Intelligent alternating current servo drive with high integration density and high power density

Abstract

The invention discloses an intelligent alternating current servo drive with high integration density and high power density, and belongs to the field of advanced robot servo control. The intelligent alternating current servo drive comprises power supply, an STM32F4 main control unit, an isolated communication module, an isolated power drive unit, an encoder unit, a safety protection unit and a sensing acquisition unit which are integrated on a circuit board. The isolated communication module is connected with a host computer and the STM32F4 main control unit through an RS485 bus or a CAN bus,and an internal TIMER of the STM32F4 main control unit operates in a PWM mode. After a generated PWM waveform is subjected to level switch, the PWM waveform is output to the isolated power drive unit,and the isolated power drive unit is connected with a motor at the same time. The STM32F4 main control unit is connected with the encoder unit through an SPI bus. An ADC interface of the STM32F4 maincontrol unit is connected to the sensing acquisition unit. An EXTI interface is connected to the safety protection unit. A multi-turn absolute value encoder acquisition circuit is integrated on a motor drive to be installed by being just fit with the motor, and the integrated application on a robot body is facilitated.

Description

technical field [0001] The invention relates to an intelligent AC servo drive with high integration and high power density, in particular to the field of advanced robot servo control. Background technique [0002] With the development of robot technology, especially the development of service robots and collaborative robots, the requirements for the volume of the robot body are becoming more and more stringent. The current robot-related products have strict requirements on the power density of the drive, especially the volume, which leads to the need for motor drives. It has a small enough size to be installed on the joints of the robot with the motor, and it also needs to integrate more functions. [0003] However, the existing industrial application driver products are bulky, and collaborative robot products mostly use incremental encoder modules + absolute value encoder modules + driver modules + motor modules + brake modules + deceleration modules to form integrated serv...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that the existing driver cannot balance the integration degree and power density, and the reliability is insufficient, the present invention combines the encoder module with the motor driver, and proposes an intelligent AC servo driver with high integration degree and high power density, which has a volume The features of small size, high integration, high power density, multi-function and intelligence meet the requirements of the above-mentioned robots for servo drives

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