core plate and controlling the servo motor in real time by the core plate; the control bottom plate is further provided with an Ethernet communication module, and the Ethernet communication module comprises a PHY chip and is used for system Ethernet communication and robot demonstrator communication.
Preferably, the control bottom plate is further provided with a USB interface for connecting a system with an external USB device; the control bottom plate is also provided with a UART interface for the system to carry out UART communication with an upper computer.
Preferably, the system further comprises an IO board and an indicator light board, wherein the IO board is an external IO expansion board and realizes data interaction with the control board through a standard SPI communication protocol; the indicator lamp panel is in data communication with the IO panel through a serial port and used for displaying the running state of the system.
Preferably, the switching power supply of the control power supply board comprises a transformer, and the transformer adopts a multi-group winding structure; the transformer adopts an ETD34 +16 skeleton structure; an NSi8266 isolation chip is arranged on the servo driving board, and PWM signals between the control board and the servo driving board are electrically isolated through the NSi8266 isolation chip.
In conclusion, the robot servo drive and motion control integrated system has the following beneficial effects: the system integrates servo drive and motion control, and data interaction of the robot servo drive and the motion control is completed by arranging a bus in a core component of a control panel, so that the internal wiring of the robot system is simple, the integration level is high, the forming volume of the robot is greatly reduced, and the manufacturing cost of the robot is effectively reduced; meanwhile, the servo drive board can drive a plurality of servo motors, so that the robot system has flexible expansibility; the method and the device fill up the technical blank in the field of robot design, and have better practicability.
Drawings
Fig. 1 is a schematic block diagram of the control board.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The application provides a servo drive of robot and motion control integrated system, with servo drive and motion control integrated into one body, through set up internal bus in the core component of control panel, realize high-speed data communication between servo drive of robot and the motion control to entire system real-time and stability are higher than traditional robot, need not set up the outside at the system and walk the line, ensure that system architecture retrencies and greatly reduce system cost.
The application robot servo drive and motion control integrated system, its system architecture includes: the control panel, the servo drive board, the control power board and the main power board; the control panel is a core control part of the system, is provided with a plurality of functional modules and integrates all control signals of the system, and is responsible for robot motion control, servo motor control and external interface communication; the control power panel is responsible for supplying power to each functional module of the system; the main power panel is responsible for providing energy for the servo driving board;
the control board performs data interaction with the servo drive board through a connector; the control board is integrated with PWM signals, and the servo drive board is provided with an IPM module for driving a servo motor; the control panel outputs PWM signals to control an inverter circuit of the IPM module, and finally the servo motor is controlled to rotate.
Example 1
Embodiment 1 is a specific implementation manner of the integrated system of servo drive and motion control of the robot of the present application, and a specific implementation manner of the control board and the servo drive board is given, and the protection scope of the present application includes but is not limited to the specific implementation manner.
In the embodiment 1, the robot servo drive and motion control integrated system comprises a control board and a control bottom board, wherein the control board adopts an SOC chip and is responsible for robot motion control, servo motor control and external interface communication; the core board is interconnected with the control backplane through an industrial-grade connector for data interaction.
Embodiment 1 servo drive of robot and motion control integrated system, still be provided with components and parts such as ROM, RAM, crystal oscillator, power, LED on the nuclear core plate of control panel, these components and parts are drawn forth IO through industrial connector and are connected to control bottom plate.
In the embodiment 1, a control bottom plate is provided with a DC-DC power module, the DC-DC power module comprises a DC-DC chip, and the output voltage of the control power panel is converted into a plurality of low voltages through the DC-DC chip for supplying power to a plurality of functional modules of the system; the control bottom plate is also provided with a brake control module which is responsible for controlling the brake opening or the brake of the servo motor; the band-type brake control module comprises a relay, and controls the on-off state of a band-type brake coil of the servo motor by switching the high and low levels of the IO port so as to control the opening or closing of the servo motor.
Embodiment 1 servo drive of robot and motion control integrated system, still be provided with PWM signal control module on the control bottom plate, PWM signal control module contains a buffer, the PWM signal process of nuclear core plate IO output the buffer buffering, a rethread signal keysets with servo drive plate is mutual, control the inverter circuit of IPM module, final control servo motor rotate. And the control bottom plate is also provided with a phase current sampling module which is responsible for sending phase current sampling signals output by the servo drive plate to the core plate to realize current loop control.
Embodiment 1 servo drive and motion control integrated system of robot, be provided with switching power supply on the control power supply board, switching power supply changes the alternating current into multichannel low voltage direct current and supplies power for each functional module of system. The preferred design is that the switching power supply of control power supply board adopts flyback switching power supply, and its performance is higher, and simple structure, only needs a small amount of peripheral device, and the cost is lower.
In the embodiment 1, the robot servo drive and motion control integrated system is characterized in that a rectifying circuit is arranged on the main power panel, and the rectifying circuit rectifies alternating current into a direct current bus by arranging a rectifying bridge to provide energy for the servo drive panel. The main power panel is also provided with a switching power circuit for providing power for the brake of the servo motor; the switch power supply adopts a flyback topology structure, has high performance and simple structure, only needs a small amount of peripheral devices and has low manufacturing cost.
When the system works, PWM signals sent by the control board are sent to the servo drive board through the signal adapter board, an isolation chip is arranged on the servo drive board, the PWM signals between the control board and the servo drive board are electrically isolated through the isolation chip, and then the IPM module is driven to further control the operation of a servo motor; the switch power supply of the control power supply board supplies power to a drive circuit arranged in the IPM module, and a direct current bus output by the main power supply board is connected to a servo drive board to provide power for the IPM module; meanwhile, phase current during the operation of the servo motor is acquired by serially connecting sampling resistors on two-phase output lines of a UVW (three groups of windings of the motor), and is fed back to the control board to realize current loop control. Therefore, the system adopts a direct-current bus power supply mode, so that the system structure and wiring are simpler, and when a certain servo motor is in a power generation state, other servo motors can utilize the electric energy when in operation, so that the system greatly saves energy consumption.
Example 2
Embodiment 2 is a specific implementation of the integrated system for servo drive and motion control of a robot in the present application, and another specific implementation of the control board is given, and the scope of protection of the present application includes but is not limited to this specific implementation.
On the basis of the embodiment 1, in the embodiment 2 robot servo drive and motion control integrated system, when the servo motor is in a power generation state, the generated counter electromotive force raises the bus voltage, and in order to prevent the bus voltage from being too high, the main power panel is further provided with a bus leakage circuit for the direct current bus to discharge energy. Correspondingly, be provided with the bus control module of bleeding on the control bottom plate, when direct current bus voltage exceeded the settlement threshold value, nuclear core plate sent the control signal of bleeding to send through the signal keysets for the bus bleeder circuit of main power strip, thereby realize the bus function of bleeding.
The main power panel is also provided with a bus current sampling circuit which is used for acquiring the current value of a direct current bus when the system works, and when the direct current bus current exceeds a set threshold value, a protection mechanism is started to ensure that the system stops running so as to prevent the direct current bus from generating unrecoverable damage caused by overcurrent; an isolation operational amplifier chip (preferably an NSi1300 isolation operational amplifier chip) is arranged in the bus current sampling circuit, the current value of the direct current bus is obtained by collecting the voltage in the rectifying circuit, the sampling voltage value is amplified through the isolation operational amplifier chip, the amplified voltage value is transmitted to the control board, and the control board controls whether a protection mechanism is started or not to ensure the safe operation of the system.
In the embodiment 2 of the integrated system for robot servo drive and motion control, the main power board is further provided with a bus voltage sampling circuit for collecting a dc bus voltage value, an isolation operational amplifier chip (preferably an NSi1300 isolation operational amplifier chip) is arranged in the bus voltage sampling circuit, the bus voltage sampling circuit divides the dc bus voltage to obtain a smaller voltage value, and the voltage value is amplified by the isolation operational amplifier chip; and the bus voltage sampling circuit outputs the amplified voltage value to the control board. Correspondingly, the control bottom plate is further provided with a bus voltage sampling module used for sending the bus voltage signal of the main power panel to the core board, obtaining a bus voltage value after conversion and conversion, and judging and taking protection operation by the core board.
Embodiment 2 servo drive and motion control integrated system of robot, be provided with the IPM excessive temperature module on the control bottom plate for with the excessive temperature protection signal that overflows that IPM module output send to nuclear core plate, judge the high low state of signal by nuclear core plate, and then take corresponding protective measure. The bus current sampling module is further arranged on the control bottom plate and comprises a comparator circuit and a logic gate circuit, a bus current signal obtained by sampling of the main power supply board passes through the comparator circuit, when the bus current signal exceeds a threshold value set by the comparator circuit, the output of the comparator circuit is changed from a high level to a low level to form a bus overcurrent signal, and when the bus overcurrent signal is converted through the logic gate circuit, an enabling pin of the PWM signal buffer is pulled high, so that the PWM signal output is cut off, the servo motor stops running, and the IPM module overcurrent protection function is realized.
Example 3
Embodiment 3 is a specific implementation of the integrated system for servo drive and motion control of a robot according to the present application, and another specific implementation of the control board is given, and the scope of protection of the present application includes but is not limited to this specific implementation.
On the basis of the embodiment 2, in the embodiment 3, the robot servo drive and motion control integrated system, a control bottom plate of the control board is provided with a real-time clock circuit, the real-time clock circuit includes an RTC chip, and the RTC chip generates a real-time clock signal and transmits the real-time clock signal to the core board, so that the system acquires real-time; the control bottom plate is also provided with an SD card for providing an SD card storage function for the system; and the control bottom plate is also provided with a JTAG debugging port for providing a real-time debugging interface for the FPGA end of the core plate.
Embodiment 3 a robot servo drive and motion control integrated system, the control board further having a servo motor communication circuit for transmitting encoder data of a servo motor to the core board, so as to realize real-time control of the servo motor by the core board; the control bottom plate is further provided with an Ethernet communication module, the Ethernet communication module comprises a PHY chip, and system Ethernet communication and robot demonstrator communication are achieved through the PHY chip.
In the embodiment 3, the robot servo drive and motion control integrated system is characterized in that the control bottom plate is also provided with a USB interface for connecting the system with USB equipment; the control bottom plate is further provided with a UART interface for the system and the upper computer to carry out UART communication, the control bottom plate converts the UART signal into a USB signal, and the system and the upper computer can carry out UART communication through an external USB data line.
Example 4
Embodiment 4 is a specific implementation manner of the integrated system for servo drive and motion control of the robot according to the present application, and another specific implementation manner of the integrated system is given, and the scope of protection of the present application includes but is not limited to this specific implementation manner.
On the basis of the embodiment 3, the robot servo drive and motion control integrated system in the embodiment 4 has a system structure as shown in fig. 1, the system is provided with three servo drive plates, and the control plate is connected and communicated with the three servo drive plates through connectors; data interaction is realized between the control board and the servo drive board through a connector; the main power panel is responsible for providing energy for the servo driving board; the control power panel is responsible for supplying power to the control panel (each functional module on the control panel); the system also comprises an IO board and an indicator light board, wherein the IO board is an external IO expansion board and realizes data interaction with the control board through a standard SPI communication protocol, so that the system has a flexible external IO equipment expansion function; the indicator lamp plate passes through the serial ports with IO board implementation data communication for show all IO's state indication, system running state instruction, report an emergency and ask for help or increased vigilance and instruct etc. for entire system running state is visual, and the user of being convenient for and debugging personnel observe system running state in real time.
Embodiment 4 robot servo drive and motion control integrated system, the rectifier circuit of the said main power panel inserts single-phase or three-phase 220V alternating current, become the direct current bus of 310V through the rectifier bridge rectification, used for providing the energy for the said servo drive board; the switching power supply of the main power supply board converts the voltage of a 310V direct current bus into 24V voltage and is used for providing power for the brake of the servo motor; further preferably, the circuit of the switching power supply includes a UC2844 control chip, the UC2844 control chip has a good voltage regulation rate and a good load regulation rate, and the control chip has functions of over-voltage and under-voltage protection, over-current protection and short-circuit protection.
Embodiment 4 a servo drive and motion control integrated system of a robot, wherein a switching power supply on a control power supply board is connected to a single-phase 220V alternating current, and the single-phase 220V alternating current is converted into a plurality of paths of low-voltage direct currents for supplying power to each functional module of the system; the switch power supply of the control power supply board comprises a core element transformer, and the transformer adopts a multi-group winding structure, so that the switch circuit can output in multiple paths to meet the power supply requirement of each functional module of the system; preferably, the transformer adopts an ETD34 +16 skeleton structure, so that the switching power supply has 5 paths of output, including 1 path of 12V/2A output to the control panel, the IO panel and the indicator panel for power supply, 3 paths of 16V/0.5A output to the servo drive for IPM module drive power supply, and 1 path of 24V/0.5A output to external IO power supply. The 12V voltage output by the control power panel supplies power to the control panel, and the voltage is converted into lower voltages of 5V, 3.3V and 1.8V through the DC-DC chip of the control bottom plate and is used for supplying power to a plurality of functional modules of the system.
Embodiment 4 robot servo drive and motion control integrated system, zynq-7000 SOC series chip is preferably carried on the said core plate; each servo drive board comprises 2 IPM modules, each servo drive board can be configured with 2 servo motors, the system is configured with 3 servo drive boards, and the system can be externally connected with 1 to 6 servo motors in any number, so that the system has flexible expansibility. Correspondingly, be provided with 6 groups of PWM signals on the nuclear core plate of control panel, every group PWM signal contains 6 way PWM signals for the system can control 1 to 6 arbitrary quantity's servo motor simultaneously. In addition, the servo motor communication circuit on the control bottom plate adopts a servo motor encoder 485 communication circuit, and 6 standard RS-485 communication circuits are arranged to support the communication situation that the system is provided with 6 servo motors at most.
In the embodiment 4, when the robot servo drive and motion control integrated system operates, a PWM signal sent by the control board is sent to the servo drive board through the signal adapter board, an NSi8266 isolation chip is preferably arranged on the servo drive board, the PWM signal between the control board and the servo drive board is electrically isolated through the isolation chip, and then an IPM module on the servo drive board is driven to further control the operation of a servo motor; the switch power supply of the control power supply board outputs 16V to supply power to a drive circuit arranged in the IPM module, and a direct current bus output by the main power supply board is connected to a servo drive board to provide power for the IPM module; meanwhile, phase current during the operation of the servo motor is acquired by serially connecting sampling resistors on two-phase output lines of a UVW (three groups of windings of the motor), and is fed back to the control board to realize current loop control.
To sum up, this application robot drive and motion control integrated system, SOC chip on the nuclear core plate based on the control panel has realized multi-axial industrial robot's operation control, servo motor closed loop control and drive, ethernet communication, UART serial port communication, external IO extension and running state pilot lamp function, supports 6 axle synchro control at most. For traditional industrial robot, this system is based on servo drive and motion control as an organic whole, realizes high-speed data communication between the two through set up internal bus at the control panel, and it is succinct to realize that the inside line of walking of system is succinct, and the integrated level is high, greatly reduces machine human volume and cost, improves robot system real-time and stability simultaneously, has better practicality.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the present application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (10)
1. A robot servo drive and motion control integrated system is characterized in that: the system structure comprises: the control panel, the servo drive board, the control power board and the main power board; the control panel is a core control part of the system, is provided with a plurality of functional modules and integrates all control signals of the system, and comprises a core panel and a control bottom plate, wherein the core panel adopts an SOC chip and is responsible for robot motion control, servo motor control and external interface communication; the core board is interconnected with the control bottom board through an industrial connector to perform data interaction;
the control power panel is responsible for supplying power to each functional module of the system; the main power panel is responsible for providing energy for the servo driving board; the control board performs data interaction with the servo drive board through a connector; the control panel is integrated with PWM signals, and the servo drive board is provided with an IPM module for driving a servo motor; and the control panel outputs a PWM signal to control an inverter circuit of the IPM module so as to control the rotation of the servo motor.
2. The integrated system of claim 1, wherein: the control bottom plate is provided with a DC-DC power supply module, the DC-DC power supply module comprises a DC-DC chip, and the output voltage of the control power supply plate is converted into a plurality of low voltages through the DC-DC chip and is used for supplying power to a plurality of functional modules of the system; and the control bottom plate is also provided with a band-type brake control module which is in charge of controlling the brake opening or the band-type brake of the servo motor.
3. The integrated system of claim 2, wherein: the control bottom plate is also provided with a PWM signal control module, the PWM signal control module comprises a buffer, and PWM signals output by the core plate are buffered by the buffer and then interactively communicated with the servo drive plate through a signal adapter plate; and the control bottom plate is also provided with a phase current sampling module which is responsible for sending phase current sampling signals output by the servo drive plate to the core plate.
4. The integrated system of claim 3, wherein: the control power panel is provided with a switching power supply, and the switching power supply converts alternating current into multi-path low-voltage direct current to supply power to each functional module of the system; the switching power supply of the control power supply board adopts a flyback switching power supply; the main power panel is provided with a rectifying circuit, and the rectifying circuit rectifies alternating current into a direct current bus by arranging a rectifying bridge; the main power panel is also provided with a switching power circuit for supplying power to the brake of the servo motor; and the switching power supply of the main power supply board adopts a flyback topology structure.
5. The integrated system of any of claims 1 to 4, wherein: the PWM signal sent by the control board is sent to the servo drive board through a signal adapter board, an isolation chip is arranged on the servo drive board, and the PWM signal between the control board and the servo drive board is electrically isolated through the isolation chip; the switch power supply of the control power supply board supplies power to a drive circuit arranged in the IPM module, and a direct current bus output by the main power supply board is connected to a servo drive board to provide power for the IPM module; meanwhile, phase current of the servo motor during operation is acquired by serially connecting a sampling resistor on the UVW two-phase output line, and is fed back to the control board for current loop control.
6. The integrated system of claim 5, wherein: the control bottom plate of the control panel is provided with a real-time clock circuit, the real-time clock circuit comprises an RTC chip, and a real-time clock signal generated by the RTC chip is transmitted to the core board; the control bottom plate is also provided with an SD card for system storage; and the control bottom plate is also provided with a JTAG debugging port for providing a real-time debugging interface for the core plate.
7. The integrated system of claim 6, wherein: the control bottom plate is also provided with a servo motor communication circuit which is used for transmitting encoder data of a servo motor to the core plate and controlling the servo motor in real time by the core plate; the control bottom plate is further provided with an Ethernet communication module, and the Ethernet communication module comprises a PHY chip and is used for system Ethernet communication and robot demonstrator communication.
8. The integrated system of claim 7, wherein: the control bottom plate is also provided with a USB interface for connecting a system with USB equipment; the control bottom plate is also provided with a UART interface for the system to carry out UART communication with an upper computer.
9. The integrated system of claim 8, wherein: the display panel also comprises an IO board and an indicator lamp board, wherein the IO board is an external IO expansion board and realizes data interaction with the control board through a standard SPI communication protocol; the indicator lamp panel is in data communication with the IO panel through a serial port and used for displaying the running state of the system.
10. The integrated system of claim 9, wherein: the switch power supply of the control power supply board comprises a transformer, and the transformer adopts a multi-group winding structure; the transformer adopts an ETD34 +16 skeleton structure; the servo driving board is provided with an NSi8266 isolation chip, and PWM signals between the control board and the servo driving board are electrically isolated through the NSi8266 isolation chip.
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