CN201432298Y - Modular robot motor controlling system - Google Patents
Modular robot motor controlling system Download PDFInfo
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- CN201432298Y CN201432298Y CN2009201091036U CN200920109103U CN201432298Y CN 201432298 Y CN201432298 Y CN 201432298Y CN 2009201091036 U CN2009201091036 U CN 2009201091036U CN 200920109103 U CN200920109103 U CN 200920109103U CN 201432298 Y CN201432298 Y CN 201432298Y
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Abstract
The utility model discloses a modular robot motor controlling system which belongs to the field of robot control and comprises a circuit base board, a bus interface, a motor control module electrically connected with the bus interface, a motor drive module electrically connected with the motor control module, and a connector electrically connected with the motor drive module, wherein the bus interface, the motor control module, the motor control module and the connector are all positioned on the circuit base board. In the modular robot motor controlling system provided by the utility model, the whole system is integrated on one circuit base board for implementation; and compared with the prior dispersed electrical module, the space is reasonably utilized, the maintenance is convenient, andthe complex system connection is also avoided.
Description
Technical field
The utility model relates to robot control field, particularly a kind of modularization robot electric machine control system.
Background technology
At present, the ROBOT CONTROL structure adopts distributed control structure more.As shown in Figure 1, be robot motor's distributed control structure schematic diagram.This distributed control structure is the control core with the industrial computer, and electric machine controller is as Auxiliary Control Element, to the electric machine controller sending controling instruction, finishes control to motor jointly by electric machine controller and motor driver by industrial computer again; If control a plurality of motors, then need a plurality of electric machine controllers and a plurality of motor driver.
In realizing process of the present utility model, the inventor finds:
The above-mentioned distributed frame that is made of electric machine controller and motor driver makes the structure of The whole control system relatively disperse, and the structure of disperseing can cause trouble to system wiring usually.Simultaneously, the module of control system is various, and the connection complexity between the module, and mutual restriction have reduced the stability of The whole control system.
The utility model content
In order to optimize the electric machine control system structure of robot, the utility model embodiment provides a kind of modularization robot electric machine control system.Described technical scheme is as follows:
A kind of modularization robot electric machine control system, described system comprises: circuit substrate, EBI, the motor control module that is electrically connected with described EBI, motor drive module that is electrically connected with described motor control module and the connector that is electrically connected with described motor drive module;
Described EBI, described motor control module, described motor drive module and described connector all are positioned on the described circuit substrate.
Described motor control module comprises microprocessor and the motion-control module that is electrically connected with described microprocessor.
Described motion-control module comprises at least one LM629 motion control chip, and each LM629 motion control chip is electrically connected with described microprocessor respectively.
Described motor drive module comprises at least one motor drive ic, and each motor drive ic is electrically connected with a LM629 motion control chip respectively.
Described connector is at least one, and each connector is electrically connected with a motor drive ic respectively.
Described EBI is the STD bus interface.
Described EBI is a card insert type.
The beneficial effect of the technical scheme that the utility model embodiment provides is:
By motor control module and motor drive module are incorporated on the circuit substrate, and carry out data communication and power taking by bus and outside, connect motor by connector, The whole control system all concentrates on the circuit substrate and realizes, compare the existing electrical appliance module that disperses more reasonable use the space, and be convenient to safeguard, also avoided complicated system wiring.
Description of drawings
Fig. 1 is the distributed control structure schematic diagram of robot motor in the prior art;
Fig. 2 is a kind of modularization robot electric machine control system structural representation that the utility model embodiment one provides;
Fig. 3 is a kind of modularization robot electric machine control system structural representation that the utility model embodiment two provides;
Fig. 4 is the close loop control circuit flow chart of the motor that provides of the utility model embodiment two;
Fig. 5 is the mounting structure figure of the circuit substrate that provides of the utility model embodiment two.
In the accompanying drawing, the list of parts of each label representative is as follows:
The 1-circuit substrate; The 2-EBI; The 3-motor control module; The 4-motor drive module; The 5-connector; 6-STD machine cage.
The specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, the utility model embodiment is described in further detail below in conjunction with accompanying drawing.
Embodiment one
As shown in Figure 2, a kind of modularization robot electric machine control system structural representation that provides for present embodiment, this system comprises: circuit substrate 1, EBI 2, the motor control module 3 that is electrically connected with EBI 2, motor drive module 4 that is electrically connected with motor control module 3 and the connector 5 that is electrically connected with motor drive module 4; EBI 2, motor control module 3, motor drive module 4 and connector 5 all are positioned on the circuit substrate 1.
In the modularization robot electric machine control system that present embodiment provides, motor control module 3 receives the control instruction that is sent by industrial computer by EBI 2, according to instruction control motor drive module 4, connect motor by connector 5, realize control to the robot motor.
The modularization robot electric machine control system that present embodiment provides is incorporated into motor control module 3 and motor drive module 4 on the circuit substrate 1, and carry out data communication and power taking by bus and outside, connect motor by connector, The whole control system all concentrates on the circuit substrate and realizes, compare the existing electrical appliance module that disperses more reasonable use the space, and be convenient to safeguard, also avoided complicated system wiring.
Embodiment two
As shown in Figure 3, a kind of modularization robot electric machine control system structural representation that provides for present embodiment, this system comprises circuit substrate 1, EBI 2, the motor control module 3 that is electrically connected with EBI 2, motor drive module 4 that is electrically connected with motor control module 3 and the connector 5 that is electrically connected with motor drive module 4; EBI 2, motor control module 3, motor drive module 4 and connector 5 all are positioned on the circuit substrate 1.
Wherein, motor control module 3 comprises microprocessor and motion-control module, and this motion-control module can comprise at least one LM629 motion control chip; Motor drive module 4 comprises at least one motor drive ic; The quantity of connector 5 also can be for a plurality of;
Particularly, when only comprising a LM629 motion control chip, motor drive module 4, motion-control module 3 only comprises a motor drive ic; When the quantity of connector 5 was one, the annexation of above-mentioned device was: the LM629 motion control chip is electrically connected with microprocessor, and motor drive ic is electrically connected with the LM629 motion control chip, and connector 5 is electrically connected with motor drive ic;
EBI 2 adopts the STD bus interfacing, and the EBI among Fig. 3 adopts the card insert type structure, and plug portion is made of several golden fingers (connecting finger), and this golden finger is used for the slot of connecting circuit substrate 1 and STD machine cage;
Need to prove that in the utility model, microprocessor can be single-chip microcomputer; Circuit substrate 1 has been realized the electrical connection between EBI 2, motor control module 3, motor drive module 4 and the connector 5, and itself does not possess the control action to motor.
When comprising at least one LM629 motion control chip, motor drive module 4, motion-control module 3 comprises at least one motor drive ic; When the quantity of connector 5 is several, the annexation of above-mentioned device is: each LM629 motion control chip is electrically connected with microprocessor respectively, motor drive ic is electrically connected one to one with the LM629 motion control chip, and connector is electrically connected one to one with motor drive ic.Fig. 3 is the example explanation with two LM629 motion control chips, two motor drive ics and two connectors.
The modularization robot electric machine control system that provides with Fig. 3 is that example illustrates that the operation principle of this system is as follows:
Microprocessor is connected with two LM629 motion control chips, each LM629 motion control chip connects a motor drive ic again, and each motor drive ic connects a connector again, connects a motor by each connector, therefore, system shown in Figure 3 can control two motors simultaneously.
As shown in Figure 4, the close loop control circuit flow chart of the motor that provides for present embodiment.Microprocessor receives the control instruction that industrial computer sends, according to instruction, write the corresponding command to the LM629 motion control chip, comprise PID controller unit and PWM amplitude and direction signal unit in the LM629 motion control chip, the LM629 motion control chip is under the control of instruction, drive motors drives chip, and transfers to motor driving signal through connector, finishes motion process.Simultaneously, the feedback signal of motor code-disc (incremental optical-electricity encoder) also feeds back to the LM629 motion control chip through connector, forms close loop control circuit.
In the present embodiment system shown in Figure 3, a microprocessor can be controlled two LM629 motion control chips, forms two close loop control circuits simultaneously, finishes the control to two motors.
The modularization robot electric machine control system that present embodiment provides, motor control module and motor drive module are incorporated on the circuit substrate, and carry out data communication and power taking by STD bus interface and outside, connect motor by connector, The whole control system all concentrates on the circuit substrate and realizes, compare the existing electrical appliance module that disperses more reasonable use the space, and be convenient to safeguard, also avoided the wiring of intermodule complexity and the wiring between each module and the power supply; Simultaneously, a circuit substrate can be controlled multiple electric motors, has reduced the quantity of controller, and the connection of system is oversimplified more; The module centralization has reduced the complexity that intermodule connects, and helps strengthening the stability of system; In addition, the EBI of card insert type can make the connection of system simplify more.
When the utility model was applied to the cartoon robot, the cartoon robot had 12 joints, then needed 6 modularization robot electric machine control systems shown in Figure 3, install according to the mounting structure figure of circuit substrate shown in Figure 5, wherein, 6 expression STD machine cages; Only need in addition connector 5 is connected to motor, just can finish entire machine people's motor and partly control.Adopt the utility model not only to make whole system more reliable, be convenient to safeguard, the space of having compared more reasonable use with the electrical appliance module that disperses.
Above-mentioned the utility model embodiment sequence number is not represented the quality of embodiment just to description.
The above only is preferred embodiment of the present utility model, and is in order to restriction the utility model, not all within spirit of the present utility model and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (7)
1. modularization robot electric machine control system, it is characterized in that, described system comprises: circuit substrate, EBI, the motor control module that is electrically connected with described EBI, motor drive module that is electrically connected with described motor control module and the connector that is electrically connected with described motor drive module;
Described EBI, described motor control module, described motor drive module and described connector all are positioned on the described circuit substrate.
2. system according to claim 1 is characterized in that, described motor control module comprises microprocessor and the motion-control module that is electrically connected with described microprocessor.
3. system according to claim 2 is characterized in that, described motion-control module comprises at least one LM629 motion control chip, and each LM629 motion control chip is electrically connected with described microprocessor respectively.
4. system according to claim 3 is characterized in that described motor drive module comprises at least one motor drive ic, and each motor drive ic is electrically connected with a LM629 motion control chip respectively.
5. system according to claim 4 is characterized in that, described connector is at least one, and each connector is electrically connected with a motor drive ic respectively.
6. system according to claim 1 is characterized in that, described EBI is the STD bus interface.
7. according to claim 1 or 6 described systems, it is characterized in that described EBI is a card insert type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201091036U CN201432298Y (en) | 2009-06-17 | 2009-06-17 | Modular robot motor controlling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201091036U CN201432298Y (en) | 2009-06-17 | 2009-06-17 | Modular robot motor controlling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201432298Y true CN201432298Y (en) | 2010-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201091036U Expired - Fee Related CN201432298Y (en) | 2009-06-17 | 2009-06-17 | Modular robot motor controlling system |
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| CN (1) | CN201432298Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437233A (en) * | 2016-01-15 | 2016-03-30 | 杭州史宾纳机械设备有限公司 | Robot multi-joint transmission structure without decelerator |
| CN108508820A (en) * | 2018-06-29 | 2018-09-07 | 浙江恒强科技股份有限公司 | Networking control system of the straight-bar machines band from race formula yarn mouth |
| CN109546844A (en) * | 2018-12-03 | 2019-03-29 | 深圳市越疆科技有限公司 | Modular-drive arrangement and servo-system |
| CN110896290A (en) * | 2018-09-12 | 2020-03-20 | 钟川 | Motor control system and control method thereof |
| CN112621726A (en) * | 2020-12-25 | 2021-04-09 | 东莞市李群自动化技术有限公司 | Robot |
| WO2022134461A1 (en) * | 2020-12-25 | 2022-06-30 | 东莞市李群自动化技术有限公司 | Drive and control integrated board, control system, and robot |
| CN114750129A (en) * | 2020-12-25 | 2022-07-15 | 东莞市李群自动化技术有限公司 | Robot |
-
2009
- 2009-06-17 CN CN2009201091036U patent/CN201432298Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437233A (en) * | 2016-01-15 | 2016-03-30 | 杭州史宾纳机械设备有限公司 | Robot multi-joint transmission structure without decelerator |
| CN108508820A (en) * | 2018-06-29 | 2018-09-07 | 浙江恒强科技股份有限公司 | Networking control system of the straight-bar machines band from race formula yarn mouth |
| CN110896290A (en) * | 2018-09-12 | 2020-03-20 | 钟川 | Motor control system and control method thereof |
| CN110896290B (en) * | 2018-09-12 | 2021-05-07 | 钟川 | Motor control system and control method thereof |
| CN109546844A (en) * | 2018-12-03 | 2019-03-29 | 深圳市越疆科技有限公司 | Modular-drive arrangement and servo-system |
| CN112621726A (en) * | 2020-12-25 | 2021-04-09 | 东莞市李群自动化技术有限公司 | Robot |
| WO2022134461A1 (en) * | 2020-12-25 | 2022-06-30 | 东莞市李群自动化技术有限公司 | Drive and control integrated board, control system, and robot |
| CN114750129A (en) * | 2020-12-25 | 2022-07-15 | 东莞市李群自动化技术有限公司 | Robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100331 Termination date: 20160617 |
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| CF01 | Termination of patent right due to non-payment of annual fee |