CN205353630U - Servo drive control integrated device - Google Patents

Servo drive control integrated device Download PDF

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Publication number
CN205353630U
CN205353630U CN201520997224.4U CN201520997224U CN205353630U CN 205353630 U CN205353630 U CN 205353630U CN 201520997224 U CN201520997224 U CN 201520997224U CN 205353630 U CN205353630 U CN 205353630U
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Prior art keywords
module
signal
servo drive
order
servo
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CN201520997224.4U
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Chinese (zh)
Inventor
张建政
杨林
唐策
董金宝
周志丽
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Real-time Chivalrous Intelligent Control Technology Co., Ltd.
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Shanghai Foresight Robotics Co Ltd
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Abstract

The utility model provides a servo drive control integrated device, including control module for move a servo motor procedure, in order to send the motion control signal according to the servo motor procedure to drive module, and be used for updating the servo motor procedure according to a feedback signal, rectifier module is connected and the rectification with outside communication electricity for provide a signal battery and provide the 2nd signal battery for servo drive module for control module, servo drive module, including power unit and feedback Unit, wherein, power unit is used for the signal battery and motion control signal to control the motor's motion that provide according to rectifier module, feedback Unit is used for obtaining the parameter of being correlated with with the motor, sends power unit 0 to control module. The utility model discloses a servo drive can get rid of the bus that traditional host computer and intermodule are connected, small, the integrated level is high, simple structure, and the power consumption low.

Description

A kind of servo drive control integrated apparatus
Technical field
This utility model relates to control field, particularly relates to a kind of servo drive control integrated apparatus.
Background technology
Current conventional multi-axis controls system and is mainly made up of master controller, motion controller, servo-driver.Master controller and motion controller communication, connect each servo-driver and servomotor again through bus.Structure is complicated, parts are many, volume is big, real-time is difficult to raising, miniaturization is very difficult, maintenance and repair is difficult.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is in that to provide a kind of servo drive control integrated apparatus, for solving servo drive system volume of the prior art is big, structure is complicated, run stability and the not high problem of real-time.
For achieving the above object and other relevant purposes, this utility model provides a kind of servo drive control integrated apparatus, including: control module, rectification module and servo-driven module;Described control module, is integrated in a SOC(system on a chip), in order to run a servomotor program, to send motion control signal according to described servomotor program to described driving module;And in order to update described servomotor program according to a feedback signal;Described rectification module, electrically connects with an external communication electricity and rectification, with thinking that described control module provides the first power supply signal and provides second source signal for described servo-driven module;Described servo-driven module, including the power cell electrically connected with motor and described rectification module and the feedback unit electrically connected with described motor, wherein, described power cell controls the motion of described motor in order to the first power supply signal provided according to described rectification module and described motion control signal, described feedback unit, in order to obtain the parameter relevant to described motor, sends feedback signal to described control module.
In a specific embodiment of the present utility model, described rectification module is electrically connected with described power cell by common DC bus.
In a specific embodiment of the present utility model, described motion control signal includes band-type brake signal or pwm signal.
In a specific embodiment of the present utility model, described control module is also in order to make described rectification module that outside alternating current is carried out the rectified signal of rectification according to described servomotor program to the transmission of described rectification module.
In a specific embodiment of the present utility model, described motor is multiple, and described power cell controls each described motor respectively in order to the power supply provided according to described rectification module and described motion control signal and performs corresponding motion;And described feedback unit is in order to obtain the parameter relevant to each described motor respectively, with respectively to the feedback signal that the transmission of described control module is corresponding with each motor.
In a specific embodiment of the present utility model, described control module is also in order to according to the comparison to described feedback signal, to judge whether to generate an alarm signal.
In a specific embodiment of the present utility model, described control module includes processor and the logic controller electrically connected with described processor.
In a specific embodiment of the present utility model, described processor in order to according to described servomotor program to described driving module send motion control signal, and in order to according to one feedback signal update described servomotor program.
In a specific embodiment of the present utility model, described servo drive also includes peripheral interface units, in order to by the logic controller of described control module and external devices communication.
In a specific embodiment of the present utility model, described peripheral interface units at least includes with the one in lower interface: serial ports, network interface, industrial bus interface and external memory card interface.
In a specific embodiment of the present utility model, described control module also includes the high-speed internal memory card being connected with described processor, and wherein, in described high-speed internal memory card, storage has described servomotor program.
As it has been described above, servo drive control integrated apparatus of the present utility model, including: control module, rectification module and servo-driven module;Described control module, is integrated in a SOC(system on a chip), in order to run a servomotor program, to send motion control signal according to described servomotor program to described servo-driven module;And in order to update described servomotor program according to a feedback signal;Described rectification module, electrically connects with an external communication electricity and rectification, with thinking that described control module provides the first power supply signal and provides second source signal for described servo-driven module;Described servo-driven module, including the power cell electrically connected with motor and described rectification module and the feedback unit electrically connected with described motor, wherein, described power cell controls the motion of described motor in order to the first power supply signal provided according to described rectification module and described motion control signal, described feedback unit, in order to obtain the parameter relevant to described motor, sends feedback signal to described control module.Servo drive of the present utility model can remove the bus that traditional host computer and intermodule connect, and volume is little, integrated level is high, simple in construction and consume energy low.
Accompanying drawing explanation
Fig. 1 is shown as a kind of servo drive control integrated apparatus of the present utility model application schematic diagram in one embodiment.
Fig. 2 is shown as a kind of servo drive control integrated apparatus of the present utility model application schematic diagram in one embodiment.
Fig. 3 is shown as the principle flow chart that a kind of servo drive control integrated apparatus of the present utility model runs in one embodiment.
Element numbers explanation
1 servo drive control integrated apparatus
11 control module
111 processors
112 logic controllers
12 rectification modules
13 servo-driven modules
131 power cells
132 feedback units
14 peripheral interface units
2 motors
S11~S15 step
Detailed description of the invention
Below by way of specific instantiation, embodiment of the present utility model being described, those skilled in the art the content disclosed by this specification can understand other advantages of the present utility model and effect easily.This utility model can also be carried out by additionally different detailed description of the invention or apply, and the every details in this specification based on different viewpoints and application, can also carry out various modification or change under without departing from spirit of the present utility model.It should be noted that, when not conflicting, following example and the feature in embodiment can be mutually combined.
It should be noted that, the diagram provided in following example only illustrates basic conception of the present utility model in a schematic way, then only display component count with relevant assembly in this utility model but not when implementing according to reality, shape and size drafting in diagram, during its actual enforcement, the kenel of each assembly, quantity and ratio can be a kind of random change, and its assembly layout kenel is likely to increasingly complex.
Refer to Fig. 1, be shown as a kind of servo drive control integrated apparatus of the present utility model application schematic diagram in one embodiment.
Described servo drive 1, including: control module 11, rectification module 12 and servo-driven module 13.
Described control module 11 is integrated in a SOC(system on a chip), in order to run a servomotor program, to send motion control signal according to described servomotor program to described driving module;And in order to update described servomotor program according to a feedback signal, to realize being precisely controlled motor.The devices such as the control module essentially PC in traditional servo drive control, volume is very big, and integrated level is low.Described control module 11 of the present utility model, rectification module 12 and servo-driven module 13 are when large-scale production, can preferably be integrated in an instrument box, realize the design of integration, and the bus of traditional host computer and intermodule communication can be exempted, volume is little, integrated level is high, flexible operation and replace convenient.
Described rectification module 12 electrically connects with an external communication electricity and rectification, with thinking that described control module 11 provides the first power supply signal and provides second source signal for described servo-driven module 13;Concrete, after external communication electricity rectified module 12 rectification, be converted to the power supply of 24V then through a voltage-regulation chip, again through blood pressure lowering chip, it is achieved the output of the voltage of multiple specifications, think that each several part controlling module 11 is powered.
In a specific embodiment of the present utility model, described control module 11 is also in order to make described rectification module 12 that outside alternating current is carried out the rectified signal of rectification according to described servomotor program to the transmission of described rectification module 12.
Described servo-driven module 13 includes the power cell 131 electrically connected with motor 2 and described rectification module 12 and the feedback unit 132 electrically connected with described motor 2, wherein, described power cell 131 controls the motion of described motor in order to the first power supply signal provided according to described rectification module 12 and described motion control signal, preferably, described motion control signal includes band-type brake signal or pwm signal, wherein band-type brake signal, in order to control the braking of motor 2, pwm signal is in order to control speed and the time of motor 2 motion.
Described feedback unit 132, in order to obtain the parameter relevant to described motor 2, sends feedback signal to described control module 11.In concrete application, described feedback signal include following in one or more: the current signal of the motor 2 obtained by current sample, the temperature signal of the motor obtained by temperature sampling, the position signalling of motor that obtained by absolute value encoder or incremental encoder.Described control module 11 updates servomotor program, then motion control signal described in real-time update according to described feedback signal in real time.And in another preferred embodiment, described control module 11 is also in order to according to the comparison to described feedback signal, to judge whether to generate an alarm signal, such as, when the current value of feedback is more than a current threshold, generate an alarm signal, and can remind accordingly, for instance make a buzzer buzzing or send warning message to the electronic equipment (such as the user terminal such as mobile phone or computer) bound in advance.
In a specific embodiment of the present utility model, described rectification module 12 is electrically connected with described power cell 131 by common DC bus, to power to corresponding motor 2, herein, owing to have employed common DC bus technology, when motor 2 is operated in generating state, energy directly feeds back to electrical network by bus and feedback device, decreases the damage to motor 2 while saving energy.
In a specific embodiment of the present utility model, described motor 2 is multiple, in the present embodiment, described motor 2 is 3, and described power cell 131 controls each described motor 2 respectively in order to the power supply provided according to described rectification module 12 and described motion control signal and performs corresponding motion;Preferably, also there is in the middle of described motion control signal the identification signal corresponding with each motor 2, and each described pwm signal is corresponding with each identification signal, to make each described motor 2 move accordingly according to the corresponding pwm signal identifying signal correction.Can realize making motor 2 move with certain speed according to corresponding pwm signal respectively, control intelligence flexibly.And described feedback unit 132 is in order to obtain the parameter relevant to each described motor 2 respectively, with respectively to the feedback signal that the transmission of described control module 11 is corresponding with each motor 2.
In a specific embodiment of the present utility model, referring to Fig. 2, described control module 11 includes processor 111 and the logic controller 112 electrically connected with described processor.Wherein, described processor 111 is in order to send motion control signal according to described servomotor program to described servo-driven module 13, and in order to update described servomotor program according to a feedback signal.Eliminate bus between traditional servo-controlled each module to connect, and make full use of SOC(system on a chip) and can solve complex calculation and good capability of sequential control.The volume making whole servo drive 1 is little, simple in construction, and energy consumption is low.
In another specific embodiment of the present utility model, described servo drive 1 also includes peripheral interface units 14, in order to by the logic controller of described control module 11 and external devices communication.Described peripheral interface units 14 at least includes with the one in lower interface: serial ports, network interface, industrial bus interface and external memory card interface etc..In concrete application, serial ports is for system debug or data transmission.Network interface may be used for connecting demonstrator or extension IO, and industrial bus interface can realize multi-machine collaborative work or connect the functions such as other PLC system, external memory card interface, it is possible to be used for providing memory expanding.
In another specific embodiment of the present utility model, described control module 11 also includes the high-speed internal memory card being connected with described processor, and wherein, in described high-speed internal memory card, storage has described servomotor program, it may also be used for store described alarm signal.
This utility model realizes main control, motor control, servo-drive, power supply and periphery communication interface integration (can be integrated in an instrument box), by integrative solution, reduces volume, simplifies system electrical and connects, provides cost savings.
And, this utility model in, the operation logic of described servo drive control integrated apparatus is consulted shown in the principle flow chart shown in Fig. 3, particularly as follows:
S11: order is integrated in the control module of a SOC(system on a chip) and runs a servomotor program, to send motion control signal according to described servomotor program to described servo-driven module;And in order to update described servomotor program according to a feedback signal;
S12: make rectification module and external communication electricity electrical connection rectification, thinks that described control module provides the first power supply signal and provides second source signal for described servo-driven module;
S13: make the first power supply signal that the power cell of servo-driven module provides according to described rectification module and described motion control signal control the motion of motor;
S14: make the described feedback unit of servo-driven module obtain the parameter relevant to described motor, send feedback signal to described control module;
S15: make described control module update described servomotor program according to described feedback signal.
In sum, servo drive control integrated apparatus of the present utility model, including: control module, rectification module and servo-driven module;Described control module, is integrated in a SOC(system on a chip), in order to run a servomotor program, to send motion control signal according to described servomotor program to described servo-driven module;And in order to update described servomotor program according to a feedback signal;Described rectification module, electrically connects with an external communication electricity and rectification, with thinking that described control module provides the first power supply signal and provides second source signal for described servo-driven module;Described servo-driven module, including the power cell electrically connected with motor and described rectification module and the feedback unit electrically connected with described motor, wherein, described power cell controls the motion of described motor in order to the first power supply signal provided according to described rectification module and described motion control signal, described feedback unit, in order to obtain the parameter relevant to described motor, sends feedback signal to described control module.Servo drive of the present utility model can remove the bus that traditional host computer and intermodule connect, and volume is little, integrated level is high, simple in construction and consume energy low.So, this utility model effectively overcomes various shortcoming of the prior art and has high industrial utilization.
Above-described embodiment only illustrative principle of the present utility model and effect thereof, not for restriction this utility model.Above-described embodiment all under spirit of the present utility model and category, can be modified or change by any those skilled in the art.Therefore, art has all equivalence modification or changes that usually intellectual completes under the spirit disclosed without departing from this utility model with technological thought such as, must be contained by claim of the present utility model.

Claims (11)

1. a servo drive control integrated apparatus, it is characterised in that including: control module, rectification module and servo-driven module;
Described control module, is integrated in a SOC(system on a chip), in order to run a servomotor program, to send motion control signal according to described servomotor program to described servo-driven module;And in order to update described servomotor program according to a feedback signal;
Described rectification module, electrically connects with an external communication electricity and rectification, with thinking that described control module provides the first power supply signal and provides second source signal for described servo-driven module;
Described servo-driven module, including the power cell electrically connected with motor and described rectification module and the feedback unit electrically connected with described motor, wherein, described power cell controls the motion of described motor in order to the first power supply signal provided according to described rectification module and described motion control signal, described feedback unit, in order to obtain the parameter relevant to described motor, sends feedback signal to described control module.
2. servo drive control integrated apparatus according to claim 1, it is characterised in that: described rectification module is electrically connected with described power cell by common DC bus.
3. servo drive control integrated apparatus according to claim 1, it is characterised in that: described motion control signal includes band-type brake signal or pwm signal.
4. servo drive control integrated apparatus according to claim 1, it is characterised in that: described control module is also in order to make described rectification module that outside alternating current is carried out the rectified signal of rectification according to described servomotor program to the transmission of described rectification module.
5. servo drive control integrated apparatus according to claim 1, it is characterized in that: described motor is multiple, described power cell controls each described motor respectively in order to the power supply provided according to described rectification module and described motion control signal and performs corresponding motion;And described feedback unit is in order to obtain the parameter relevant to each described motor respectively, with respectively to the feedback signal that the transmission of described control module is corresponding with each motor.
6. servo drive control integrated apparatus according to claim 1, it is characterised in that: described control module is also in order to according to the comparison to described feedback signal, to judge whether to generate an alarm signal.
7. servo drive control integrated apparatus according to claim 1, it is characterised in that: described control module includes processor and the logic controller electrically connected with described processor.
8. servo drive control integrated apparatus according to claim 7, it is characterized in that: described processor in order to according to described servomotor program to described driving module send motion control signal, and in order to according to one feedback signal update described servomotor program.
9. servo drive control integrated apparatus according to claim 8, it is characterised in that: described servo drive also includes peripheral interface units, in order to by the logic controller of described control module and external devices communication.
10. servo drive control integrated apparatus according to claim 9, it is characterised in that: described peripheral interface units at least includes with the one in lower interface: serial ports, network interface, industrial bus interface and external memory card interface.
11. servo drive control integrated apparatus according to claim 7, it is characterised in that: described control module also includes the high-speed internal memory card being connected with described processor, and wherein, in described high-speed internal memory card, storage has described servomotor program.
CN201520997224.4U 2015-12-03 2015-12-03 Servo drive control integrated device Active CN205353630U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106228895A (en) * 2016-09-30 2016-12-14 武汉菲仕运动控制系统有限公司 A kind of portable servomotor demonstration box
CN108549303A (en) * 2018-07-11 2018-09-18 浙江洛伦驰智能技术有限公司 Three axis servos control integrated control system
CN110733041A (en) * 2019-11-12 2020-01-31 佛山智能装备技术研究院 accuse drives body power module
CN111045393A (en) * 2019-12-31 2020-04-21 上海新时达机器人有限公司 Driving and controlling integrated servo implementation system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106228895A (en) * 2016-09-30 2016-12-14 武汉菲仕运动控制系统有限公司 A kind of portable servomotor demonstration box
CN108549303A (en) * 2018-07-11 2018-09-18 浙江洛伦驰智能技术有限公司 Three axis servos control integrated control system
CN110733041A (en) * 2019-11-12 2020-01-31 佛山智能装备技术研究院 accuse drives body power module
CN111045393A (en) * 2019-12-31 2020-04-21 上海新时达机器人有限公司 Driving and controlling integrated servo implementation system

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C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20190108

Address after: Room 1102, Building No. 188, Yizhou Road, Xuhui District, Shanghai 200000

Patentee after: Shanghai Fossett Control Technology Co., Ltd.

Address before: 200230 Room 305, Kai Ke mansion, A, 1801 Hongmei Road, Xuhui District, Shanghai.

Patentee before: SHANGHAI FORESIGHT ROBOTICS CO., LTD.

CP01 Change in the name or title of a patent holder
CP01 Change in the name or title of a patent holder

Address after: Room 1102, Building No. 188, Yizhou Road, Xuhui District, Shanghai 200000

Patentee after: Real-time Chivalrous Intelligent Control Technology Co., Ltd.

Address before: Room 1102, Building No. 188, Yizhou Road, Xuhui District, Shanghai 200000

Patentee before: Shanghai Fossett Control Technology Co., Ltd.