Robot joint actuator, joint actuator module and robot

Abstract

The invention provides a robot joint actuator, an actuator module and a robot. The actuator comprises a motor, a motor control processor, a network communication processor and an Ethernet switch chip;the Ethernet switch chip is connected with the network communication processor and is connected with a first network port and a second network port, the first network port is used for connecting networking equipment or a second actuator, and the second network port is used for connecting a third actuator; the network communication processor is used for communication based on an Ethernet TCP / IP protocol; the motor control processor is connected with the network communication processor and generates a motor driving control signal based on a signal from the network communication processor; and the signal receiving ends of the first network port and the second network port are connected through a synchronizing signal line, the synchronizing signal line is further connected to the synchronizing signal input end of the network communication processor, the first network port receives network signals and synchronizing signals of external control equipment through a network connecting line, and the synchronizing signals are transmitted to the synchronization signal input end of the network communication processor through the synchronizing signal line.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint actuator, a joint actuator module and a robot. Background technique [0002] At present, robot technology is developing rapidly, and the application of robots has penetrated into various fields of society. At the same time, the requirements for miniaturization, communication bandwidth, control flexibility and joint operation synchronization of robots are also increasing. Most of the current robots are multi-joint robots controlled by multiple degrees of freedom. The robot joints use CAN bus, RS485 bus or EtherCAT bus to communicate with the external control equipment of the robot. [0003] figure 1 It is a schematic diagram of the circuit structure applied in motion control using CAN bus. see figure 1 , all nodes (motors) are connected together through two parallel buses, two wires form a twisted pair, and connected with a characteristic impedance of 120Ω. The CA...

AI Technical Summary

Problems solved by technology

The CAN bus communication method mainly has the following disadvantages: (1) the maximum transmission speed is low, only 1Mbps, and it is difficult to reach 1Mbps in robot applications under normal circumstances, and the cable length is strictly limited; (2) the load of the data frame is only 8 characters The amount of data transmitted at one time is too small, which is difficult to meet the increasingly complex motion control and automation occasions of robots; (3) The data frame has only 11bit addresses, and the addressing space is small, making it difficult to carry out large-scale networking; (4) Bus communication , leading to the addition of any node must consider the matching of the bus impedance; in addition, only a linear network can be formed, and more complex network structures such as rings and stars cannot be realized; (5) The bus mode causes if a node in the network is short-circuited (6) The communication mode of the bus leads to the communication process with any node in the network, the entire network is in an occupied state, and the communication efficiency is low; because all communication signals are transmitted on the shared line, even if The information is only intended to be sent to one of the terminals, but it will be sent to all nodes on the line in the form of broadcast; (7) The half-duplex communication method is used, resulting in the inability to receive data when sending data

Since EtherCAT only utilizes the physical layer of standard Ethernet, the topology of the EtherCAT bus is single, and all master stations and slave stations require special chips or network devices, so the cost is high, and general network devices such as switches and routers cannot be used. Connected to the Internet, there is no concept of TCP / IP, so developers need to learn a lot of corresponding technical knowledge, resulting in high cost of use

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