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Joint motor driving circuit of collaborative robot

A technology of motor drive circuit and robot joints, which is applied in the field of robots, can solve the problems of low communication speed of communication protocols, reduced position command tracking ability, and low operating precision of mechanical arms, so as to improve the synchronization rate of multi-joints and realize high-precision control , Improve the effect of tracking ability

Pending Publication Date: 2022-07-08
伯朗特机器人股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, common collaborative robot joint modules generally use CAN communication or 485 communication, and the communication speed of these two communication protocols is not high. The tracking ability of the command makes the operation accuracy of the robot arm not high and the movement shakes

Method used

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  • Joint motor driving circuit of collaborative robot
  • Joint motor driving circuit of collaborative robot
  • Joint motor driving circuit of collaborative robot

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Embodiment Construction

[0055] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0056] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative work fall within the protection scope of the embodiments of the present application.

[0057] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. As used in the embodiments of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plur...

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Abstract

The embodiment of the invention relates to a collaborative robot joint motor driving circuit, which is characterized by comprising a DSP (Digital Signal Processor), a CAN (Controller Area Network) transceiver and an EtherCAT slave station controller, the DSP comprises a CAN (Controller Area Network) interface, a first SPI (Serial Peripheral Interface) and an MCU (Microprogrammed Control Unit); the CAN interface and the first SPI are respectively connected with the MCU; the CAN transceiver is connected with the CAN interface and is used for performing parameter exchange between the upper computer and the MCU control unit when the collaborative robot is in a debugging stage; and the EtherCAT slave station controller is connected with the first SPI interface and is used for performing information exchange of a position control instruction with an external controller when the collaborative robot is in a working state. According to the method, information transmission in different stages is carried out through two communication protocols of CAN communication and etherCat, high-precision control over the mechanical arm of the collaborative robot is achieved, and the multi-joint synchronization rate is increased.

Description

technical field [0001] The embodiments of the present application relate to the field of robotics, and in particular, to a joint motor drive circuit of a collaborative robot. Background technique [0002] In the era of transformation and upgrading of the manufacturing industry, intelligent robots will penetrate more and more deeply into our work and life. Collaborative robots, as the name implies, are robots and humans that can work together on the production line to give full play to the efficiency of robots and human intelligence. Collaborative robots have been widely used in industrial manufacturing because of their flexibility, high precision, safety and good perception in production work. In the future, they will even be used in medical fields as medical equipment. [0003] The working principle of a collaborative robot is to convert electrical energy into mechanical energy to achieve 4-7 degrees of freedom robotic arm movement. In the prior art, in the case of realiz...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/00B25J17/02
CPCB25J9/16B25J9/161B25J17/00B25J17/02Y02P90/02
Inventor 杨仲秋田坤淼杨思远李家晖
Owner 伯朗特机器人股份有限公司