Drive system and robot

Abstract

The application provides a driving system and a robot. The driving system comprises a driver, wherein the driver comprises N first controllers which are communicatively connected, N>=1, and M motors which are connected with the N first controllers, and the first controllers are used for controlling the operation of the connected motors, wherein the number of the motors connected with each first controller is the same, and M>=1.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a drive system and a robot. Background Art

[0002] The servo drive of a multi-axis robot is usually a multi-axis servo drive, which needs to control the movement of multiple motors in the robot at the same time.

[0003] In the related art, some multi-axis servo drives are composed of multiple single-axis servo drives connected in series. This design method takes up a large space. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of the present invention provides a drive system.

[0006] A second aspect of the present invention provides a robot.

[0007] In view of this, according to a first aspect of the present invention, a drive system is proposed, comprising: a driver, the driver comprising: N first controllers, the N first controllers being communicatively connected to each other, N≥1; M motors, the M motors being connected to the N first controllers, the first controllers being used to control the operation of the connected motors, wherein the number of motors connected to each first controller is the same, M≥1.

[0008] The drive system defined in the present invention is used to drive a robot to operate. The robot includes multiple joint axes, each of which is driven by an electric motor. The drive system includes a driver, which is provided with N first controllers. Each first controller is connected to at least one electric motor, and each first controller is used to control the operation of the corresponding electric motor. Among them, the number of electric motors is M, and the number of first controllers in each driver is N, so the number of drivers is That is, the number of drivers is the ratio of the number of motors to the number of first controllers rounded up.

[0009] Specifically, the driver is a multi-core driver, in which each first controller is a core controller within the driver. That is, the driver's MCU (Microcontroller Unit) includes M central processing units (CPUs). Each first controller is used to control at least one motor, reducing the driver's system footprint.

[0010] It should be noted that the driver includes multiple identical first controllers, and each first controller controls the same number of motors, so the firmware configuration of each first controller is the same, which reduces the difficulty of firmware development for the driver and reduces the difficulty of designing the control timing of different motors in the multi-axis robot.

[0011] In the technical solution of the present invention, a multi-axis robot is driven and controlled by providing a driver including multiple identical first controllers in a drive system. Since the multiple first controllers are the same controller, the multiple first controllers can be configured with the same firmware, reducing the difficulty of firmware development. Each driver includes multiple first controllers, and there is no need to provide a separate driver for each motor, which reduces the space occupied by the driver in the system and also reduces the problem of excess performance during single motor control.

[0012] In the above technical solution, the driver includes: a second controller, which is connected to the N first controllers respectively, and the second controller is used to transmit communication information to the N first controllers.

[0013] In this technical solution, each driver also includes a second controller, which is a communication controller. The second controller is used to control the transmission of communication information between multiple first controllers in the same driver, so that multiple first controllers in the same driver communicate using inter-core communication. When multiple first controllers control corresponding motors, the communication delay between the multiple first controllers is reduced, and the stability of control of multiple motors is improved.

[0014] In the technical solution of the present invention, by setting multiple first controllers in a single driver and a second controller for controlling communication between multiple first controllers, multiple first controllers in the same driver can communicate between cores, thereby improving the communication efficiency between multiple first controllers.

[0015] In any of the above technical solutions, the drive system further includes: an expansion device, the expansion device is connected to the first controller, and the expansion device and the first controller have a one-to-one correspondence.

[0016] In this technical solution, the drive system also includes expansion devices, which are used to expand the functionality of the first controller. The number of expansion devices matches the number of first controllers in the drive system. The expansion devices in the drive system are arranged in a one-to-one correspondence with the first controllers, so that each first controller is configured with the same expansion device.

[0017] In the technical solution of the present invention, multiple groups of expansion devices are also provided in the drive system, and each group of expansion devices corresponds one-to-one to the first controller in the drive system, so that multiple first controllers in the drive system can be configured with the same expansion devices, reducing the design required for the drive system.

[0018] In any of the above technical solutions, the expansion device includes: a sensor component, which is respectively connected to the first controller and has a one-to-one correspondence with the first controller; and a memory, which is respectively connected to the first controller and has a one-to-one correspondence with N first controllers.

[0019] In this technical solution, the specific components included in the extension device are defined, and the extension device includes a sensor component and a memory.

[0020] Specifically, the sensor assembly and the memory are both connected to the first controller. The sensor assembly is used to transmit collected sensor information to the first controller, enabling the first controller to control the operation of the connected motor based on the sensor information. The memory is used to store temporary data used by the first controller to control the motor.

[0021] In the technical solution of the present invention, it is defined that the expansion device includes a sensor component and a memory. By setting the same sensor component and memory in each group of expansion devices in the drive system, and the sensor component and memory are both connected to the first controller, the relevant design of the expansion device can be further simplified.

[0022] In any of the above technical solutions, the number of drivers is P, wherein the P drivers are connected in series, and each first controller is connected to M / (N×P) motors.

[0023] In this technical solution, a plurality of identical drivers are provided in the drive system, and each driver includes a plurality of first controllers. It should be noted that the number of drivers in the drive system and the number of first controllers in the drivers can be set according to the number of motors that the drive system needs to drive.

[0024] Specifically, the number of drivers is P, the number of first controllers in the driver is N, and the number of motors required to be driven by the drive system is M. Then each first controller needs to control M / (N×P) motors, so each first controller is connected to M / (N×P) motors.

[0025] In the technical solution of the present invention, multiple drivers can be set up in the drive system, and the multiple drivers are connected in series with each other. The number of first controllers in each driver is the same, and each first controller controls the same number of motors, thereby simplifying the hardware design and software design of the drive system.

[0026] In any of the above technical solutions, the drive system further includes: a circuit board, and the P drivers are all arranged on the circuit board.

[0027] In this technical solution, when the drive system includes multiple drivers, the multiple drivers are all arranged on the same circuit board. Since each driver includes multiple first controllers, and each first controller can independently control the motor, the space required for the drive system is reduced.

[0028] In any of the above technical solutions, each of the N first controllers is configured with a first control program; wherein the first control program includes any one of the following: a motor control program, a power supply control program, and a data transmission control program.

[0029] In this technical solution, multiple first controllers in the same driver are all configured with the same first control program, that is, a set of control programs is designed for multiple first controllers, and the driver can be controlled by configuring the control program to multiple first controllers.

[0030] The motor control program is used to control the operation of the motor, such as the motor's speed loop, position loop, and current loop. The power control program is used to control whether the first controller is powered on. The data transmission control program is used to control data transmission between multiple first controllers in the same driver. By configuring the same first control program in multiple first controllers in the same driver, the workload of driver software design is reduced.

[0031] It should be noted that the first control program may also include a temperature reading program, etc., which can be specifically designed according to actual needs and is not specifically limited here.

[0032] In the technical solution of the present invention, the same first control program is configured in multiple first controllers, which further simplifies the software design of the driver.

[0033] In any of the above technical solutions, the power control program and data transmission control program in the target controller among the N first controllers are in a running state, and the power control program and data transmission control program in the remaining controllers among the N first controllers are in a stopped state.

[0034] The target controller is a controller running a power control program and a data transmission control program among the N first controllers.

[0035] In this technical solution, when the power control program and the data transmission control program are configured in multiple first controllers, since the multiple first controllers are communicated with each other, only one of the first controllers is required to run the data transmission control program and the power control program, and the data transmission control programs and the power control programs of the remaining first controllers are shielded.

[0036] In the technical solution of the present invention, by synchronously configuring the common control program in multiple first controllers into multiple first controllers, the difficulty of software development for the driver can be reduced, and during the operation of the driver, it is ensured that the target controller in the multiple first controllers runs the common power control program and data transmission control program, and the power control programs and data transmission control programs of the remaining controllers in the multiple first controllers are shielded to ensure the stability of operation.

[0037] In any of the above technical solutions, the driver further includes: a third controller, the third controller is connected to the N first controllers, and the third controller is connected to the M motors.

[0038] In this technical solution, the third controller is used to control the operation of the motor, and the third controller and the first controller are connected in series, wherein the first controller and the third controller are different controllers. By controlling different control loops of the motor through the first controller and the third controller, the operating performance of the drive can be improved.

[0039] Specifically, there is no specific limit on the number of first and third controllers in a driver. Multiple first controllers can be provided, and one third controller can be provided, with one third controller connected in series with multiple first controllers. Alternatively, each third controller can be provided in a one-to-one correspondence with each first controller, and the number of third controllers in a given driver can be the same as the number of first controllers, i.e., the driver includes N third controllers.

[0040] In the technical solution of the present invention, by setting a third controller in the driver, the overall computing power of the driver can be improved, and more external expansion interfaces can be provided, so that the driver can realize more control functions.

[0041] In any of the above technical solutions, the first controller is configured with a second control program, and the third controller is configured with a third control program. The second control program is used to perform position loop and speed loop control on the motor, and the third control program is used to perform current loop control on the motor.

[0042] In this technical solution, the second control program is the position loop and speed loop control program of the motor, and the third control program is the current loop control program of the motor. By configuring the second control program in the first controller, the position loop and speed loop of the motor are controlled by the first controller, and configuring the third control program in the third controller, the current loop of the motor is controlled by the third controller, thereby ensuring the stability of the driver's control over the motor.

[0043] According to a second aspect of the present invention, a robot is provided, comprising: the drive system defined in the first aspect and a robotic arm, wherein the robotic arm is connected to the motor in the drive system.

[0044] The robot provided by the present invention is a multi-axis robot, i.e., a robotic arm is provided with multiple joint axes, each of which is connected to a motor, and the motor in the drive system drives the joint axes of the robotic arm. The robot provided by the present invention includes the drive system of the first aspect above, and thus has all the beneficial effects of the drive system of the first aspect above, and will not be further described here.

[0045] In any of the above technical solutions, the robotic arm includes: M joint shafts, the M joint shafts are respectively connected to the output ends of M motors, and the motors are used to drive the joint shafts.

[0046] In this technical solution, the number of joint axes in the robotic arm matches the number of motors in the drive system, so that each joint axis of the robotic arm is driven by a motor, ensuring the accuracy of the drive control of the robotic arm by the driver in the drive system.

[0047] In any of the above technical solutions, the robotic arm includes: a transmission member, which is arranged on any one of the M joint axes.

[0048] In this technical solution, the robotic arm further includes a transmission member, one end of which is connected to the output end of the motor, and the other end of which is connected to the joint shaft. For example, the transmission member can be a spline transmission member, a screw transmission member, or the like.

[0049] In any of the above technical solutions, the robot further includes a clamping member connected to the robotic arm for clamping the load.

[0050] In this technical solution, the robot further includes a clamping member provided on the robotic arm, and the robotic arm can clamp the load through the clamping member.

[0051] In any of the above technical solutions, the robot further includes a reducer, which is connected to the electric motor in the drive system to match the rotational speed and transmit torque.

[0052] Additional aspects and advantages of the invention will become apparent from the description which follows, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0054] Figure 1 shows one of the structural block diagrams of the drive system provided in some embodiments of the present invention;

[0055] Figure 2 FIG2 shows a second structural block diagram of a drive system provided in some embodiments of the present invention;

[0056] Figure 3 FIG3 shows a third structural block diagram of a drive system provided in some embodiments of the present invention;

[0057] Figure 4 FIG4 shows a fourth structural block diagram of a drive system provided in some embodiments of the present invention;

[0058] Figure 5 FIG5 shows a fifth structural block diagram of a driving system provided in some embodiments of the present invention.

[0059] in, Figures 1 to 5 Reference numerals:

[0060] 100 driving system, 110 driver, 112 first controller, 114 second controller, 116 third controller, 120 motor, 130 extension device, 132 memory, 134 sensor assembly, 500 robot. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the features of this embodiment and the embodiments can be combined with each other.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0063] Refer to the following Figures 1 to 5 A drive system and a robot according to some embodiments of the present invention are described.

[0064] According to one embodiment of the present application, Figure 1As shown, a driving system 100 is proposed, including a driver 110 and M motors 120 .

[0065] Among them, the driver 110 includes: N first controllers 112, which are communicatively connected to each other, N≥1; M motors 120 are connected to the N first controllers 112, and the first controllers 112 are used to control the operation of the connected motors 120, wherein the number of motors 120 connected to each first controller 112 is the same, M≥1.

[0066] The drive system 100 defined in this application is used to drive a robot to operate. The robot includes multiple joint axes, each of which is driven by a motor 120. The drive system 100 includes a driver 110, which is provided with N first controllers 112. Each first controller 112 is connected to at least one motor 120, and each first controller 112 is used to control the operation of the corresponding motor 120. Among them, the number of motors 120 is M, and the number of first controllers 112 in each driver 110 is N, so the number of drivers 110 is That is, the number of drivers 110 is the ratio of the number of motors 120 to the number of first controllers 112 rounded up.

[0067] Specifically, driver 110 is a multi-core driver. Each first controller 112 in driver 110 is a core controller in driver 110. That is, driver 110 MCU (Microcontroller Unit) includes M CPUs (central processing units). Each first controller 112 is used to control at least one motor 120, reducing the space occupied by driver 110 in the system.

[0068] like Figure 1 As shown, the robot is exemplarily a four-axis robot, including four joint axes, each of which is driven by a motor 120, i.e., the robot includes a total of four motors 120. The driver 110 includes two first controllers 112. The two first controllers 112 have the same computing power and functions, i.e., the motion of the four-axis robot can be controlled by only one driver 110. Each first controller 112 is responsible for the motion control of the two connected motors 120, such as the control of the position loop, velocity loop, and current loop.

[0069] like Figure 2As shown, the robot is exemplarily an eight-axis robot, comprising eight joint axes, each driven by a motor 120, i.e., the robot comprises a total of eight motors 120. The driver 110 includes two first controllers 112, which have the same computing power and functionality. This means that the motion of the eight-axis robot can be controlled using only two drivers 110. Each first controller 112 is responsible for motion control of the two connected motors 120, such as control of the position loop, velocity loop, and current loop.

[0070] It should be noted that the driver 110 includes multiple identical first controllers 112, and the number of motors 120 controlled by each first controller 112 is the same, so the firmware configuration of each first controller 112 is the same, which reduces the difficulty of firmware development for the driver 110 and reduces the difficulty of designing the control timing of different motors 120 in the multi-axis robot.

[0071] In an embodiment of the present application, a multi-axis robot is driven and controlled by providing a driver 110 including a plurality of identical first controllers 112 in a drive system 100. Since the plurality of first controllers 112 are the same controller, the plurality of first controllers 112 can be configured with the same firmware, thereby reducing the difficulty of firmware development. Each driver 110 includes a plurality of first controllers 112, and there is no need to provide a separate driver 110 for each motor 120. This reduces the space occupied by the driver 110 in the system and also reduces the problem of excess performance during single motor control.

[0072] In the above embodiment, the driver 110 includes: a second controller 114 .

[0073] The second controller 114 is connected to the N first controllers 112 respectively, and the second controller 114 is used to transmit communication information to the N first controllers 112 .

[0074] In this embodiment, each driver 110 also includes a second controller 114, which is a communication controller. The second controller 114 is used to control the transmission of communication information between multiple first controllers 112 in the same driver 110, so that the multiple first controllers 112 in the same driver 110 communicate using inter-core communication. When the multiple first controllers 112 control the corresponding motors 120, the communication delay between the multiple first controllers 112 is reduced, and the stability of the control of the multiple motors 120 is improved.

[0075] like Figure 3As shown, the driver 110 includes two first controllers 112, namely CPU1 and CPU2, and a second controller 114, which is communicatively connected to the two first controllers 112. The message RAM (communication memory) between the second controller 114 and the two first controllers 112 is 4KB.

[0076] In an embodiment of the present application, by setting multiple first controllers 112 in a single driver 110 and a second controller 114 for controlling communication between the multiple first controllers, inter-core communication can be achieved between the multiple first controllers 112 in the same driver 110, thereby improving the communication efficiency between the multiple first controllers 112.

[0077] In any of the above embodiments, the drive system 100 further includes: an expansion device.

[0078] The expansion device is connected to the first controller 112 , and the expansion device and the first controller 112 have a one-to-one correspondence.

[0079] In this embodiment, the drive system 100 further includes an expansion device, which is used to expand the functionality of the first controller 112. The number of expansion devices matches the number of first controllers 112 in the drive system 100. The expansion devices in the drive system 100 are arranged in a one-to-one correspondence with the first controllers 112, so that each first controller 112 is configured with the same expansion device.

[0080] Exemplarily, the drive system 100 includes two drives 110, each drive 110 includes two first controllers 112, that is, there are a total of four first controllers 112 in the drive system 100, each first controller 112 is connected to a group of expansion devices, and the function of a first controller 112 is expanded through a group of expansion devices.

[0081] Exemplarily, the drive system 100 includes a drive 110, each drive 110 includes three first controllers 112, that is, there are three first controllers 112 in the drive system 100, each first controller 112 is connected to a group of expansion devices, and the function of a first controller 112 is expanded through a group of expansion devices.

[0082] In an embodiment of the present application, multiple groups of expansion devices are also provided in the drive system 100, and each group of expansion devices corresponds one-to-one to the first controller 112 in the drive system 100, so that the multiple first controllers 112 in the drive system 100 can be configured with the same expansion devices, reducing the design required for the drive system 100.

[0083] In any of the above embodiments, the extension device includes: a sensor component 134 and a memory 132 .

[0084] The sensor components 134 are connected to the first controllers 112 respectively, and the sensor components 134 correspond to the first controllers 112 one by one; the memories 132 are connected to the first controllers 112 respectively, and the memories 132 correspond to the N first controllers 112 one by one.

[0085] In this embodiment, specific components included in the extension device are defined, and the extension device includes a sensor component 134 and a memory 132 .

[0086] Specifically, sensor assembly 134 and memory 132 are both connected to first controller 112. Sensor assembly 134 is used to transmit collected sensor information to first controller 112, enabling first controller 112 to control the operation of connected motor 120 based on the sensor information. Memory 132 is used to store temporary data used by first controller 112 to control motor 120.

[0087] Exemplarily, the sensor assembly 134 includes a position sensor, a speed sensor, etc. It should be noted that, since each first controller 112 is connected to a set of extension devices 130, and each first controller 112 independently controls the operation of a motor 120, when designing the extension device 130 for the drive system 100, each first controller 112 can be provided with the same extension device 130, that is, the sensor assembly 134 and memory 132 connected to each first controller 112 are the same.

[0088] In an embodiment of the present application, it is defined that the expansion device includes a sensor component 134 and a memory 132. By setting the same sensor component 134 and memory 132 in each group of expansion devices in the drive system 100, and the sensor component 134 and the memory 132 are both connected to the first controller 112, the relevant design of the expansion device can be further simplified.

[0089] In any of the above embodiments, the number of the drivers 110 is P, wherein the P drivers 110 are connected in series, and each first controller 112 is connected to M / (N×P) motors 120 .

[0090] In this embodiment, a plurality of identical drivers 110 are provided in the drive system 100, and each driver 110 includes a plurality of first controllers 112. It should be noted that the number of drivers 110 in the drive system 100 and the number of first controllers 112 in the drivers 110 can be set according to the number of motors 120 that the drive system 100 needs to drive.

[0091] Specifically, the number of drivers 110 is P, the number of first controllers 112 in the driver 110 is N, and the number of motors 120 required to be driven by the drive system 100 is M. Then each first controller 112 needs to control M / (N×P) motors 120, so each first controller 112 is connected to M / (N×P) motors 120.

[0092] For example, the drive system 100 controls the operation of an eight-axis robot. Each joint axis of the robot is equipped with a corresponding motor 120, resulting in eight motors 120. The drivers 110 in the drive system 100 use dual-core chips, meaning each driver 110 includes two first controllers 112. Therefore, only two drivers 110 are required in the drive system 100, and each first controller 112 is connected to two motors 120.

[0093] In an embodiment of the present application, multiple drivers 110 can be set in the drive system 100, and the multiple drivers 110 are connected in series with each other. The number of first controllers 112 in each driver 110 is the same, and each first controller 112 controls the same number of motors 120, thereby simplifying the hardware design and software design of the drive system 100.

[0094] In any of the above embodiments, the driving system 100 further includes: a circuit board.

[0095] The P drivers 110 are all disposed on a circuit board.

[0096] In this embodiment, when the drive system 100 includes multiple drivers 110, the multiple drivers 110 are all disposed on the same circuit board. Since each driver 110 includes multiple first controllers 112, and each first controller 112 can independently control the motor 120, the space required for the drive system 100 is reduced.

[0097] Exemplarily, there are two drivers 110 , and both drivers 110 are configured on a PCB circuit board, and the two drivers 110 are connected in series on the PCB circuit board.

[0098] In any of the above embodiments, the N first controllers 112 are all configured with a first control program; wherein the first control program includes any one of the following: a motor 120 control program, a power supply control program, and a data transmission control program.

[0099] In this embodiment, the multiple first controllers 112 in the same driver 110 are all configured with the same first control program, that is, a set of control programs is designed for the multiple first controllers 112, and the driver 110 can be controlled by configuring the control program into the multiple first controllers 112.

[0100] The motor 120 control program is used to control the operation of the motor 120, for example, controlling the speed loop, position loop, and current loop of the motor 120. The power control program is used to control whether the first controller 112 is powered on. The data transmission control program is used to control data transmission between multiple first controllers 112 in the same driver 110. By configuring the same first control program in multiple first controllers 112 in the same driver 110, the workload of driver 110 software design is reduced.

[0101] It should be noted that the first control program may also include a temperature reading program, etc., which can be specifically designed according to actual needs and is not specifically limited here.

[0102] like Figure 2 and Figure 3 As shown, for example, the driver 110 includes two first controllers 112, each of which is used to control two motors 120. The two first controllers 112 are CPU1 and CPU2, respectively. Both first controllers 112 are configured with the same power supply control program and data transmission control program. CPU1 is configured with the control program for motor 1 and the control program for motor 2, which are used to control the two motors 120 connected to CPU1. CPU2 is configured with the control program for motor 3 and the control program for motor 4, which are used to control the two motors 120 connected to CPU2. The control programs for these four motors can be the same program.

[0103] In the embodiment of the present application, the same first control program is configured in the plurality of first controllers 112 , which further simplifies the software design of the driver 110 .

[0104] In any of the above embodiments, the power control program and the data transmission control program in the target controller among the N first controllers 112 are in the running state, and the power control program and the data transmission control program in the remaining controllers among the N first controllers 112 are in the stopped state.

[0105] The target controller is the controller running the power control program and the data transmission control program among the N first controllers 112 .

[0106] In this embodiment, when the power control program and the data transmission control program are configured in multiple first controllers 112, since the multiple first controllers 112 are communicated with each other, only one of the first controllers 112 is required to run the data transmission control program and the power control program, and the data transmission control programs and the power control programs of the remaining first controllers 112 are shielded.

[0107] like Figure 3 As shown, for example, the same power control program and data transmission control program are configured in both CPU 1 and CPU 2. When CPU 1 is running the power control program and the data transmission control program, CPU 2 stops running the same power control program and the data transmission control program.

[0108] In an embodiment of the present application, by synchronously configuring the common control program in multiple first controllers 112 into multiple first controllers 112, the difficulty of software development for the driver 110 can be reduced, and during the operation of the driver 110, it is ensured that the target controller in the multiple first controllers 112 runs the common power control program and data transmission control program, and the power control programs and data transmission control programs of the remaining controllers in the multiple first controllers 112 are shielded to ensure the stability of operation.

[0109] like Figure 4 As shown, in any of the above embodiments, the driver 110 further includes: a third controller 116 .

[0110] The third controller 116 is connected to the N first controllers 112 , and the third controller 116 is connected to the M motors 120 .

[0111] In this embodiment, the third controller 116 is used to control the operation of the motor 120, and the third controller 116 and the first controller 112 are connected in series, wherein the first controller 112 and the third controller 116 are different controllers. By controlling different control loops of the motor 120 through the first controller 112 and the third controller 116, the operating performance of the driver 110 can be improved.

[0112] For example, the first controller 112 is an MCU controller, and the third controller 116 is an FPGA (Field Programmable Gate Array) controller, wherein the computing power of the third controller 116 is lower than that of the first controller 112. The first controller 112 is used to control the position loop and speed loop of the motor 120, and the third controller 116 controls the current loop of the motor 120.

[0113] Specifically, there is no specific limit on the number of first controllers 112 and third controllers 116 in the driver 110. Multiple first controllers 112 can be provided, and one third controller 116 can be provided, with one third controller 116 connected in series with multiple first controllers 112. Alternatively, each third controller 116 can be provided in a one-to-one correspondence with each first controller 112, and the number of third controllers 116 in the same driver 110 can be the same as the number of first controllers 112, i.e., the driver 110 includes N third controllers 116.

[0114] In the embodiment of the present application, by providing the third controller 116 in the driver 110 , the overall computing power of the driver 110 can be improved, and more external expansion interfaces can be provided, so that the driver 110 can achieve more control functions.

[0115] In any of the above embodiments, the first controller 112 is configured with a second control program, and the third controller 116 is configured with a third control program. The second control program is used to perform position loop and speed loop control on the motor 120 , and the third control program is used to perform current loop control on the motor 120 .

[0116] In this embodiment, the second control program is the position loop and speed loop control program of the motor 120, and the third control program is the current loop control program of the motor 120. By configuring the second control program in the first controller 112, the position loop and speed loop of the motor 120 are controlled by the first controller 112, and the third control program is configured in the third controller 116, the current loop of the motor 120 is controlled by the third controller 116, thereby ensuring the stability of the driver 110 controlling the motor 120.

[0117] According to one embodiment of the present application, Figure 1 and Figure 5 As shown, a robot 500 is proposed, comprising: a drive system 100 and a robotic arm as defined in any of the above embodiments, wherein the robotic arm is connected to the motor 120 in the drive system 100 .

[0118] The robot 500 provided in this application is a multi-axis robot, i.e., a robotic arm is provided with multiple joint axes, each of which is connected to a motor 120, and the joint axes of the robotic arm are driven to move by the motor 120 in the drive system 100. The robot 500 provided in this application includes the drive system 100 described in the first aspect above, and thus has all the beneficial effects of the drive system 100 described in the first aspect above, which will not be further described here.

[0119] In any of the above embodiments, the robotic arm includes: M joint shafts, the M joint shafts are respectively connected to the output ends of M motors 120, and the motors 120 are used to drive the joint shafts.

[0120] In this embodiment, the number of joint axes in the robotic arm matches the number of motors 120 in the drive system 100, so that each joint axis of the robotic arm is driven by a motor 120, ensuring the accuracy of the drive control of the robotic arm by the driver 110 in the drive system 100.

[0121] In any of the above embodiments, the robotic arm includes: a transmission member, which is arranged on any one of the M joint axes.

[0122] In this embodiment, the robotic arm further includes a transmission member, one end of which is connected to the output end of the motor 120, and the other end of which is connected to the joint shaft. For example, the transmission member can be a spline transmission member, a screw transmission member, etc.

[0123] In any of the above embodiments, the robot 500 further includes a clamping member connected to the robot arm for clamping a load.

[0124] In this embodiment, the robot 500 further includes a clamping member provided on the robot arm, and the robot arm can clamp the load through the clamping member.

[0125] In any of the above embodiments, the robot 500 further includes a reducer, which is connected to the motor 120 in the drive system 100 to match the rotational speed and transmit torque.

[0126] It should be clarified that in the claims, specification and drawings of the present invention, the term "plurality" refers to two or more. Unless otherwise expressly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the purpose of more conveniently describing the present invention and making the description process simpler, and is not intended to indicate or imply that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation. Therefore, these descriptions cannot be understood as limiting the present invention. The terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood based on the specific circumstances of the above data.

[0127] In the claims, specification, and drawings of the present invention, the terms "one embodiment," "some embodiments," "a specific embodiment," and the like mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification, and drawings of the present invention, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0128] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A drive system, characterized in that: include: A driver, comprising: N first controllers, the N first controllers being communicatively connected to each other, where N≥1; M motors, the M motors being connected to the N first controllers, the first controllers being configured to control the operation of the connected motors, wherein the number of the motors connected to each first controller is the same, and M ≥ 1; The N first controllers are each configured with a first control program; Wherein, the first control program includes a power supply control program and a data transmission control program; The power control program and the data transmission control program in the target controller among the N first controllers are in a running state, and the power control programs and the data transmission control programs in the remaining controllers among the N first controllers are in a stopped state; The driver further comprises: a third controller, the third controller being connected to the N first controllers, and the third controller being connected to the M motors; The first controller is configured with a second control program, and the third controller is configured with a third control program. The second control program is used to perform position loop and speed loop control on the motor, and the third control program is used to perform current loop control on the motor.

2. The drive system according to claim 1, characterized in that The driver includes: The second controller is connected to the N first controllers respectively, and the second controller is used to transmit communication information to the N first controllers.

3. The drive system according to claim 1, characterized in that Also includes: An expansion device is connected to the first controller, and the expansion device corresponds to the first controller in a one-to-one manner.

4. The drive system according to claim 3, characterized in that: The expansion device includes: sensor components, each of which is connected to the first controller, and each of which corresponds to the first controller on a one-to-one basis; A memory is connected to each of the first controllers, and the memory corresponds to the N first controllers in a one-to-one manner.

5. The drive system according to any one of claims 1 to 4, characterized in that: The number of the drivers is P, wherein the P drivers are connected in series, and each of the first controllers is connected to M / (N×P) motors.

6. The drive system according to claim 5, characterized in that: Also includes: A circuit board, on which the P drivers are all arranged.

7. A robot, characterized in that: include: The drive system according to any one of claims 1 to 6; A robotic arm is connected to the motor in the drive system.

8. The robot according to claim 7, characterized in that The robotic arm comprises: M joint shafts are respectively connected to output ends of the M motors, and the motors are used to drive the joint shafts.

9. The robot according to claim 8, characterized in that The robotic arm includes: The transmission member is arranged on any one of the M joint shafts.

10. The robot according to any one of claims 7 to 9, characterized in that Also includes: A clamping piece is connected to the mechanical arm and is used for clamping a load.

11. The robot according to any one of claims 7 to 9, characterized in that Also includes: A reducer is connected to the output end of the motor in the drive system.

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