CN207516803U - A kind of multiaxis one servo-driver - Google Patents
A kind of multiaxis one servo-driver Download PDFInfo
- Publication number
- CN207516803U CN207516803U CN201721740859.1U CN201721740859U CN207516803U CN 207516803 U CN207516803 U CN 207516803U CN 201721740859 U CN201721740859 U CN 201721740859U CN 207516803 U CN207516803 U CN 207516803U
- Authority
- CN
- China
- Prior art keywords
- servo
- driver
- multiaxis
- unit
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of multiaxis one servo-driver, including：Rectification unit；Inversion unit is electrically connected with rectification unit；Main control unit is communicatively connected to inversion unit；Wherein, the control chip of main control unit is arranged to realize the FPGA module of communication and ARM modules by high-speed real-time industrial industry ethernet.It can realize that multiaxis exports, while to the recycling of the energy using the multiaxis one servo-driver of the utility model.
Description
Technical field
The utility model is related to a kind of drivers.More specifically, the utility model is related to a kind of drives of multiaxis one servo
Dynamic device.
Background technology
With the upgrading of manufacturing industry and the rapid emergence of emerging industry, intelligence manufacture and Flexible Production have become one
Kind development trend.In order to meet the needs of this factory automation, intelligence equipment (such as industrial robot, high-end numerical control machine
Deng) obtain more and more applications.In these practical applications, intelligence equipment is to the servo as intelligence equipment executing agency
Driver proposes more and more requirements.For example it is easy to the multijoint control ability of extension, such as high performance multi-axial Simultaneous association
Control ability is adjusted, meanwhile, total system cost will also reduce as far as possible.
Typical servo-driver includes：Rectification unit, inversion unit and control unit.Control unit receives upper control
The command value of device and the value of feedback from motor and encoder, control inversion unit after operation, by rectified unit rectification
DC inverter afterwards realizes the motion control to motor into alternating current.This typical servo-driver can only realize one
The control of motor.When controlled device is multiple electric motors, i.e., multijoint control when, how many platform motor, it is necessary to corresponding configuration phase
Answer the servo-driver of quantity.The motion control realization of each motor is distributed across in corresponding each servo-driver,
I.e. so-called distributed AC servo system servo-driver.
Current most common system realizes the system architecture of multijoint control using distributed AC servo system servo-driver.Each watch
It takes driver and all includes an independent rectification unit, inversion unit and control unit.Host controller passes through traditional wiring
Command value is handed down to each servo-driver by mode respectively.Each servo-driver acquisition corresponds to the feedback letter of motor and encoder
Number complete its control to motor.Control between each servo-driver is completely independent.The shortcomings that system architecture is：
Of high cost, each servo-driver includes an independent rectification unit, inversion unit and control unit.Wiring is complicated：On
Level controller is attached by one group of traditional wiring with each servo-driver.And it often assembles and all includes command pulse in line
Signal, feedback pulse signal, digital IO signal, order analog signal, feedback analog signal etc..Autgmentability is poor：Often expand
Open up a servo-driver, it is necessary to increase by one and assemble line.And the expansible number of axle is limited to the cpu performance of host controller
With the number of active lanes of hardware.It can not realize that multi-axial Simultaneous coordinates control：Since the control between each servo-driver is completely solely
Vertical, one of servo-driver can not know the status information of other servo-drivers, thus can not realize that multiaxis is same
Step control and multiaxis coordinate control.
Utility model content
One purpose of the utility model is to solve at least the above and/or defect, and provide and at least will be described later
The advantages of.
In order to realize these purposes and other advantages according to the present utility model, a kind of multiaxis one servo-drive is provided
Device, including：
Rectification unit；
Inversion unit is electrically connected with the rectification unit；
Main control unit is communicatively connected to the inversion unit；
Wherein, the control chip of the main control unit is arranged to realize communication by high-speed real-time industrial Ethernet
FPGA module and ARM modules.
Preferably, wherein, the rectification unit realizes conversion of the AC power to DC power supply.
Preferably, wherein, the inversion unit includes：
One power amplifier board is provided with a dc bus port and multiple intelligent power module and driving motor interface,
And the multiple intelligent power module is connected to the dc bus port by dc bus parallel connection；
Wherein, each driving motor interface is both provided with a driving motor, and each driving motor passes through coding
Device feedback detection motor rotor position.
Preferably, wherein, the first I/O ports are provided in the FPGA module, are provided in the power amplifier board and institute
State the 2nd I/O ports of the first I/O ports electrical connection.
Preferably, wherein, the ARM modules are connected to a control by high-speed real-time industrial industry ethernet and then communication link
Device module processed.
Preferably, wherein, the ARM modules are also connected to a upper computer module by USB interface communication link.
The utility model includes at least following advantageous effect：
First, from circuit design, realize simultaneously to the control of multiple AC servomotors rather than by letter
The integrated mode of single group dress, greatly reduces space, and without excessive electric wiring, system electrical wiring is neatly convenient for dimension
Shield；
Second, all servomotor general DC busbar control circuits of system, can realize motor being in " hair
The excess energy that the system that feeds back to is generated under motor " pattern effectively recycles, this is that the single servo-driver of tradition can not be real
Existing.Servo drive system can be extended when in use according to number of axle difference, can reduce use cost.
Part is illustrated to embody by the further advantage, target and feature of the utility model by following, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is a kind of integral module structure diagram of multiaxis one servo-driver of the utility model.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other element or combinations.
Fig. 1 shown according to a kind of a kind of way of realization of multiaxis one servo-driver of the utility model, including：
Rectification unit 1 is used to power to work normally to the corresponding units in driver；
Inversion unit 2 is electrically connected with the rectification unit, and inversion unit is used to control the operating of each external motor；
Main control unit 3, is communicatively connected to the inversion unit, and the main control unit of setting is mainly used for sending out inversion unit
Go out and control signal, whether control inversion unit works；
Wherein, the control chip of the main control unit is arranged to realize communication by high-speed real-time industrial Ethernet
FPGA module 4 and ARM modules 5, replace traditional SOC chip by the way that chip will be controlled to be set as FPGA module and ARM modules,
It can realize multiple output connections, avoid the drawbacks of traditional chip can only connect two output, the driver made can
To multiple outputs control simultaneously, circuit structure is simplified, is improved work efficiency.It is imitated using this scheme with work
The benefit that rate is high, operability is strong, simple in structure.Also, this mode is a kind of explanation of preferred embodiments, but not
It is confined to this.When implementing the utility model, appropriate replacement and/or modification can be carried out according to user's demand.
In another example, the rectification unit realizes that AC power to the conversion 6 of DC power supply, passes through AC/DC moulds
Alternating current can be become direct current output to inversion unit by block after over commutation is handled, so that inversion unit can be in normal work
Make.There is the steady efficient benefit of rectification high treating effect, power supply using this scheme.Also, this mode is one
The explanation of kind preferred embodiments, however, it is not limited to this.When implementing the utility model, it is appropriate to be carried out according to user's demand
Replacement and/or modification.
In another example, the inversion unit includes：
One power amplifier board 7 is provided with a dc bus port and multiple intelligent power module and driving motor interface,
And the multiple intelligent power module is connected to the dc bus port by dc bus parallel connection；
Wherein, each driving motor interface is both provided with a driving motor, and each driving motor passes through coding
Device feedback detection motor rotor position.In traditional driver, braking the heat of generation can directly be fallen by resistance consumption, be made
Driver will not generate the situation of overheat, be by the advantage of each driving motor parallel connection by dc bus：When the outside of connection
There are one in driving motor or when two need to brake stopping, the heat of braking generation can recycle, so as to go back
Operating power is provided in the driver of operating.Using this scheme to have that energy recovery utilization rate is high, cost is controllable advantageous it
Place.Also, this mode is a kind of explanation of preferred embodiments, and however, it is not limited to this.It, can be with when implementing the utility model
Appropriate replacement and/or modification are carried out according to user's demand.
In another example, the first I/O ports 8 are provided in the FPGA module, be provided in the power amplifier board with
2nd I/O ports 9 of the first I/O ports electrical connection, are led to by the I/O ports set in FPGA module and power amplifier board
Letter realizes the efficient transmission of the two signal.There is good, the efficient benefit of signal transmission effect using this scheme.And
And this mode is a kind of explanation of preferred embodiments, however, it is not limited to this.It, can basis when implementing the utility model
User's demand carries out appropriate replacement and/or modification.
In another example, the ARM modules are connected to a control by high-speed real-time industrial industry ethernet communication link
Device module 10.Being had using this scheme can implementation result is good, operability is strong benefit.Also, this mode is
A kind of explanation of preferred embodiments, however, it is not limited to this.When implementing the utility model, can be fitted according to user's demand
When replacement and/or modification.
In another example, the ARM modules are also connected to a upper computer module 11 by USB interface communication link.Using
This scheme has can implementation result is good, operability is strong benefit.Also, this mode is a kind of preferred embodiments
Illustrate, however, it is not limited to this.When implementing the utility model, can be carried out according to user's demand appropriate replacement and/or
Modification.
Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model
The application of multiaxis one servo-driver a kind of, modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiment of the utility model is disclosed as above, it is not restricted in specification and embodiment
Listed utilization.It can be applied to various fields suitable for the present invention completely.For those skilled in the art,
Other modification is easily implemented.Therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
Specific details and legend shown and described herein are not limited to novel.
Claims (6)
1. a kind of multiaxis one servo-driver, which is characterized in that including：
Rectification unit；
Inversion unit is electrically connected with the rectification unit；
Main control unit is communicatively connected to the inversion unit；
Wherein, the control chip of the main control unit is arranged to realize communication by high-speed real-time industrial Ethernet
FPGA module and ARM modules.
2. multiaxis one servo-driver as described in claim 1, which is characterized in that the rectification unit realizes AC power
To the conversion of DC power supply.
3. multiaxis one servo-driver as described in claim 1, which is characterized in that the inversion unit includes：
One power amplifier board is provided with a dc bus port and multiple intelligent power module and driving motor interface, and institute
It states multiple intelligent power module and the dc bus port is connected to by dc bus parallel connection；
Wherein, each driving motor interface is both provided with a driving motor, and each driving motor is anti-by encoder
Feedback detection motor rotor position.
4. multiaxis one servo-driver as claimed in claim 3, which is characterized in that be provided with first in the FPGA module
I/O ports are provided with the 2nd I/O ports being electrically connected with the first I/O ports in the power amplifier board.
5. multiaxis one servo-driver as described in claim 1, which is characterized in that the ARM modules pass through real-time at a high speed
Industrial Ethernet bus and then communication link are connected to a controller module.
6. multiaxis one servo-driver as described in claim 1, which is characterized in that the ARM modules also pass through USB interface
Communication link is connected to a upper computer module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740859.1U CN207516803U (en) | 2017-12-14 | 2017-12-14 | A kind of multiaxis one servo-driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721740859.1U CN207516803U (en) | 2017-12-14 | 2017-12-14 | A kind of multiaxis one servo-driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207516803U true CN207516803U (en) | 2018-06-19 |
Family
ID=62543983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721740859.1U Active CN207516803U (en) | 2017-12-14 | 2017-12-14 | A kind of multiaxis one servo-driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207516803U (en) |
-
2017
- 2017-12-14 CN CN201721740859.1U patent/CN207516803U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN207339692U (en) | Multiple-axis servo driver | |
| CN109981010A (en) | A kind of motor driven systems and method | |
| CN111682803B (en) | Multi-path direct current motor control system of flexible mechanical arm | |
| CN103112576A (en) | Steering engine controller | |
| CN103401486B (en) | With the AC servo drive for double motors of UPS power cut-off information protection | |
| CN207516803U (en) | A kind of multiaxis one servo-driver | |
| CN201432298Y (en) | Modular robot motor controlling system | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN203825438U (en) | Servo driver and multi-shaft control system using the same | |
| CN203094429U (en) | Steering engine controller | |
| CN107012571A (en) | A kind of embedded woof-selecting controller for rapier loom | |
| CN110912492A (en) | Low-voltage alternating-current servo motor driving device | |
| CN205249101U (en) | General type direct current motor servo driver of intelligence based on ARM | |
| CN214959347U (en) | RS 485/422-based high-performance stepping motor driver | |
| CN205057352U (en) | A high intelligent servo drive system for welding robot | |
| CN105406710A (en) | Integrated servo drive system of multi-axis mobile robot | |
| CN105099281A (en) | Servo motor drive | |
| CN104836488B (en) | A kind of compact type vehicle-mounted radar sets up control system | |
| CN204270108U (en) | Step motor driving governor and step motor driving control system | |
| CN207264136U (en) | A kind of electric control system of multiaxial motion industrial robot | |
| CN207155786U (en) | A kind of servo manipulator control device based on HMI | |
| CN109188946B (en) | Controller, electric bed and electric wheelchair | |
| CN110611459B (en) | Multi-motor control system based on single kernel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |