CN207339692U - Multiple-axis servo driver - Google Patents
Multiple-axis servo driver Download PDFInfo
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- CN207339692U CN207339692U CN201720875871.7U CN201720875871U CN207339692U CN 207339692 U CN207339692 U CN 207339692U CN 201720875871 U CN201720875871 U CN 201720875871U CN 207339692 U CN207339692 U CN 207339692U
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Abstract
Motor control technology field is the utility model is related to, discloses a kind of multiple-axis servo driver.The multiple-axis servo driver includes：Servo Control Board and L servo-drive plate；Servo Control Board is connected to L servo-drive plate；Servo Control Board includes micro-control unit and core algorithm control unit；Micro-control unit is integrated in the first chip, and core algorithm control unit is integrated in the second chip；Second chip is field programmable gate array structure；Micro-control unit is connected to core algorithm control unit by parallel bus；Micro-control unit is used to gather preset signals and input and output control；Core algorithm control unit is used for the operation control signal for providing N number of motor；L servo-drive plate is used to drive servomotor according to the operation control signal of N number of motor.Present embodiment causes the master chip number of driver far fewer than existing multiaxis drive scheme, so as to reduce driver volume, power consumption, and to advantageously reduce cost and simplify later maintenance work.
Description
Technical field
Motor control technology field is the utility model is related to, more particularly to a kind of multiple-axis servo driver.
Background technology
With automated production and the popularization of robot application, the demand growth to multi-axle motor driver is swift and violent.It is existing
Servo-driver be usually single shaft, i.e., a servo-driver can only drive a servomotor.
Inventor has found that at least there are the following problems in the prior art：For 4 axis or 6 axis servomotors driving application
Thus speech brings drive part integral device number various, it is necessary to using multiple independent motor drivers, wiring is complicated, increases
Cost is added.And existing another multiaxis is integrated in motor drive schemes, the core control of each spindle motor is generally using independent
Control chip realizes that for 4 axis or the control of 6 spindle motors, the number of control chip is more, and volume and power consumption are larger,
Later maintenance is complicated, of high cost.
Utility model content
The purpose of this utility model is to provide a kind of multiple-axis servo driver, passes through a field programmable gate battle array
Row chip realizes the core control of multi-axle motor at the same time so that the master chip number of driver is driven far fewer than existing multi-axle motor
Dynamic scheme, so as to reduce driver volume, power consumption, and advantageously reduces cost and simplifies later maintenance work.
In order to solve the above technical problems, the embodiment of the utility model provides a kind of multiple-axis servo driver, including：
Servo Control Board and L servo-drive plate；Wherein, the L is the integer more than or equal to 1；The Servo Control Board connects
It is connected to the L servo-drive plate；The Servo Control Board includes micro-control unit and core algorithm control unit；It is described micro-
Control unit is integrated in the first chip, and the core algorithm control unit is integrated in the second chip；Second chip is
Field programmable gate array structure；The micro-control unit is connected to the core algorithm by parallel bus and controls list
Member；The micro-control unit is used to gather preset signals and input and output control；The core algorithm control unit is used to carry
For the operation control signal of N number of motor；The N is the integer more than 1；The L servo-drive plate is used for according to N number of electricity
The operation control signal driving servomotor of machine.
The utility model embodiment in terms of existing technologies, by the operation control signal for providing N number of motor
Core algorithm control unit be integrated in a field programmable gate array chip, and micro-control unit is only used for gathering
Preset signals and input and output control, and micro-control unit is individually integrated in a chips, therefore, present embodiment is only
It is the relevant control function that multiple-axis servo driver can be achieved to need two master chips, so that the volume of multiple-axis servo driver
And power consumption further reduces, and also help simplified later maintenance work and reduce cost.
In addition, the servo-drive plate includes：Switching Power Supply, rectification and protection module and M intelligent power module；Its
In, the M is the integer more than 1；The rectification is all connected to the switch electricity with protection module and M intelligent power module
Source；The rectification is connected to the M intelligent power module with protection module.
In addition, the M is equal to 2.By integrating 2 intelligent power module on a servo-drive plate, and pass through servo
Control panel controls multiple servo-drive plates, so as to neatly realize 4 axis, 6 axis servo-drivers,
In addition, the Servo Control Board further includes the communication interface being integrated in first chip, the communication interface
It is connected to the micro-control unit.
In addition, the communication interface includes：One or more of USB, RS232, RS485, CAN, so that multiaxis
There is flexible communication capacity between servo-driver and external equipment.
In addition, the multiple-axis servo driver further includes the display module for being connected to the micro-control unit, consequently facilitating
User observes the use state of multiple-axis servo driver.
In addition, code device signal processing unit is also integrated with second chip, the code device signal processing unit
It is connected to the core algorithm control unit.
In addition, Signal-regulated kinase, band-type brake control module and safety control module are also integrated with first chip；
The Signal-regulated kinase, band-type brake control module and safety control module are all connected to the micro-control unit.
Brief description of the drawings
Fig. 1 is the structure diagram according to the utility model first embodiment multiple-axis servo driver；
Fig. 2 is the structure diagram according to the utility model second embodiment multiple-axis servo driver.
Embodiment
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer
Each embodiment of type is explained in detail.It is however, it will be understood by those skilled in the art that each in the utility model
In embodiment, many ins and outs are proposed in order to make reader more fully understand the application.But even if without these skills
Art details and many variations based on following embodiment and modification, can also realize that each claim of the application is required and protect
The technical solution of shield.
The first embodiment of the utility model is related to a kind of multiple-axis servo driving.As shown in Figure 1, present embodiment is more
Axis servo-driver includes：Servo Control Board and L servo-drive plate.Wherein, Servo Control Board is connected to L servo-drive
Plate.Servo Control Board is used for the core control algolithm for being responsible for the multiple motors of operation, and provides operation control signal (i.e. to each motor
Driving control signal) and the collections of some semaphores, input and output control, peripheral interface control etc..Servo-drive plate is used for
The operation control signal provided according to Servo Control Board drives motor.
In present embodiment, Servo Control Board includes micro-control unit and core algorithm control unit, micro-control unit
Core algorithm control unit is connected to by parallel bus.Micro-control unit is integrated in the first chip, and core algorithm control is single
Member is integrated in the second chip.Wherein, the first chip can use microprocessor controller (Microprocessor Control
Unit, MCU, also known as microcontroller) or digital signal processor (Digital Signal Processing, DSP), the second core
Piece uses field programmable gate array (Field-Programmable Gate Array, FPGA).Present embodiment passes through first
Chip and the second chip complete the operation control work of multiple-axis servo driver.
Specifically, the second chip, i.e. FPGA are used for the operation control signal for providing N number of motor, that is, are used for realization N number of electricity
Core algorithm needed for machine operation, completes the control of torque, speed and position needed.Wherein, it is arteries and veins to run control signal
Rush width modulated (Pulse Width Modulation, PWM) control signal.For 4 axis servo-drivers, the second chip
For providing the operation control signal of 4 motors, i.e. 4 group pulse width modulated control signals.For 6 axis servo-drivers
Speech, the second chip are used for the operation control signal for providing 6 motors.Pulse width modulation control signal is those skilled in the art
Known, details are not described herein again.Present embodiment handles the core control algolithm of multiple servomotors by a fpga chip,
It instead of the scheme for the core control algolithm for handling single servomotor respectively by multiple DSP in the prior art so that master control
The number of coremaking piece is less, therefore shared smaller, so as to reduce the volume of multiple-axis servo driver and work(
Consumption.In present embodiment, code device signal processing unit is also integrated with the second chip, code device signal processing unit is connected to
Core algorithm control unit.Wherein, code device signal processing unit can be used for handling the signal from polytype encoder,
And it is provided to core algorithm control unit after the signal processing that external encoder is provided.Second chip can be also used for being responsible for
The processing of the current sampling signal of motor.Signal-regulated kinase, band-type brake control module and safety are also integrated with first chip
Control module.Signal-regulated kinase, band-type brake control module and safety control module are all connected to micro-control unit.Wherein, believe
Number conditioning module is used to send to micro-control unit after external signal is nursed one's health.Band-type brake control module is used to provide band-type brake control
Signal processed.Safety control module is used for the safety protection control signal for providing motor or the person.In practical applications, micro-control
Unit processed is additionally operable to collection preset signals and input and output control.Wherein, preset signals are, for example, temperature signal.This embodiment party
Formula is not specifically limited for preset signals.Wherein, multiple-axis servo driver can also include radiating module, radiating module example
Such as it is radiator or fan.Radiating module can be connected to micro-control unit, and micro-control unit can be also used for according to collection
Temperature signal control fan power.Present embodiment is not specifically limited for radiating module.In present embodiment, first
Communication interface is also integrated with chip, which is connected to micro-control unit.Micro-control unit is additionally operable to responsible communication and connects
The control of mouth.Communication interface can include：One of USB, RS232, RS485, CAN or more persons.Present embodiment for
Communication interface is not specifically limited.By integrating polytype communication interface, easy to multiple-axis servo driver and external equipment
Carry out data exchange.In present embodiment, multiple-axis servo driver further includes the display module for being connected to micro-control unit, display
Module is for example for the operating status for showing multi-axis servo motor, fault message etc..
In present embodiment, servo-drive plate includes：Switching Power Supply, rectification and protection module and M intelligent power mould
Block.Wherein, rectification is all connected to Switching Power Supply with protection module and M intelligent power module.Rectification also connects with protection module
It is connected to M intelligent power module.In present embodiment, multiple-axis servo driver includes a servo-drive plate, and therefore, M can be with
Equal to N, i.e. the number of the number for the motor that core algorithm control unit can control and the intelligent power module on servo-drive plate
Mesh is identical.For example, when the multiple-axis servo driver of present embodiment is designed to 4 axis servo-driver, servo-drive plate
On be just integrated with 4 intelligent power module, 4 intelligent power module are respectively used to 4 servomotors of driving.Present embodiment
In, N is the integer more than 1, and L and N are the integer more than or equal to 1.Value of the present embodiment for L, M and N
It is not specifically limited.
Present embodiment compared with prior art, by the core algorithm control of the operation control signal for providing N number of motor
Unit processed is integrated in a field programmable gate array chip, and since fpga chip has, arithmetic speed is fast, coding is simultaneous
The characteristics of capacitive is high, it is possible to which the core algorithm control of multiple motors is integrated into a fpga chip.This programme is adopted at the same time
It is responsible for peripheral interface, input and output and the processing of a small amount of signal with MCU or DSP, so as to realize multiaxis by 2 chips
The control of servo-driver, so that the volume and power consumption of multiple-axis servo driver further reduce, and also helps
Simplify later maintenance work and reduce cost.
The second embodiment of the utility model is related to a kind of multiple-axis servo driver.Second embodiment is implemented with first
Mode is roughly the same, is in place of the main distinction：In the first embodiment, multiple-axis servo driver includes a servo-drive
Plate, and N (i.e. M is equal to N) a intelligent power module is integrated with the servo-drive plate.And in the utility model second embodiment
In, multiple-axis servo driver includes multiple servo-drive plates, and 2 (i.e. M is equal to) a intelligent work(is integrated with each servo-drive plate
Rate module.
As shown in Fig. 2, in present embodiment, multiple-axis servo driver includes：Servo Control Board and multiple servo-drives
Plate.Wherein, 4 axis servo-drivers include 2 servo-drive plates, and 2 intelligent function rate moulds are provided with each servo-drive plate
Block.6 axis servo-drivers can then include 3 servo-drive plates, and the core algorithm control unit of present embodiment then can be with
The number of the motor controlled as needed loads corresponding hardware identification code.
Therefore, present embodiment moves 2 motors by a servo-drive strip, consequently facilitating whole multiple-axis servo driving
The extension of device function so that its can not only flexible adaptation different application scene demand, and be conducive to cost-effective.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And scope.
Claims (8)
- A kind of 1. multiple-axis servo driver, it is characterised in that including：Servo Control Board and L servo-drive plate；Wherein, institute It is the integer more than or equal to 1 to state L；The Servo Control Board is connected to the L servo-drive plate；The Servo Control Board includes micro-control unit and core algorithm control unit；The micro-control unit is integrated in the first chip, and the core algorithm control unit is integrated in the second chip；It is described Second chip is field programmable gate array structure；The micro-control unit is connected to the core algorithm control unit by parallel bus；The micro-control unit is used to gather preset signals and input and output control；The core algorithm control unit is used for the operation control signal for providing N number of motor；The N is the integer more than 1；The L servo-drive plate is used to drive servomotor according to the operation control signal of N number of motor.
- 2. multiple-axis servo driver according to claim 1, it is characterised in that the servo-drive plate includes：Switch electricity Source, rectification and protection module and M intelligent power module；Wherein, the M is the integer more than 1；The rectification is all connected to the Switching Power Supply with protection module and M intelligent power module；The rectification is connected to the M intelligent power module with protection module.
- 3. multiple-axis servo driver according to claim 2, it is characterised in that the M is equal to 2.
- 4. multiple-axis servo driver according to claim 1, it is characterised in that the Servo Control Board, which further includes, to be integrated in Communication interface in first chip, the communication interface are connected to the micro-control unit.
- 5. multiple-axis servo driver according to claim 4, it is characterised in that the communication interface includes：USB、 One or more of RS232, RS485, CAN.
- 6. multiple-axis servo driver according to claim 1, it is characterised in that the multiple-axis servo driver further includes company It is connected to the display module of the micro-control unit.
- 7. multiple-axis servo driver according to claim 1, it is characterised in that be also integrated with coding in second chip Device signal processing unit, the code device signal processing unit are connected to the core algorithm control unit.
- 8. multiple-axis servo driver according to claim 1, it is characterised in that be also integrated with signal in first chip Conditioning module, band-type brake control module and safety control module；The Signal-regulated kinase, band-type brake control module and safety control Molding block is all connected to the micro-control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720875871.7U CN207339692U (en) | 2017-07-19 | 2017-07-19 | Multiple-axis servo driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720875871.7U CN207339692U (en) | 2017-07-19 | 2017-07-19 | Multiple-axis servo driver |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
| CN108803443A (en) * | 2018-07-25 | 2018-11-13 | 中科新松有限公司 | A kind of servo driver of motor |
| CN109015621A (en) * | 2018-07-11 | 2018-12-18 | 杭州电子科技大学 | A kind of multi-axis industrial robot's servo-system |
| CN109194199A (en) * | 2018-08-29 | 2019-01-11 | 深圳市特康生物工程有限公司 | parallel motor driver |
| CN109217738A (en) * | 2018-09-27 | 2019-01-15 | 西安航天精密机电研究所 | A kind of servo-driver and servo drive control method that four axis is integrated |
| CN109582621A (en) * | 2019-01-24 | 2019-04-05 | 杭州山梯姆自动化科技有限公司 | The expansion system and method for servo-driver peripheral interface |
| CN113504745A (en) * | 2021-06-17 | 2021-10-15 | 欧拓飞科技(珠海)有限公司 | High-integration-level motion control system and working method thereof |
| CN113778008A (en) * | 2021-08-26 | 2021-12-10 | 江苏大学 | Mechanical programmable driver |
-
2017
- 2017-07-19 CN CN201720875871.7U patent/CN207339692U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015621A (en) * | 2018-07-11 | 2018-12-18 | 杭州电子科技大学 | A kind of multi-axis industrial robot's servo-system |
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
| CN108768220B (en) * | 2018-07-23 | 2024-04-26 | 南京工程学院 | Multi-joint robot integrated cooperative control device |
| CN108803443A (en) * | 2018-07-25 | 2018-11-13 | 中科新松有限公司 | A kind of servo driver of motor |
| CN109194199A (en) * | 2018-08-29 | 2019-01-11 | 深圳市特康生物工程有限公司 | parallel motor driver |
| CN109217738A (en) * | 2018-09-27 | 2019-01-15 | 西安航天精密机电研究所 | A kind of servo-driver and servo drive control method that four axis is integrated |
| CN109582621A (en) * | 2019-01-24 | 2019-04-05 | 杭州山梯姆自动化科技有限公司 | The expansion system and method for servo-driver peripheral interface |
| CN109582621B (en) * | 2019-01-24 | 2023-09-26 | 杭州山梯姆自动化科技有限公司 | Expansion system and method for peripheral interface of servo driver |
| CN113504745A (en) * | 2021-06-17 | 2021-10-15 | 欧拓飞科技(珠海)有限公司 | High-integration-level motion control system and working method thereof |
| CN113778008A (en) * | 2021-08-26 | 2021-12-10 | 江苏大学 | Mechanical programmable driver |
| CN113778008B (en) * | 2021-08-26 | 2024-03-19 | 江苏大学 | Mechanical programmable driver |
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