Complicated control of high-precision bus-type digital micro-servo motor and its application

Abstract

The invention provides a micro servo motor and an application thereof; the micro servo motor comprises a direct current motor, a variable gear group, an output shaft, an angular sensor and a control panel; the control panel comprises a plurality of sub control panels; the sub control panels are stacked to form a multilayer structure; the sub control panels are connected through electrical connecting pieces to realize signal transmission; the micro servo motor also comprises an interface plate; the interface plate, the multilayer structure and the angular sensor are stacked in sequence; the interface plate is connected with the corresponding sub control panels through electrical connecting pieces to realize signal transmission; the angular sensor is connected with the output shaft; the direct current motor is in transmission connection with the output shaft through the variable gear group; and the interface plate and the multilayer structure are both arranged on the side surface of thedirect current motor.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a high-precision bus-type digital miniature servo motor with complex control and its application. Background technique [0002] In recent years, with the development of automation and artificial intelligence technology, higher requirements have been placed on the high-precision and complex control of machines or robots. Taking a robot as an example, the rotation of the joints of the robot arm can generally be realized by the steering gear. The steering gear is a position / angle servo drive, that is, a servo motor, which is suitable for control systems that require constant changes in angle and can be maintained. Among them, micro servo motors or micro steering gears are often used in fields such as model airplanes, racing cars, and small robots. For example figure 1 The Futaba S3003 shown is one of the widely used miniature steering gear models. Many commercially available acce...

AI Technical Summary

Problems solved by technology

However, this type of digital steering gear still uses a potentiometer as a mechanically linked position sensor, and its sensing accuracy is low, resulting in a low readback frequency (about a few hundred Hz) of the position signal sent by the MCU. It is still difficult to achieve high precision control

In addition, although this type of steering gear adopts bus control, in order to achieve miniaturization, the bus interface cannot be directly set on the MCU circuit board, but the bus interface needs to be set outside the outer shell of the steering gear.

For example, the classic FutabaS3003 steering gear needs to lead out a "tail" with a bus interface data line from the MCU circuit board inside the shell, which is not beautiful, and it is inconvenient to assemble. This "tail" is easy to be torn off, and it is quite troublesome to repair after being torn off

Of course, in order to avoid the above-mentioned problems, some steering gears in the prior art are provided with a bus interface on the MCU circuit board, but this setting makes the MCU circuit board larger and wider, and cannot be accommodated in a small steering gear housing such as Futaba S3003. In the middle, that is, it cannot be miniaturized like the Futaba S3003 steering gear

It can be seen that there is a contradiction between realizing the complex and high-precision control of the servo motor and miniaturization, which is just one of the technical problems to be solved in the present invention

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