CN206296911U - A kind of bus intelligent servo drive system and robot - Google Patents
A kind of bus intelligent servo drive system and robot Download PDFInfo
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- CN206296911U CN206296911U CN201621396786.4U CN201621396786U CN206296911U CN 206296911 U CN206296911 U CN 206296911U CN 201621396786 U CN201621396786 U CN 201621396786U CN 206296911 U CN206296911 U CN 206296911U
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Abstract
The utility model discloses bus intelligent servo drive system and robot, the system is used to realize the closed-loop control of motor, the system includes servo main controller module, and the servo main controller module is in communication with each other by bus peripheral interface units and intelligent control unit；The intelligent control unit is used to send motor control signal and be sent to intelligent control unit through bus peripheral interface units；The intelligent control unit is connected with Based Intelligent Control output unit, and Based Intelligent Control output unit is connected with power drive unit, carrys out motor by power drive unit and runs；The intelligent control unit is connected with sensor unit, the sensor unit is connected with motor, sensor unit is used for the running state information of real-time detection motor and is sent to intelligent control unit, then is sent to servo main controller module by the intelligent control unit.
Description
Technical field
The utility model belongs to sophisticated machine people's control field, more particularly to a kind of bus intelligent servo drive system and
Robot.
Background technology
Industrial Robot Technology is increasingly ripe and is widely used in industry spot, conventional industrial robot's control
System is general to use controller and the separate design of driver, sends out pulse signal by controller to realize the control to driver
System.This method haves the shortcomings that following：
1) pulse signal is highly susceptible to interference in transmitting procedure, especially when transmission line is more long, frequency converter circuit,
Mobile phone signal and other industry spot signals are all easy to the disturbing pulse for making pulse signal produce spike, as shown in figure 1, may
Cause controller and driver Communications failure；
2) because all servo-driver pulse signals frequencies have a limits value, pulse signal frequency is worked as too
Gao Shi, servo-driver will be unable to recognize pulse signal；
3) when pulse signal frequency is higher but below servo-driver limits value, it is easy to the drive of individual impulse servo occur
Dynamic device None- identified, causes pulse missing, so as to cause positioning inaccurate；
4) wiring is complicated, and many control lines are also needed in addition to pulse signal-line, and line failure rate is high；
5) poor expandability, when controlled motor number need to be increased, it is necessary to change hardware configuration.
Utility model content
In order to solve the shortcoming of prior art, the first purpose of the present utility model is to provide a kind of bus intelligent servo and drives
Dynamic system.The bus intelligent servo drive system can avoid analog signal and digital pulse signal from being produced in transmitting procedure
Drift or the destabilizing factor such as electromagnetic interference, control system is easy to extension, system cost saved, while greatly reducing
The fault rate of circuit.
Bus intelligent servo drive system of the present utility model, the system is used to realize the closed-loop control of motor, and this is
System includes servo main controller module, and the servo main controller module passes through bus peripheral interface units and intelligent control unit
It is in communication with each other；The intelligent control unit is used to send motor control signal and be sent to intelligent control through bus peripheral interface units
Unit processed；The intelligent control unit is connected with Based Intelligent Control output unit, Based Intelligent Control output unit and power drive unit
It is connected, motor is come by power drive unit and is run；
The intelligent control unit is connected with sensor unit, and the sensor unit is connected with motor, sensor unit
Running state information for real-time detection motor is simultaneously sent to intelligent control unit, then be sent to by the intelligent control unit
Servo main controller module.
Further, bus intelligent servo drive system, also the data storage list including being connected with intelligent control unit
Unit, the data storage cell is used for storing servo control system process data, the initial configuration information of motor and drivetrain
The initial configuration information of system.
After electricity on bus intelligent servo drive system, intelligent control unit obtains initial from data storage cell first
The configuration information of change carries out Initialize installation to bus intelligent servo drive system.
Preferably, sensor unit is connected with signal condition unit, the signal condition unit and intelligent control unit phase
Even.
Further, bus intelligent servo drive system, also including PMU, the PMU is used
To be powered to system after being changed to the power supply for supplying servo drive system.
Further, power drive unit is also connected with power protection location.
Wherein, sensor unit includes current sense, TEMP, voltage sensor and encoder.
The intelligent control unit include microprocessor, the microprocessor respectively with power-switching circuit, passive crystal oscillator
Circuit is connected with artificial debugging circuit；Normal voltage of the power-switching circuit drawings required for being provided for microprocessor；
The working frequency that the passive crystal oscillating circuit is used for required for microprocessor is provided；The artificial debugging circuit is used to be microprocessor
Device provides emulation interface；The microprocessor is connected with by bus peripheral interface units with servo main controller module.
Second purpose of the present utility model is to provide a kind of robot, and the robot includes bus intelligent described above
Servo drive system.
The beneficial effects of the utility model are：
(1) the utility model is to solve controller and the separate design of driver to increase the size and work(of control system
Consumption, the shortcoming for increasing development difficulty and development cost, the utility model propose one kind on the basis of existing Servo Drive Technology's
Bus-type servo drive system, by modular design method, reduces wiring, improves globality.By this modularized design
Method, both increased the number of controlled motor, allow that user is programmed to realize by bus to drive system again
Effective control of motor, without considering how internal system is realized, reduces and uses difficulty, can be widely applied to robot
Control field.
(2) bus intelligent servo drive system of the present utility model and robot, preferably meet servo-drive system and determine
Position precision, the requirement of tracking accuracy and tracking velocity, it is to avoid the destabilizing factor such as drift produced because of analog loopback
Interference, more than 50% is reduced with line, cost has been saved, while greatly reducing the fault rate of circuit.
(3) method of work of the bus intelligent servo drive system of the present utility model is entered by bus to drive system
Row is programmed to effective control of motor, without considering how internal system is realized, reduces and uses difficulty, can be extensive
It is applied to robot control field.
Brief description of the drawings
Fig. 1 is the waveform that signal of the present utility model is interfered；
Fig. 2 is bus intelligent servo drive system overall construction drawing of the present utility model；
Fig. 3 is ARM logic diagrams of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole realities
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute under the premise of creative work is not made
The every other embodiment for obtaining, belongs to the scope of the utility model protection.
As shown in Fig. 2 being general structure block diagram of the present utility model.Bus intelligent servo-drive system of the present utility model
System, the system is used to realize the closed-loop control of motor, and the system includes servo main controller module, the servo master controller mould
Block is in communication with each other by bus peripheral interface units and intelligent control unit；The intelligent control unit is used to send motor control
Signal and it is sent to intelligent control unit through bus peripheral interface units；The intelligent control unit is used for the motor control to receiving
Signal processed is parsed, and the signal after parsing is sent into Based Intelligent Control output unit, then gives work(after level adjustment conversion
Rate driver element, carrys out motor and runs by power drive unit；
The intelligent control unit is connected with sensor unit, and the sensor unit is connected with motor, sensor unit
Running state information for real-time detection motor is simultaneously sent to intelligent control unit, then be sent to by the intelligent control unit
Servo main controller module；Running state information real-time adjustment of the servo main controller module further according to the motor for receiving
The motor control signal of output.
Wherein, bus intelligent servo drive system, also including the data storage cell being connected with intelligent control unit, institute
Data storage cell is stated for the first of storing servo control system process data, the initial configuration information of motor and drive system
Beginning configuration information.
The intelligent control unit include microprocessor, the microprocessor respectively with power-switching circuit, passive crystal oscillator
Circuit is connected with artificial debugging circuit；Normal voltage of the power-switching circuit drawings required for being provided for microprocessor；
The working frequency that the passive crystal oscillating circuit is used for required for microprocessor is provided；The artificial debugging circuit is used to be microprocessor
Device provides emulation interface；The microprocessor is connected with by bus peripheral interface units with servo main controller module.
Intelligent control unit is with ARM intelligent control units.
Data storage cell can be achieved using data storage card, ROM or RAM.
After electricity on bus intelligent servo drive system, intelligent control unit obtains initial from data storage cell first
The configuration information of change carries out Initialize installation to bus intelligent servo drive system.
Further, bus intelligent servo drive system, also including sensor unit, the sensor unit is used to supervise
The working condition of power scale driver element is simultaneously sent to intelligent control unit and to abnormality carries out Real-time Feedback and treatment.Pass
Sense information unit is respectively intended to gather motor including being not limited to current sense, TEMP, voltage sensor, encoder etc.
The information such as operating current, the temperature of servo drive system, the rotating speed of motor operating voltage and motor and position.
Further, sensor unit is connected with signal condition unit, the signal condition unit and intelligent control single
Unit is connected.
Wherein, bus intelligent servo drive system, also including PMU, it is right that the PMU is used for
The power supply of supply servo drive system is powered after being changed to system.
In specific implementation, power drive unit is also connected with power protection location.
The course of work of Intelligent servo drive system is as follows：
Control signal from servo main controller module is given to intelligent control unit by bus peripheral interface units, by
Intelligent control unit is parsed to control signal, and the signal after parsing is sent into Based Intelligent Control output unit, by electricity
Power drive unit and power protection location are given in Heibei provincial opera turn over after changing, complete the precise control to motor.
Wherein, intelligent control unit can select ARM intelligent control units.Below by taking ARM intelligent control units as an example：
Data storage cell is used for storing servo control system process data, the initial configuration information of motor and drivetrain
The initial configuration information of system, ARM intelligent control units can obtain matching somebody with somebody for initialization from data storage cell first after system electrification
Confidence breath carries out Initialize installation to system.
The treatment such as signal condition unit is amplified for the transducing signal to servo drive system, filters, analog-to-digital conversion,
ARM intelligent control units, work of the ARM intelligent control units according to the sensing data monitoring driving device for obtaining are sent to after the completion for the treatment of
Make state, and Real-time Feedback and treatment are carried out to abnormality.
PMU, for supply servo drive system power supply change, be converted into suitable voltage to
System each unit is powered.Based Intelligent Control output unit, receives the control signal of ARM intelligent control units, enters line level
Conversion is sent to power drive unit.Power drive unit and power protection location, for be driven to external motor.
Intelligent control unit based on ARM, is the core of whole Intelligent servo drive system, as shown in figure 3, including ARM
Processor, power conversion unit, passive crystal oscillator unit and artificial debugging unit：Power conversion unit is by the external world to drive system
Power supply is supplied to arm processor after carrying out appropriate voltage conversion, it is ensured that arm processor normal work；Passive crystal oscillating circuit is carried
For the working frequency required for arm processor；Artificial debugging circuit provides ARM program softwares and downloads and emulation interface；ARM treatment
Device accesses transmission and storage that data storage cell realizes data by data/address bus.
Servo drive system of the present utility model is to motor control flow：
After servo drive system initialization is completed, bus marco instruction is waited, after receiving effective control instruction, by ARM
Unit to instruction parse, and will parse obtain control instruction issue Based Intelligent Control output unit, by Based Intelligent Control export
Unit issues power drive and protection location after being changed accordingly, the control to motor is completed by power drive unit.
Robot of the present utility model includes bus intelligent servo drive system as shown in Figure 2.Robot other
Structure belongs to prior art, will be not repeated herein.
Robot of the present utility model preferably meets wanting for servo-drive system positioning precision, tracking accuracy and tracking velocity
Ask, it is to avoid the interference of the destabilizing factor such as drift produced because of analog loopback, more than 50% is reduced with line, save
Cost, while greatly reducing the fault rate of circuit.
It is not new to this practicality although above-mentioned be described with reference to accompanying drawing to specific embodiment of the present utility model
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Various modifications or deform still in protection model of the present utility model that field technique personnel make by need not paying creative work
Within enclosing.
Claims (7)
1. a kind of bus intelligent servo drive system, it is characterised in that the system is used to realize the closed-loop control of motor, and this is
System includes servo main controller module, and the servo main controller module passes through bus peripheral interface units and intelligent control unit
It is in communication with each other；The intelligent control unit is used to send motor control signal and be sent to intelligent control through bus peripheral interface units
Unit processed；The intelligent control unit is connected with Based Intelligent Control output unit, Based Intelligent Control output unit and power drive unit
It is connected, motor is come by power drive unit and is run；
The intelligent control unit is connected with sensor unit, and the sensor unit is connected with motor, and sensor unit is used for
The running state information of real-time detection motor is simultaneously sent to intelligent control unit, then be sent to servo by the intelligent control unit
Main controller module.
2. a kind of bus intelligent servo drive system as claimed in claim 1, it is characterised in that the bus intelligent is watched
Drive system is taken, also including the data storage cell being connected with intelligent control unit, the data storage cell is used for storing watching
Take the initial configuration information of control system process data, the initial configuration information of motor and drive system.
3. a kind of bus intelligent servo drive system as claimed in claim 1, it is characterised in that the sensor unit with
Signal condition unit is connected, and the signal condition unit is connected with intelligent control unit.
4. a kind of bus intelligent servo drive system as claimed in claim 1, it is characterised in that the bus intelligent is watched
Drive system is taken, also including PMU, the PMU is used for entering the power supply for supplying servo drive system
It is powered to system after row conversion.
5. a kind of bus intelligent servo drive system as claimed in claim 1, it is characterised in that the power drive unit
Also it is connected with power protection location.
6. a kind of bus intelligent servo drive system as claimed in claim 1, it is characterised in that the intelligent control unit
Including microprocessor, the microprocessor is connected with power-switching circuit, passive crystal oscillating circuit and artificial debugging circuit respectively；Institute
Power-switching circuit drawings is stated in for microprocessor provides required normal voltage；The passive crystal oscillating circuit is used for microprocessor
Device provides required working frequency；The artificial debugging circuit is used to provide emulation interface for microprocessor；The microprocessor
Device is connected with by bus peripheral interface units with servo main controller module.
7. a kind of robot, it is characterised in that including the bus intelligent servo-drive system as described in claim 1-6 is any
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621396786.4U CN206296911U (en) | 2016-12-19 | 2016-12-19 | A kind of bus intelligent servo drive system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621396786.4U CN206296911U (en) | 2016-12-19 | 2016-12-19 | A kind of bus intelligent servo drive system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296911U true CN206296911U (en) | 2017-07-04 |
Family
ID=59214674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621396786.4U Active CN206296911U (en) | 2016-12-19 | 2016-12-19 | A kind of bus intelligent servo drive system and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053169A (en) * | 2016-12-19 | 2017-08-18 | 山东省科学院自动化研究所 | A kind of bus intelligent servo drive system, robot and method |
-
2016
- 2016-12-19 CN CN201621396786.4U patent/CN206296911U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053169A (en) * | 2016-12-19 | 2017-08-18 | 山东省科学院自动化研究所 | A kind of bus intelligent servo drive system, robot and method |
| CN107053169B (en) * | 2016-12-19 | 2023-11-28 | 山东省科学院自动化研究所 | Bus type intelligent servo driving system, robot and method |
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