Robot joint motor driving circuit

A technology for motor drive circuits and robot joints, applied in electrical components, electronic reversing motor control, control systems, etc., can solve problems such as poor closed-loop speed control, large moment of inertia of robot joints, poor voltage/speed linearity, etc. , to achieve the effect of small size, large torque, maintenance-free and long service life

Inactive Publication Date: 2017-06-13
北京智控城服科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention proposes a motor drive circuit for robot joints, which solves the problems in the prior art that the moment of inertia of robot joints is too large, the linearity of voltage / speed is poor, and the closed loop of speed control is not good.

Method used

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0032] Such as figure 1 As shown, the robot joint motor drive circuit includes a main control CPU module, the main control CPU module is connected with a power supply module, and the power supply module outputs a pure and stable DC voltage after the start-up detection is correct; the main control CPU module is connected with a drive A power module, the driving power module controls the brushless motor and records and stores the working information of the motor acco...

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Abstract

The invention provides a robot joint motor driving circuit. The robot joint motor driving circuit comprises a main control CPU (Central Processing Unit) module, wherein the main control CPU module is connected with a power supply module; the power supply module outputs pure stable direct-current voltage after being started and detected to be errorless; the main control CPU module is connected with a driving power module; the driving power module is used for controlling a brushless motor according to an instruction of the main control CPU module and recording and storing motor working information; the main control CPU module is connected with a detection feedback and protection module; the detection feedback and protection module is used for detecting a working state of a whole system and indicating when the system is abnormal; and the main control CPU module is connected with a communication module and the communication module is connected with an upper computer. According to the robot joint motor driving circuit, better open loop and closed loop control are realized aiming at the brushless motor, and each main control CPU module is used as a node to realize networking control of a plurality of joint motors; and a special driver is not needed any more.

Description

technical field [0001] The invention belongs to the technical field of robot intelligent control, and in particular relates to a robot joint motor driving circuit. Background technique [0002] At present, there is no special drive scheme for robot joint motors. Most of the small servos are hollow cup motors with brushes. However, the structure of brush motors leads to low working efficiency and cannot achieve high speed and high torque. Secondly, the service life of the brushed motor is relatively short, and it cannot be maintenance-free. Thirdly, the moment of inertia of the brushed motor is too large, the voltage / speed linearity is not good, and the closed loop such as its speed control is not good. [0003] Therefore, there is an urgent need for a robot joint motor drive circuit, which can achieve better open-closed-loop control for brushless motors, and treat each main control CPU module as a node to realize network control of multiple joint motors, and It is no longer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/00
CPCH02P6/00
Inventor 史海波
Owner 北京智控城服科技有限公司
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