Integrated intelligent position actuator device

Abstract

An integrated intelligent position actuator device disclosed by the present invention comprises a driving unit, a control unit and a man-machine interaction unit, the driving unit comprises a servo motor, a DC-DC converter, a three-phase output MOS bridge circuit, a power supply EMC circuit and a main control MCU, the driving motor is electrically connected with the three-phase output MOS bridge circuit and the main control MCU, and the control unit is electrically connected with the main control MCU. The power supply EMC circuit, the three-phase output MOS bridge circuit, the DC-DC converter and the servo motor are electrically connected; the control unit comprises a motor pre-driving circuit, a slave control MCU, a Hall device, an encoder and a master control MCU, the master control MCU, the slave control MCU, the motor pre-driving circuit and the Hall device are connected, and the slave control MCU is connected with the encoder and the master control MCU; the man-machine interaction unit comprises a main control MCU (Microprogrammed Control Unit), a liquid crystal screen and an indicator light; the main control MCU, the liquid crystal screen and the indicator light are electrically connected; the driving unit, the control unit and the man-machine interaction unit are connected with one another through plug connectors.

Description

Technical Field

[0001] The present invention relates to the field of intelligent position actuators, and in particular to an integrated intelligent position actuator device. Background Art

[0002] With the development of society, the original traditional manufacturing model can no longer meet the requirements, and the demand for intelligent manufacturing is getting higher and higher.

[0003] Intelligent manufacturing is to use artificial intelligence, the Internet of Things, big data and other advanced technologies to achieve a high degree of automation, intelligence and informationization of the manufacturing process. It has advantages in improving production efficiency, stabilizing product quality, reducing resource consumption, and protecting the environment. In modern manufacturing, intelligent manufacturing has been widely used in various links such as product design, production process, supply chain management, quality control, etc., greatly enhancing the competitiveness of the manufacturing industry.

[0004] At present, electric actuators are mainly detected in two ways: one is to use a potentiometer to detect the stroke position. The advantages of potentiometer detection are low price, simple structure, and complex production process. However, long-term use will cause wear and tear, resulting in detection errors. At the same time, the signal is easily affected by the electrical environment and produces errors, affecting the accuracy and reliability of the detection data. The second is to use absolute encoder detection. The advantages of encoder detection are accurate position detection, high precision, and good stability. The disadvantages are high cost, the need for complex mechanical structure conversion devices, and complex assembly process.

[0005] In the prior art, if the position sensor itself fails or the actuator fails to collect signals for 5 seconds after operation, or the signals are opposite to the valve opening and closing signals, the control unit will take the opening / closing action of maintaining the position or the safe direction. The prior art relies on the control unit of the actuator to complete the protection project. However, once the motor drive circuit or protection circuit in the control unit fails, the protection function in the control unit will not work. In the following cases, there is no protection, which will cause the controlled object to exceed the limit and cause an accident:

[0006] Therefore, it is necessary to provide an integrated intelligent position actuator device to solve the above technical problems. It is used for intelligent manufacturing, and the multi-turn absolute value encoding function of the device is creative in the use of position actuators. Summary of the invention

[0007] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: an integrated intelligent position actuator device, including a drive unit, a control unit and a human-machine interaction unit, the drive unit includes a servo motor, a DC-DC converter, a three-phase output MOS bridge circuit, a power supply EMC circuit and a main control MCU, the drive motor is electrically connected to the three-phase output MOS bridge circuit and the main control MCU, and the power supply EMC circuit, the three-phase output MOS bridge circuit, the DC-DC converter and the servo motor are electrically connected; the control unit includes a motor pre-drive circuit, a slave control MCU, a Hall device, an encoder and a main control MCU, the main control MCU, the slave control MCU, the motor pre-drive circuit and the Hall device are connected, and the slave control MCU is connected to the encoder and the main control MCU; the human-machine interaction unit includes a main control MCU, a liquid crystal screen and an indicator light, and the main control MCU, the liquid crystal screen and the indicator light are electrically connected; the drive unit, the control unit and the human-machine interaction unit are connected to each other through a connector.

[0009] As a preferred embodiment of the integrated intelligent position actuator device of the present invention, the DC-DC converter is configured as a pair, 3.3V and 12V respectively.

[0010] As a preferred embodiment of the integrated intelligent position actuator device of the present invention, the Hall device is provided in two parts, namely a first Hall device and a second Hall device, and the Hall devices are electrically connected to the slave control MCU.

[0011] As a preferred embodiment of the integrated intelligent position actuator device of the present invention, the power supply of the power EMC circuit is 24V or 48V.

[0012] As a preferred embodiment of the integrated intelligent position actuator device of the present invention, the three-phase output MOS bridge circuit is composed of six MOSFETs, which are divided into two groups. Three MOSFETs in each group form a bridge arm, which are respectively connected to three terminals of the three-phase motor.

[0013] The beneficial effects of the present invention: the integrated design and excellent waterproof design are adopted; the installation method is extremely simple; the position actuator of the present invention is a high-performance, low-power positioning product independently developed by our company. With its excellent closed-loop control system and highly integrated integrated development concept, the present invention integrates servo motors, encoders, drivers and interfaces into one. The position actuator of the present invention controls the space vector of the motor and can exchange data. It realizes high-precision positioning for production lines and other occasions, integrating PMSM motors, multi-turn absolute value encoding, human-computer interaction, etc. The cooperation between the drive unit, the control unit and the human-computer interaction unit makes the entire intelligent position actuator run smoother and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0015] in:

[0016] Figure 1 It is an overall principle block diagram of the integrated intelligent position actuator device disclosed in the embodiment of the present invention;

[0017] Figure 2 This is a circuit connection schematic diagram of the integrated intelligent position actuator device disclosed in an embodiment of the present invention - the main control MCU part;

[0018] Figure 3 It is a three-dimensional physical schematic diagram of the integrated intelligent position actuator device disclosed in an embodiment of the present invention.

[0019] Reference numerals: 1. master control MCU; 2. slave control MCU; 3. human-machine interaction unit; 4. motor pre-driving circuit; 5. three-phase output MOS bridge circuit; 6. servo motor; 7. encoder; 8. first Hall device; 9. second Hall device; 10. 3.3V DC-DC converter; 11. 12V DC-DC converter; 12. power supply EMC circuit; DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0023] Furthermore, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0024] Example 1

[0025] Reference Figure 1-3 As shown, the first embodiment of the present invention, an integrated intelligent position actuator device, includes a drive unit, a control unit and a human-machine interaction unit 3, the drive unit includes a servo motor 6, a DC-DC converter, a three-phase output MOS bridge circuit 5, a power supply EMC circuit 12 and a main control MCU1, the servo motor 6 is electrically connected to the three-phase output MOS bridge circuit 5 and the main control MCU1, and the power supply EMC circuit 12, the three-phase output MOS bridge circuit 5, the DC-DC converter and the servo motor 6 are electrically connected; the control unit includes a motor pre-drive circuit 4, a slave control MCU2, a first Hall device 8, a second Hall device 9, an encoder 7 and a main control MCU1, the main control MCU1, the slave control MCU2, the motor pre-drive circuit 4, the first Hall device 8 and the second Hall device 9 are connected, and the slave control MCU2 is connected to the encoder 7 and the main control MCU1; the human-machine interaction unit 3 includes the main control MCU1, a liquid crystal screen and an indicator light, and the main control MCU1, the liquid crystal screen and the indicator light are electrically connected; the drive unit, the control unit and the human-machine interaction unit 3 are connected to each other through a connector. Specifically, the main control MCU1 is an integrated circuit chip that integrates the central processing unit (CPU), memory (such as RAM and ROM), input / output interface (I / O interface) and other peripheral functions on a single chip. MCU is the core component of the embedded system. Specifically, it includes the following functions:

[0026] Data processing: The CPU in the MCU is responsible for executing predefined program codes, processing various data and computing tasks. It can perform simple arithmetic operations, logical operations, and complex algorithms.

[0027] Control logic: The MCU controls the operation of the system according to pre-programmed logic. For example, in an automatic door system, the MCU determines whether to open or close the door based on the input signal from the sensor.

[0028] Input / output control: The MCU interacts with external devices through its I / O interface. It can read data from sensors or control the actions of actuators. For example, reading the value of a temperature sensor or controlling the start and stop of a motor.

[0029] Communication management: MCU can be configured with a variety of communication interfaces, such as UART, SPI, I2C, USB, etc., for data exchange with other devices or systems. In Internet of Things (IoT) devices, MCU is usually responsible for communicating with cloud servers.

[0030] Real-time control: For applications that require fast response, such as automotive engine control or industrial automation equipment, MCUs can provide real-time control functions to ensure that the system performs tasks correctly according to the predetermined time sequence.

[0031] Energy-saving management: Many MCUs have low-power modes that can enter a sleep state when they are not required to perform tasks to save power. This is especially important for battery-powered devices.

[0032] Fault detection and protection: MCU can integrate protection mechanisms, such as over-temperature protection, over-current protection and other functions, to ensure that the system can run safely or shut down in time under abnormal circumstances.

[0033] Storage management: The MCU contains a certain amount of RAM and ROM (or Flash Memory) to store runtime data and program code. The MCU is responsible for managing these storage resources to ensure that data is read and written correctly.

[0034] Timing and counting: With the built-in timer / counter, the MCU can perform periodic tasks or event counting, which is very useful for applications that require precise time control.

[0035] Human-computer interaction: In some applications, the MCU can also handle user interface operations, such as key detection and display driver, so that users can interact with the device.

[0036] The power supply EMC circuit is suitable for 24V or 48V, and the input filtering of the power supply is different. Different powers are converted through different DC-DC converters. The DC-DC converters are set as a pair, namely a 3.3V DC-DC converter 10 and a 12V DC-DC converter 11. The power supply is connected to the 12V DC-DC converter 11 and the three-phase output MOS bridge circuit 5 through the power supply EMC circuit 12. The 12V DC-DC converter 11 is connected to the main control MCU1 through the 3.3V DC-DC converter 10. The 12V DC-DC converter 11 is connected to the motor pre-drive circuit 4. The main control MCU1 is connected to the motor pre-drive circuit 4 and the three-phase output MOS bridge circuit 5. Then the three-phase output MOS bridge circuit 5 is connected to the servo motor 6, which can better control the operation of the servo motor 6. At the same time, the encoder 7 is connected to the main control MCU1 to achieve precise control of the motion system. As a sensor, the encoder 7 provides information about the position, speed or acceleration of the moving object, and the MCU uses this information to execute the corresponding control logic. The encoder 7 can provide accurate position information, and the MCU controls the motor or actuator to reach the specified position by reading this information. This is particularly important in automation equipment. For example, in CNC machine tools, the MCU can adjust the position of the tool according to the position data fed back by the encoder 7 to ensure processing accuracy. Incremental encoders are usually used to measure the speed of rotation or linear motion. The MCU can calculate the speed according to the pulse frequency provided by the encoder 7, and adjust the speed of the motor accordingly to achieve constant speed or variable speed control. For acceleration control, by continuously monitoring the output signal of the encoder 7, the MCU can calculate the acceleration and adjust the acceleration or deceleration process of the motor accordingly to ensure smooth motion control. In a closed-loop control system, the MCU obtains the actual position or speed through the encoder 7, compares it with the target value, and then adjusts the control strategy according to the error. This can achieve a more accurate and stable control effect. At the same time, fault detection and protection, data recording and analysis, synchronous control and user interface interaction are also possible; if the encoder 7 detects an abnormal situation (such as excessive position deviation, sudden change in speed, etc.), the MCU can trigger a protection mechanism based on this information to avoid equipment damage. In some applications, the MCU can record the data of the encoder 7 for subsequent analysis and fault diagnosis. For example, in industrial equipment maintenance, analysis of historical data can help predict potential problems. In applications that require multi-axis synchronous motion, the MCU can use the feedback signals provided by multiple encoders to coordinate the motion between the axes and ensure synchronization accuracy. In some applications, the MCU may also need to handle interactions with the user, such as updating the progress bar or indicator light status on the display screen through the position information provided by the encoder 7. Through the effective connection and collaboration between the MCU and the encoder, precise control of the mechanical system can be achieved, improving the efficiency and reliability of the automation equipment.The function of connecting the control MCU2 with the first Hall device 8 and the second Hall device 9 is to detect the magnetic field strength and infer other relevant information, such as position, speed, direction, etc. The first Hall device 8 is a sensor that can sense changes in the magnetic field and is widely used in various occasions such as motor control, position detection, proximity sensing, etc. The Hall device is a Hall sensor. In a brushless DC motor, the Hall sensor is used to detect the position of the rotor, thereby helping the MCU determine when to switch the current direction of the winding and realize the phase change of the motor. In this way, the MCU can accurately control the speed and direction of the motor. In a stepper motor, the Hall sensor can be used to detect the current position of the motor and help the MCU to achieve precise position control. In applications where the position of the rotating shaft needs to be detected, the Hall sensor can be installed near the rotating shaft and determine the rotation angle of the shaft by detecting the position of the magnet fixed on the shaft. The Hall sensor can be used as a proximity switch. When a metal object approaches, the sensor detects the change in the magnetic field and sends a signal to the MCU to inform the existence of the object. The Hall sensor is usually connected to the MCU through a digital or analog signal output. The digital output can be read directly by the GPIO (general input / output pin) of the MCU; the analog output may need to be converted by an ADC (analog-to-digital converter) before being read by the MCU. The master control MCU1 and the slave control MCU2 can exchange data with each other to achieve accurate perception and control of the device status and improve the reliability and efficiency of the system. The three-phase output MOS bridge circuit 5 is composed of six MOSFETs (transistors) divided into two groups, each group of three MOSFETs forms a bridge arm, which is respectively connected to the three terminals of the three-phase motor.

[0037] When in use, the execution instruction of the position actuator is issued by the human-machine interaction unit 3, and the main control MCU1 receives the instruction. Through the FOC control strategy, the motor pre-drive circuit 4 and the three-phase output MOS bridge circuit 5 control the voltage on both sides of the coil to control the size of the magnetic field generated by the upper coil, and then control the speed and torque of the servo motor 6 to control the conduction of the MOS tube. By adjusting the ratio of "on" and "off", that is, the duty cycle, the average current of the motor is adjusted. The actual operation status is fed back to the main control MCU1 or the slave control MCU2 through the sensing device composed of the encoder 7, the first Hall device 8, and the second Hall device 9. The main control MCU1 or the slave control MCU2 corrects the running state of the motor through the strategy algorithm, thereby realizing the precise control of the motor speed. In addition, the integrated structural design integrates the complex control system into the position actuator, realizing the compact design of the equipment, which greatly meets the customer's requirements for installation space.

[0038] In summary, the present invention realizes high automation, intelligence and informationization of the manufacturing process in intelligent manufacturing, which has advantages in improving production efficiency, stabilizing product quality, reducing resource consumption, protecting the environment and so on.

[0039] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0040] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0041] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0042] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An integrated intelligent position actuator device, characterized in that: The invention comprises a driving unit, a control unit and a human-machine interaction unit (3), wherein the driving unit comprises a servo motor (6), a DC-DC converter, a three-phase output MOS bridge circuit (5), a power supply EMC circuit (12) and a main control MCU (1), wherein the servo motor (6) is electrically connected to the three-phase output MOS bridge circuit (5) and the main control MCU (1), and the power supply EMC circuit (12), the three-phase output MOS bridge circuit (5), the DC-DC converter and the servo motor (6) are electrically connected; and the control unit comprises a motor pre-driving circuit (4), a slave control MCU ( 2), a Hall device, an encoder (7) and a main control MCU (1), the main control MCU (1), the slave control MCU (2), the motor pre-driving circuit (4) and the Hall device are connected, the slave control MCU (2) is connected to the encoder (7) and the main control MCU (1); the human-machine interaction unit (3) comprises the main control MCU (1), a liquid crystal screen and an indicator light, the main control MCU (1), the liquid crystal screen and the indicator light are electrically connected; the drive unit, the control unit and the human-machine interaction unit (3) are connected to each other via a connector.

2. The integrated intelligent position actuator device according to claim 1, characterized in that: The DC-DC converters are arranged as a pair, namely a 3.3V DC-DC converter (10) and a 12V DC-DC converter (11).

3. The integrated intelligent position actuator device according to claim 1, characterized in that: The Hall device is provided in two pieces, namely a first Hall device (8) and a second Hall device (9), and the Hall devices are electrically connected to the slave control MCU (2).

4. The integrated intelligent position actuator device according to claim 1, characterized in that: The power supply of the power EMC circuit (12) is 24V or 48V.

5. The integrated intelligent position actuator device according to claim 1, characterized in that: The three-phase output MOS bridge circuit (5) is composed of six MOSFETs, which are divided into two groups. Three MOSFETs in each group form a bridge arm, which is respectively connected to three terminals of the three-phase motor.

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