WO2018018485A1 - 一种磁编舵机 - Google Patents

一种磁编舵机 Download PDF

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Publication number
WO2018018485A1
WO2018018485A1 PCT/CN2016/092010 CN2016092010W WO2018018485A1 WO 2018018485 A1 WO2018018485 A1 WO 2018018485A1 CN 2016092010 W CN2016092010 W CN 2016092010W WO 2018018485 A1 WO2018018485 A1 WO 2018018485A1
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WO
WIPO (PCT)
Prior art keywords
module
magnetic
control
motor
circuit
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PCT/CN2016/092010
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English (en)
French (fr)
Inventor
林剑冰
王建军
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深圳市创客工场科技有限公司
Priority date (The priority date 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 date listed.)
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Application filed by 深圳市创客工场科技有限公司 filed Critical 深圳市创客工场科技有限公司
Priority to CN201680003837.9A priority Critical patent/CN107005129A/zh
Priority to PCT/CN2016/092010 priority patent/WO2018018485A1/zh
Publication of WO2018018485A1 publication Critical patent/WO2018018485A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • Embodiments of the present invention relate to the field of electric devices, and in particular, to a magnetic rudder.
  • the conventional steering gear is composed of a motor, a controller, a potentiometer and a gear set.
  • the gear set is driven by a motor.
  • the gear set output drives a position feedback circuit with linear proportionality as a position detection.
  • the control circuit is based on the feedback voltage of the potentiometer.
  • the external output control pulses are compared to generate a correction pulse that controls and drives the electrode to rotate forward or backward, thereby making the position of the gear set output consistent with the desired value, thereby achieving the purpose of accurately controlling the steering angle.
  • the current potentiometer-based steering gear can only rotate within a certain angle, that is, there is a maximum rotation angle (such as 180 degrees or 300 degrees), therefore, the potentiometer-based steering gear has a rotation dead zone, and since the potentiometer is an analog device
  • the analog device has the disadvantages of weak anti-interference ability and low precision, and the potentiometer will have lower precision due to contact wear during use.
  • the embodiment of the invention provides a magnetic rudder servo, in order to avoid the rotation dead zone existing in the existing rudder machine, and improve the anti-interference and precision of the rudder.
  • a first aspect of the embodiments of the present invention provides a magnetic rudder servo, comprising: a power module, a control module, a magnetic encoder circuit module, a magnet module, a DC motor drive circuit module, a DC motor module, and a gear set Module
  • the power module is electrically connected to the control module, the control module is electrically connected to the DC motor drive circuit module and the magnetic encoder circuit module, and the DC motor drive circuit module and the DC motor module are Electrically connected, the DC motor module is electrically connected to the gear set module, the gear set module is connected to the magnet module, and the magnet module is non-contactly connected with the magnetic encoder circuit module;
  • the power module is configured to provide power to the control module, the motor module drives the gear set module to rotate, and the gear set module rotates to rotate the magnet module, the magnetic encoder circuit
  • the module generates an angle signal based on the rotation angle of the magnet module, and feeds back to the control module, and the control module controls the DC motor drive circuit module based on an angle signal generated by the magnetic encoder circuit module, thereby controlling the The DC motor module.
  • the magnetic steered servo further includes: a current sampling circuit, wherein a first port of the current sampling circuit is electrically connected to the DC motor module, the current sampling The second port of the circuit is electrically connected to the control module, and the current sampling circuit is configured to generate a feedback signal to the control module when detecting that the operating current of the DC motor module exceeds a preset current threshold.
  • the magnetic steer servo further includes: a voltage sampling circuit, wherein a first port of the voltage sampling circuit is electrically connected to the DC motor module, the voltage sampling The second port of the circuit is electrically connected to the control module, and the voltage sampling circuit is configured to generate a feedback signal to the control module when detecting that the operating voltage of the DC motor module exceeds a preset voltage threshold.
  • the magnetic steer servo further includes: a temperature sampling circuit, wherein a first port of the temperature sampling circuit is electrically connected to the DC motor module, the temperature sampling The second port of the circuit is electrically connected to the control module, and the temperature sampling circuit is configured to generate a feedback signal to the control module when detecting that the temperature of the DC motor module exceeds a preset temperature threshold.
  • the power module includes: a power input overvoltage protection circuit module, a low dropout linear regulator LDO module, wherein the power input overvoltage protection circuit module and the The LDO module of the low dropout linear regulator is electrically connected.
  • the magnetic encoder circuit module includes a control chip, wherein the control chip includes a Hall sensor, and the Hall sensor is configured to detect a rotation angle of the magnet module The control chip generates an angle signal based on the rotation angle of the magnet module detected by the Hall sensor.
  • control module has a supply voltage of 3.3 volts.
  • the magnetic steered servo further includes: a power connection
  • the power input terminal is electrically connected to the DC motor driving circuit module and the power input overvoltage protection circuit module, and is configured to input an overvoltage protection to the DC motor driving circuit module and the power source.
  • the circuit module is powered.
  • the magnet module is a cylindrical structure that is polarized, and the magnet module is placed coaxially with the Hall sensor.
  • control module includes a serial communication unit, and the serial communication unit is used in series with a serial communication unit of another magnetic steer.
  • the steering gear provided by the invention replaces the position feedback circuit of the existing steering gear by the magnet module, and replaces the analog device potentiometer existing in the existing steering gear with the magnetic encoder circuit module, thereby avoiding the existing steering gear due to the pulse control
  • the problem of the dead zone caused by the rotation also avoids the problem of serious wear and low precision caused by the potentiometer of the existing steering gear, thereby improving the control precision and anti-interference of the steering gear.
  • FIG. 1 is a schematic structural view of a magnetic rudder servo according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural view of a magnetic rudder servo according to a second embodiment of the present invention.
  • 2-1 is a schematic structural diagram of a power module according to a second embodiment of the present invention.
  • FIG. 2-2 is a schematic structural diagram of a control chip according to a second embodiment of the present invention.
  • 2-3 is a schematic structural view of a magnet module according to a second embodiment of the present invention.
  • 2-4 are schematic diagrams showing the positions of the magnet module and the control chip according to the second embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a magnetic rudder servo 100 according to a first embodiment of the present invention.
  • the magnetic rudder servo 100 includes a power module 101, a control module 102, and a magnetic encoder circuit module 103.
  • the control module 102 is electrically connected to the DC motor drive circuit module 105 and the magnetic encoder circuit module 103.
  • the DC motor drive circuit module 105 is electrically connected to the DC motor module 106.
  • the motor module 106 is electrically connected to the gear set module 107, the gear set module 107 is connected to the magnet module 104, and the magnet module 104 is non-contactly connected with the magnetic encoder circuit module 103;
  • the power module 101 is used to provide power to the control module 102, the motor module drives the gear set module 107 to rotate, and the gear set module 107 rotates to drive the magnet module 104 to rotate.
  • the magnetic encoder circuit module 103 generates a digital angle signal based on the rotation angle of the magnet module 104, and feeds back to the control module 102.
  • the control module 102 controls the location based on the angle signal generated by the magnetic encoder circuit module 103.
  • the DC motor drive circuit module 105 further controls the DC motor module 106.
  • control module 102 is disposed on the main board of the magnetic servo 100.
  • the control module 102 includes a Micro Control Unit (MCU), and the micro control unit adopts 32 bits or 64.
  • the bit data storage mode such that the micro control unit can be compatible with the operating systems of most current computer terminals and implement a communication mode of big data.
  • the DC motor module 106 receives DC power, and the DC motor is a coreless motor.
  • the DC motor module 106 determines the direction of rotation according to the angle signal of the control module 102.
  • the DC motor module 106 outputs the rotational torque to the steering wheel through the gear set module 107, and the steering wheel can output the rotational torque to other steering gears or to the load components.
  • the DC motor module 106 determines a rotation angle according to a digital signal generated by the magnetic encoder circuit module 103.
  • the magnetic rudder servo 100 can achieve 360-degree continuous rotation.
  • the magnetic rudder servo 100 can be applied to an intelligent robot and controlled by a receiving robot.
  • the magnetic servo 100 operates to output torque to the components of the robot to realize the turning motion, and at the same time, feed back the rotating motion to the robot according to the load received by the robot.
  • FIG. 2 is a schematic structural diagram of a magnetic rudder servo 100 according to a second embodiment of the present invention.
  • the magnetic rudder servo 100 includes the first embodiment of the present invention: The power module 101, the control module 102, the magnetic encoder circuit module 103, the magnet module 104, the DC motor drive circuit module 105, the DC motor module 106, and the gear set module 107.
  • the magnetic servo 100 may further include: a current a sampling circuit 108, wherein a first port of the current sampling circuit 108 is electrically connected to the DC motor module 106, and a second port of the current sampling circuit 108 is electrically connected to the control module 102, the current sampling circuit 108 is configured to generate a feedback signal to the control module 102 when detecting that the operating current of the DC motor module 106 exceeds a preset current threshold.
  • the magnetic steer servo 100 further includes: a voltage sampling circuit 109, wherein a first port of the voltage sampling circuit 109 is electrically connected to the DC motor module 106, and a second port of the voltage sampling circuit 109 The voltage sampling circuit 109 is configured to generate a feedback signal to the control module 102 when detecting that the operating voltage of the DC motor module 106 exceeds a preset voltage threshold.
  • the magnetic steer servo 100 further includes: a temperature sampling circuit 110, wherein a first port of the temperature sampling circuit 110 is electrically connected to the DC motor module 106, and a second port of the temperature sampling circuit 110
  • the control module 102 is electrically connected to the control module 102.
  • the temperature sampling circuit 110 is configured to generate a feedback signal to the control module 102 when detecting that the temperature of the DC motor module 106 exceeds a preset temperature threshold.
  • the magnetic steering machine 100 further includes an alarm electrically connected to the control module 102, and the alarm sends an alarm prompt according to the feedback signal, that is, when the temperature is too high, the voltage is too small or too large.
  • the control module 102 controls the alarm to send an alarm message to remind the staff to protect the magnetic servo 100.
  • the alarm can be alarmed by means of a cue light, or by a beeping sound.
  • FIG. 2-1 is a structural diagram of a power module 101 according to a second embodiment of the present invention.
  • the power module 101 may further include: a power input overvoltage protection circuit module 1011, a low dropout linear regulator LDO module 1012, wherein the power input overvoltage protection circuit module 1011 and the low voltage difference
  • the linear regulator LDO module 1012 is electrically coupled, wherein the low dropout linear regulator LDO module 1012 is electrically coupled to the control module 102.
  • the power supply voltage of the control module 102 is 3.3 volts.
  • the power module 101 is electrically connected to the control module 102, converts the power input voltage into the operating voltage of the control module 102, and uses the power input to the overvoltage protection circuit module 1011 and the low dropout linear regulator LDO module 1012.
  • the supply voltage of the control module 102 is maintained within a preferred range of 3.3 volts.
  • FIG. 2-2 is a schematic structural diagram of a control chip according to a second embodiment of the present invention.
  • the control chip includes a Hall sensor for detecting a rotation angle of the magnet module 104, and the control chip generates a rotation angle of the magnet module 104 detected by the Hall sensor. Angle signal.
  • the magnetic rudder servo 100 further includes: a power access terminal (not shown), wherein the power access terminal is electrically connected to the DC motor drive circuit module 105 and the power input overvoltage protection
  • the circuit module 1011 is configured to supply power to the DC motor driving circuit module 105 and the power input overvoltage protection circuit module 1011.
  • FIG. 2-3 is a schematic structural diagram of the magnet module 104 according to the second embodiment of the present invention.
  • the magnet module 104 is placed coaxially with the Hall sensor, and the position of the magnet module is shown in FIG. 2-4.
  • FIG. 2-4 is a schematic view showing the position of the magnet module and the control chip according to the second embodiment of the present invention. .
  • the magnetic encoder circuit module 103 includes a control chip capable of sensing the angular position of the magnet module 104 placed above the control chip.
  • the flux sensor on the silicon surface is detected by a Hall sensor inside the control chip.
  • the Hall sensor is located in a circular array near the center of the control chip for transmitting the voltage response of the magnetic field distribution.
  • the output of the Hall sensor changes as the iron module 104 rotates.
  • the control chip performs calculations on a 12-bit/11-bit AD and coordinate rotation digital calculator, and then digitally processes and filters the converted data to the control module 102 through the I 2 C/SPI.
  • PWM or DA signals can be output. The signal is sent to the control module 102 for processing.
  • control module 102 includes a serial communication unit (not shown), and the serial communication unit is used in series with the serial communication unit of the other magnetic servo device 100.
  • the serial communication unit is used in series with a serial communication unit of another magnetic calibrator 100.
  • a plurality of the magnetic servos 100 can be connected in series, that is, the serial communication units of the adjacent two magnetic servos 100 are connected in series with the serial communication unit. Therefore, when the external host sends a control signal to one of the magnetic servos 100, it is only necessary to send a control signal to the first magnetic servo 100.
  • the control module 102 of the first magnetic encoder 100 receives the host control signal through the serial communication unit, and recognizes that the control signal is not the local control signal, the control unit 102 transmits the signal to the other magnetic servo device 100 through the serial communication unit.
  • Control signals, other magnetic servos 100 transmit control signals in the same manner until the control signals reach a particular servo. Thereby, the host sends the control signals to the multiple servos separately, simplifying the communication structure.
  • the serial communication unit may further include a signal sending serial port and a signal receiving serial port, and the signal transmitting serial port and the signal receiving serial port are simultaneously electrically connected to the control module 102, and independently transmit signals to the control module 102. Therefore, the magnetic steered servo 100 can receive and transmit signal commands simultaneously in a unit time, and then control the DC motor drive circuit module 105 based on the magnetic encoder circuit module 103 by using the control module 102, thereby improving the magnetic rudder servo 100. Control efficiency and operational efficiency.
  • the micro control unit of the control module 102 can send a control signal to the external device via the signal sending serial port, and the external device can be a computer terminal or other magnetic rudder servo 100, or a general steering gear to implement The operation information of the magnetic servo 100 is fed back to the external device or the control signal not belonging to the steering gear is transmitted to other steering gears.
  • the micro control unit may receive a control signal of the external device via the signal receiving serial port to enable the external device to send a control signal to the magnetic steering machine 100 to control the operation of the magnetic steering gear 100, or receive a control signal from other steering gears.
  • the control module 102 may further include a central processing control unit to implement the magnetic rudder servo 100 with a switchboard control function.
  • the magnetic rudder servo provided by the invention replaces the position feedback circuit of the existing rudder machine by the magnet module, and replaces the analog device potentiometer of the existing rudder machine with the magnetic encoder circuit module, thereby avoiding the existing steering gear
  • the problem of the rotation dead zone caused by the pulse control also avoids the problem that the existing steering gear is severely worn and the precision is not high due to the potentiometer, thereby improving the control precision and anti-interference of the steering gear.
  • the embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium can store a program, and the program includes some or all of the steps of any one of the data communication methods described in the foregoing method embodiments.
  • the disclosed apparatus may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may contribute to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a memory. A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing memory includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like, which can store program codes.
  • ROM Read-Only Memory
  • RAM Random Access Memory

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种磁编舵机（100），包括：电源模块（101）、控制模块（102）、磁编码器电路模块（103）、磁铁模块（104）、直流电机驱动电路模块（105）、直流电机模块（106）以及齿轮组模块（107），其中，电源模块（101）用于为控制模块（102）提供电源，直流电机模块（106）驱动齿轮组模块（107）转动，齿轮组模块（107）转动带动磁铁模块（104）旋转，磁编码器电路模块（103）基于磁铁模块（104）的旋转角度，产生角度信号，反馈给控制模块（102），控制模块（102）基于磁编码器电路模块（103）产生的角度信号，控制直流电机驱动电路模块（105），进而控制直流电机模块（106）。该磁编舵机有利于避免现有舵机由于脉冲控制所引起的转动死区问题，同时有利于避免现有舵机由于电位器所造成的磨损严重、精度不高的问题，进而有利于提高舵机的控制精度与抗干扰性。

Description

一种磁编舵机 技术领域
本发明实施例涉及电动设备领域，尤其涉及一种磁编舵机。
背景技术
传统舵机由电机、控制器、电位器以及齿轮组构成，齿轮组由电机驱动，齿轮组输出带动一个具有线性比例特性的位置反馈电路，作为位置检测，控制电路根据电位器的反馈电压，与外部输出控制脉冲进行比较，产生纠正脉冲，控制并驱动电极正转或反转，进而使得齿轮组输出的位置与期望值相符合，从而达到精确控制转向角度的目的。然而目前基于电位器的舵机只能在一定角度内转动，即存在最大旋转角度(比如180度或300度)，因此，基于电位器的舵机存在转动死区，而且由于电位器是模拟器件，模拟器件存在抗干扰能力弱、精度低的缺点，而且电位器在使用过程中会因为接触磨损而导致精度降低。
发明内容
本发明实施例提供一种磁编舵机，以期避免现有舵机存在的转动死区的同时，提升舵机的抗干扰性及精度。
本发明实施例第一方面提供一种磁编舵机，所述磁编舵机包括：电源模块、控制模块、磁编码器电路模块、磁铁模块、直流电机驱动电路模块、直流电机模块以及齿轮组模块；
其中，所述电源模块与所述控制模块电连接，所述控制模块与所述直流电机驱动电路模块以及所述磁编码器电路模块电连接，所述直流电机驱动电路模块与所述直流电机模块电连接，所述直流电机模块与所述齿轮组模块电连接，所述齿轮组模块与所述磁铁模块连接，所述磁铁模块与所述磁编码器电路模块非接触连接；
所述电源模块用于为所述控制模块提供电源，所述电机模块驱动所述齿轮组模块转动，所述齿轮组模块转动带动所述磁铁模块旋转，所述磁编码器电路 模块基于所述磁铁模块的旋转角度，产生角度信号，反馈给所述控制模块，所述控制模块基于所述磁编码器电路模块产生的角度信号，控制所述直流电机驱动电路模块，进而控制所述直流电机模块。
结合第一方面，在一些可能的实现方式中，所述磁编舵机还包括：电流采样电路，其中，所述电流采样电路的第一端口与所述直流电机模块电连接，所述电流采样电路的第二端口与所述控制模块电连接，所述电流采样电路用于在检测到所述直流电机模块的工作电流超过预设电流阈值时产生反馈信号，反馈给所述控制模块。
结合第一方面，在一些可能的实现方式中，所述磁编舵机还包括：电压采样电路，其中，所述电压采样电路的第一端口与所述直流电机模块电连接，所述电压采样电路的第二端口与所述控制模块电连接，所述电压采样电路用于在检测到所述直流电机模块的工作电压超过预设电压阈值时产生反馈信号，反馈给所述控制模块。
结合第一方面，在一些可能的实现方式中，所述磁编舵机还包括：温度采样电路，其中，所述温度采样电路的第一端口与所述直流电机模块电连接，所述温度采样电路的第二端口与所述控制模块电连接，所述温度采样电路用于在检测到所述直流电机模块的温度超过预设温度阈值时产生反馈信号，反馈给所述控制模块。
结合第一方面，在一些可能的实现方式中，所述电源模块，包括：电源输入过电压保护电路模块、低压差线性稳压器LDO模块，其中，所述电源输入过电压保护电路模块与所述低压差线性稳压器LDO模块电连接。
结合第一方面，在一些可能的实现方式中，所述磁编码器电路模块包括控制芯片，其中，所述控制芯片包括霍尔传感器，所述霍尔传感器用于检测所述磁铁模块的旋转角度，所述控制芯片基于所述霍尔传感器检测得到的所述磁铁模块的旋转角度产生角度信号。
结合第一方面，在一些可能的实现方式中，所述控制模块的供电电压为3.3伏。
结合第一方面，在一些可能的实现方式中，所述磁编舵机还包括：电源接 入端，其中，所述电源接入端电连接于所述直流电机驱动电路模块及所述电源输入过电压保护电路模块，用于向所述直流电机驱动电路模块及所述电源输入过电压保护电路模块供电。
结合第一方面，在一些可能的实现方式中，所述磁铁模块为对径极化的圆柱型结构，所述磁铁模块与所述霍尔传感器同轴放置。
结合第一方面，在一些可能的实现方式中，所述控制模块包括串口通信单元，所述串口通信单元用于与另一所述磁编舵机的串口通信单元串联。
本发明提供的舵机，通过磁铁模块代替现有舵机的位置反馈电路，用磁编码器电路模块代替现有舵机中存在的模拟器件电位器，从而避免了现有舵机由于脉冲控制所引起的转动死区问题，也避免了现有舵机由于电位器所造成的磨损严重、精度不高的问题，进而提高了舵机的控制精度与抗干扰性。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域低精度技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明第一实施例提供的一种磁编舵机的结构示意图；
图2是本发明第二实施例提供的一种磁编舵机的结构示意图；
图2-1是本发明第二实施例提供的电源模块的结构示意图；
图2-2是本发明第二实施例提供的控制芯片的结构示意图；
图2-3是本发明第二实施例提供的磁铁模块的结构示意图；
图2-4是本发明第二实施例提供的磁铁模块与控制芯片的摆放位置示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清 楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
请参阅图1，图1是本发明第一实施例提供的一种磁编舵机100的结构示意图，所述磁编舵机100包括：电源模块101、控制模块102、磁编码器电路模块103、磁铁模块104、直流电机驱动电路模块105、直流电机模块106以及齿轮组模块107，其中，所述磁编舵机100内部各个模块的连接关系如下：所述电源模块101与所述控制模块102电连接，所述控制模块102与所述直流电机驱动电路模块105以及所述磁编码器电路模块103电连接，所述直流电机驱动电路模块105与所述直流电机模块106电连接，所述直流电机模块106与所述齿轮组模块107电连接，所述齿轮组模块107与所述磁铁模块104连接，所述磁铁模块104与所述磁编码器电路模块103非接触连接；
可以理解的，所述电源模块101用于为所述控制模块102提供电源，所述电机模块驱动所述齿轮组模块107转动，所述齿轮组模块107转动带动所述磁铁模块104旋转，所述磁编码器电路模块103基于所述磁铁模块104的旋转角度，产生数字角度信号，反馈给所述控制模块102，所述控制模块102基于所述磁编码器电路模块103产生的角度信号，控制所述直流电机驱动电路模块105，进而控制所述直流电机模块106。
具体地，本实施方式中，所述控制模块102设置于磁编舵机100的主板上，所述控制模块102包括微控制单元(Microcontroller Unit；MCU)，所述微控制单元采用32位或64位数据存储模式，从而所述微控制单元可以兼容目前多数计算机终端的操作系统，并且实现大数据的通信模式。
具体地，所述直流电机模块106接收直流电，所述直流电机为无核心马达。所述直流电机模块106根据所述控制模块102的角度信号判断转动方向。所述直流电机模块106通过齿轮组模块107将转动扭矩输出至舵盘，舵盘可以将转动扭矩输出至其他舵机或者输出至负载部件。所述直流电机模块106根据所述磁编码器电路模块103产生的数字信号判断转动角度。具体的，所述磁编舵机100可以实现360度连续转动。
具体地，所述磁编舵机100可以应用于智能机器人上，在接收机器人控制 指令情况下，磁编舵机100运行进而向机器人的部件输出扭矩，以实现转动动作，同时根据机器人所承受的负载向机器人反馈转动动作。
进一步地，请参阅图2所示，图2是本发明第二实施例提供的一种磁编舵机100的结构示意图，所述磁编舵机100包括本发明第一实施例所提供的：电源模块101、控制模块102、磁编码器电路模块103、磁铁模块104、直流电机驱动电路模块105、直流电机模块106以及齿轮组模块107，进一步，所述磁编舵机100还可以包括：电流采样电路108，其中，所述电流采样电路108的第一端口与所述直流电机模块106电连接，所述电流采样电路108的第二端口与所述控制模块102电连接，所述电流采样电路108用于在检测到所述直流电机模块106的工作电流超过预设电流阈值时产生反馈信号，反馈给所述控制模块102。
进一步地，所述磁编舵机100还包括：电压采样电路109，其中，所述电压采样电路109的第一端口与所述直流电机模块106电连接，所述电压采样电路109的第二端口与所述控制模块102电连接，所述电压采样电路109用于在检测到所述直流电机模块106的工作电压超过预设电压阈值时产生反馈信号，反馈给所述控制模块102。
进一步地，所述磁编舵机100还包括：温度采样电路110，其中，所述温度采样电路110的第一端口与所述直流电机模块106电连接，所述温度采样电路110的第二端口与所述控制模块102电连接，所述温度采样电路110用于在检测到所述直流电机模块106的温度超过预设温度阈值时产生反馈信号，反馈给所述控制模块102。
进一步地，所述述磁编舵机100还包括电连接于所述控制模块102的报警器，所述报警器根据反馈信号发出报警提示，即当出现温度过高、电压过小或过大、电流过小或过大时，所述控制模块102会控制报警器发出报警信息，以提醒工作人员，进而起到对所述磁编舵机100的保护。所述报警器可以通过提示灯的方式进行报警，或者是通过发出蜂鸣音的方式报警。
如图2-1所示，图2-1是本发明第二实施例提供的电源模块101的结构示 意图，所述电源模块101，还可以进一步地包括：电源输入过电压保护电路模块1011、低压差线性稳压器LDO模块1012，其中，所述电源输入过电压保护电路模块1011与所述低压差线性稳压器LDO模块1012电连接，其中，所述低压差线性稳压器LDO模块1012与所述控制模块102电连接。
具体地，所述控制模块102的供电电压为3.3伏。所述电源模块101电连接于所述控制模块102，将电源输入电压转化为所述控制模块102的运行电压，利用所述电源输入过电压保护电路模块1011、低压差线性稳压器LDO模块1012使得所述控制模块102的供电电压保持在基于3.3伏的优选范围内。
进一步地，所述磁编码器电路模块103包括控制芯片，所述控制芯片如图2-2所示，图2-2是本发明第二实施例提供的控制芯片的结构示意图。其中，所述控制芯片包括霍尔传感器，所述霍尔传感器用于检测所述磁铁模块104的旋转角度，所述控制芯片基于所述霍尔传感器检测得到的所述磁铁模块104的旋转角度产生角度信号。
进一步地，所述磁编舵机100还包括：电源接入端(图未示)，其中，所述电源接入端电连接于所述直流电机驱动电路模块105及所述电源输入过电压保护电路模块1011，用于向所述直流电机驱动电路模块105及所述电源输入过电压保护电路模块1011供电。
进一步地，所述磁铁模块104为对径极化的圆柱型结构，具体请参考图2-3所示，图2-3是本发明第二实施例提供的磁铁模块104的结构示意图，所述磁铁模块104与所述霍尔传感器同轴放置，其摆放位置示意图请参考图2-4所示，图2-4是本发明第二实施例提供的磁铁模块与控制芯片的摆放位置示意图。
具体地，磁编码器电路模块103包括的控制芯片能够感应放在控制芯片上方的磁铁模块104的角度位置。采用控制芯片内部的霍尔传感器检测硅表面的磁通分布。霍尔传感器位于控制芯片中心附近的圆形阵列，用于传递磁场分布的电压响应。霍尔传感器的输出随着铁模块104的旋转而变化。控制芯片在一个12位/11位AD和坐标旋转数字计算器进行计算，再通过数字处理和过滤，将转换后的数据通过I2C/SPI输出给控制模块102。同时可以输出PWM或DA 信号。将信号送给控制模块102进行处理。
进一步地，所述控制模块102包括串口通信单元(图未示)，所述串口通信单元用于与另一所述磁编舵机100的串口通信单元串联。
具体地，所述串口通信单元用以与另一所述磁编舵机100的串口通信单元串联。本实施方式中，多个所述磁编舵机100之间可以相互串接，即相邻两个磁编舵机100的串口通信单元与串口通信单元相串联。从而当外部主机向其中某一个磁编舵机100发送控制信号时，仅需向第一个磁编舵机100发送控制信号即可。当第一个磁编舵机100的控制模块102通过所述串口通信单元接收主机控制信号后，识别到该控制信号并非本机控制信号，则通过串口通信单元向另一磁编舵机100发送控制信号，其他磁编舵机100按照相同方式传递控制信号，直至该控制信号达到特定的舵机为止。从而省去主机向多个舵机之间分别发送控制信号，简化通信结构。
所述串口通信单元可以进一步包括信号发送串口以及信号接收串口，通过所述信号发送串口和所述信号接收串口同时电连接于所述控制模块102，并相互独立向所述控制模块102传递信号，从而使得所述磁编舵机100可以在单位时间内同时接收和发送信号指令，进而利用控制模块102对直流电机驱动电路模块105基于磁编码器电路模块103进行控制，从而提高磁编舵机100的控制效率和运行效率。
其中，所述控制模块102的微控制单元可以经所述信号发送串口向外部器件发送控制信号，该外部器件可以是计算机终端也可以是其他磁编舵机100，或者是总舵机，以实现将磁编舵机100的工作信息反馈至外部器件或者将不属于本舵机的控制信号传递至其他舵机。所述微控制单元可以经所述信号接收串口接收外部器件的控制信号，以实现外部器件向磁编舵机100发送控制信号控制磁编舵机100运行，或者是从其他舵机处接收控制信号。在其他实施方式中，所述控制模块102还可以包括中央处理控制单元，从而实现磁编舵机100具备总机控制功能。
本发明提供的磁编舵机，通过磁铁模块代替现有舵机的位置反馈电路，用磁编码器电路模块代替现有舵机的模拟器件电位器，从而避免了现有舵机由于 脉冲控制所引起的转动死区问题，也避免了现有舵机由于电位器所造成的磨损严重、精度不高的问题，进而提高了舵机的控制精度与抗干扰性。
本发明实施例还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时包括上述方法实施例中记载的任何一种数据通信方法的部分或全部步骤。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储器包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储器中，存储器可以包括：闪存盘、只读存储器(英文：Read-Only Memory，简称：ROM)、随机存取器(英文：Random Access Memory，简称：RAM)、磁盘或光盘等。
以上对本发明实施例进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上上述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种磁编舵机，其特征在于，所述磁编舵机包括：电源模块、控制模块、磁编码器电路模块、磁铁模块、直流电机驱动电路模块、直流电机模块以及齿轮组模块；
    其中，所述电源模块与所述控制模块电连接，所述控制模块与所述直流电机驱动电路模块以及所述磁编码器电路模块电连接，所述直流电机驱动电路模块与所述直流电机模块电连接，所述直流电机模块与所述齿轮组模块电连接，所述齿轮组模块与所述磁铁模块连接，所述磁铁模块与所述磁编码器电路模块非接触连接；
    所述电源模块用于为所述控制模块提供电源，所述电机模块驱动所述齿轮组模块转动，所述齿轮组模块转动带动所述磁铁模块旋转，所述磁编码器电路模块基于所述磁铁模块的旋转角度，产生角度信号，反馈给所述控制模块，所述控制模块基于所述磁编码器电路模块产生的角度信号，控制所述直流电机驱动电路模块，进而控制所述直流电机模块。
  2. 如权利要求1所述的磁编舵机，其特征在于，所述磁编舵机还包括：电流采样电路，其中，所述电流采样电路的第一端口与所述直流电机模块电连接，所述电流采样电路的第二端口与所述控制模块电连接，所述电流采样电路用于在检测到所述直流电机模块的工作电流超过预设电流阈值时产生反馈信号，反馈给所述控制模块。
  3. 如权利要求1所述的磁编舵机，其特征在于，所述磁编舵机还包括：电压采样电路，其中，所述电压采样电路的第一端口与所述直流电机模块电连接，所述电压采样电路的第二端口与所述控制模块电连接，所述电压采样电路用于在检测到所述直流电机模块的工作电压超过预设电压阈值时产生反馈信号，反馈给所述控制模块。
  4. 如权利要求1所述的磁编舵机，其特征在于，所述磁编舵机还包括： 温度采样电路，其中，所述温度采样电路的第一端口与所述直流电机模块电连接，所述温度采样电路的第二端口与所述控制模块电连接，所述温度采样电路用于在检测到所述直流电机模块的温度超过预设温度阈值时产生反馈信号，反馈给所述控制模块。
  5. 如权利要求1所述的磁编舵机，其特征在于，所述电源模块，包括：电源输入过电压保护电路模块、低压差线性稳压器LDO模块，其中，所述电源输入过电压保护电路模块与所述低压差线性稳压器LDO模块电连接。
  6. 如权利要求1所述的磁编舵机，其特征在于，所述磁编码器电路模块包括控制芯片，其中，所述控制芯片包括霍尔传感器，所述霍尔传感器用于检测所述磁铁模块的旋转角度，所述控制芯片基于所述霍尔传感器检测得到的所述磁铁模块的旋转角度产生角度信号。
  7. 如权利要求1所述的磁编舵机，其特征在于，所述控制模块的供电电压为3.3伏。
  8. 如权利要求5所述的磁编舵机，其特征在于，所述磁编舵机还包括：电源接入端，其中，所述电源接入端电连接于所述直流电机驱动电路模块及所述电源输入过电压保护电路模块，用于向所述直流电机驱动电路模块及所述电源输入过电压保护电路模块供电。
  9. 如权利要求6所述的磁编舵机，其特征在于，所述磁铁模块为对径极化的圆柱型结构，所述磁铁模块与所述霍尔传感器同轴放置。
  10. 如权利要求1所述的磁编舵机，其特征在于，所述控制模块包括串口通信单元，所述串口通信单元用于与另一所述磁编舵机的串口通信单元串联。
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