Device and method for controlling single-bus modular digital actuator of robot

Abstract

The invention relate to a device and a method for controlling a single-bus modular digital actuator of a robot. The device comprises an actuator control unit, a direct-current motor, a communication module, a speed reduction mechanism, position and temperature sensors and a current protection circuit. The method includes that the actuator control unit computes control parameters according to the running temperatures, driving currents of the motor and the position of the actuator and outputs the control parameters to a motor control circuit; the communication module receives control instructions of an upper computer and feeds information of the current position of the actuator, the current speed of the actuator and the like to the upper computer; a high rotational speed and low torque of the motor are converted into a low rotational speed and high torque by the speed reduction mechanism and an output mechanism, and the low rotational speed and the high torque are outputted by the speed reduction mechanism and the output mechanism; the position sensor, the temperature sensor and the current protection circuit are respectively used for feeding current position signals of the actuator, the running temperatures and the driving currents of the motor to the actuator control unit, so that closed-loop high-precision safety control can be implemented. The device and the method have the advantages of overcurrent, overvoltage and over-temperature protection, capability of preventing overload or over-temperature damage, high response speed, zero dead zones and high control precision.

Description

Technical field [0001] The robot single-bus, small size and large moment modular digital steering gear belongs to the field of automatic control. The steering gear is widely used in the control of the degree of freedom of the robot joints. In addition, it is used to control the attitude of the aircraft in the aerospace and aviation control fields. The invention relates to a steering gear control device and a control method, in particular to a robot single-bus modular digital steering gear control device and a control method. Background technique [0002] With the expansion of the application of automation equipment in recent years, the demand for steering gear has become more and more extensive. Various applications have put forward higher requirements on the volume, torque, control mode, and structural compatibility of the steering gear. The basic situation of traditional digital and analog steering gears is that the large torque of the steering gear is also very large, which br...

AI Technical Summary

Problems solved by technology

[0005] At present, there are also a small number of digital steering gears with microcontrollers, but due to structural limitations, the output torque per unit volume of existing digital steering gears (that is, steering gear torque / steering gear volume) is very small, which greatly limits its application.

[0006] In addition, the traditional steering gear control method mostly adopts parallel control, that is, multiple steering gears obtain control signals and power signals from the control module independently.

The disadvantage of this is that when the system needs multiple servos, the wiring of the system is very cumbersome, and the main control module will require a lot of interfaces, which limits the miniaturization of the system and the structural layout is greatly restricted

Especially in high-end automation equipment such as multi-joint robots, its application is greatly restricted

[0007] When the traditional steering gear is empty, no power is transmitted to the steering gear motor

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