Robot joint structure, robot control method and robot

Abstract

The invention discloses a robot joint structure, a robot control method and a robot. The robot joint structure comprises a driver. The driving circuit, the control circuit, the speed measuring circuit, the accelerometer circuit and the gyroscope circuit are arranged on the first surface of the control panel, and the first surface of the control panel is correspondingly arranged close to the motor; the first bus capacitor module and the first temperature sensor module are arranged on a first surface of the power board, and one surface of the power board is correspondingly arranged close to a second surface of the control board; the second bus capacitor module, the second temperature sensor module, the power MOS tube module, the third temperature sensor module, the current sensor module and the fourth temperature sensor module are arranged on the second surface of the power board, and the second surface of the power board is correspondingly arranged close to the inner side wall of the shell. The problems that in the prior art, when a robot electric drive joint is under the high explosion working condition, the output current of a driver is insufficient, the structure is not compact enough, and the safety monitoring of a robot on unexpected actions is insufficient are solved.

Description

Technical Field

[0001] The present application relates to the field of electric drive technology, and in particular to a robot joint structure, a robot control method and a robot. Background Art

[0002] With the rapid promotion of robot applications, robots (legged robot dogs, humanoid robots, etc.) need to be more flexible and have strong load capacity when operating, and their application safety also needs to be improved. In order to meet these requirements, the electric drive joints of key robot components must be able to provide large torque and overload multiples while meeting weight and volume requirements, and maintain stable operation under high-burst conditions. At the same time, the robot must have an effective monitoring and protection mechanism for unexpected movements when performing tasks.

[0003] At present, the existing robot electric drive joint design has the following main characteristics: low-power joint motor drivers perform well when processing low current and low power applications, but it is difficult to meet the requirements of large output current and large current overload multiples under high burst conditions. High-current joint motor drivers are generally large in size, and are often designed separately from joint motors and installed separately in the robot. Existing electric drive joint motor driver circuits do not have integrated accelerometers and gyroscope circuits, and do not have the function of implementing safe monitoring of robot motion acceleration and angular velocity. Summary of the invention

[0004] The main purpose of the present application is to provide a robot joint structure, a robot control method and a robot, so as to solve the problems in the prior art that the driver output current of the robot's electric-driven joint is insufficient under high-burst conditions, the structure is not compact enough, and the robot lacks safety monitoring of unexpected movements.

[0005] According to one aspect of the present application, a robot joint structure is provided, comprising: a shell; a motor, a reducer and a driver are all arranged in the shell; the reducer is mechanically connected to the motor and is used to reduce the speed of the motor and increase the output torque; the driver is electrically connected to the motor and is used to drive the motor to operate; wherein the driver comprises a control board and a power board, and the control board is electrically connected to the power board; a drive circuit, a control circuit, a speed measurement circuit, an accelerometer circuit and a gyroscope circuit are arranged on a first surface of the control board, and the first surface of the control board is arranged correspondingly close to the motor; a first bus capacitor module and a first temperature sensor module are arranged on the first surface of the power board, and one surface of the power board is arranged correspondingly close to the second surface of the control board; a second bus capacitor module, a second temperature sensor module, a power MOS tube module, a third temperature sensor module, a current sensor module and a fourth temperature sensor module are arranged on the second surface of the power board, and the second surface of the power board is arranged correspondingly close to the inner side wall of the shell; the power MOS tube module comprises a plurality of inverter switches, each of which is composed of a plurality of power MOS tubes connected in parallel.

[0006] Optionally, the speed measuring circuit, the accelerometer circuit and the gyroscope circuit are connected to the control circuit via a communication bus; wherein the speed measuring circuit transmits the joint motor speed position signal to the control circuit via the communication bus for processing, the accelerometer circuit transmits the acceleration signal when the robot part where the joint is located moves to the control circuit via the communication bus for processing, and the gyroscope circuit transmits the angular velocity signal when the robot part where the joint is located moves to the control circuit via the communication bus for processing; the drive circuit is electrically connected to the control circuit, and is used to convert the motor control signal into a motor drive signal, and output it to the power board.

[0007] Optionally, the first bus capacitor module and the second bus capacitor module constitute the bus capacitor module of the power board; the first temperature sensor module, the second temperature sensor module, the third temperature sensor module and the fourth temperature sensor module are connected to constitute the temperature measurement circuit of the power board; the temperature measurement circuit of the power board is connected to the control circuit through an analog-to-digital conversion interface; wherein, the temperature measurement circuit of the power board transmits the temperature signal of the power MOS tube module, the temperature signal of the bus capacitor module and the temperature signal of the current sensor module to the control circuit for processing through the analog-to-digital conversion interface.

[0008] Optionally, the first bus capacitor module includes multiple bus capacitors, and the first temperature sensor module includes multiple temperature sensors; wherein: the multiple bus capacitors are arranged in sequence on the first surface of the power board along the first direction and the second direction; and the multiple temperature sensors are dispersed in the first bus capacitor module.

[0009] Optionally, the second bus capacitor module includes multiple bus capacitors, the second temperature sensor module, the third temperature sensor module and the fourth temperature sensor module each include multiple temperature sensors, the current sensor module includes multiple current sensors, and the power MOS tube module includes multiple power MOS tubes; wherein: the multiple bus capacitors are arranged in sequence on the second surface of the power board along the first direction and the second direction; the multiple current sensors are arranged in sequence on the second surface of the power board along the first direction and / or the second direction; the multiple power MOS tubes are arranged in sequence on the second surface of the power board along the first direction and the second direction; the multiple temperature sensors in the second temperature sensor module are dispersed in the second bus capacitor module, the multiple temperature sensors in the third temperature sensor module are dispersed in the power MOS tube module, and the multiple temperature sensors in the fourth temperature sensor module are dispersed in the current sensor module.

[0010] Optionally, it also includes: a thermal grease layer, which is arranged between the power board and the shell, one side of the thermal grease layer is attached to the power MOS tube module, and the other side of the thermal grease layer is attached to the inner wall of the shell.

[0011] Optionally, it also includes: a first heat dissipation fin and a second heat dissipation fin; wherein: a plurality of the first heat dissipation fins are arranged in sequence along a first direction on the outer side of the shell and are corresponding to the thermal grease layer; a plurality of the second heat dissipation fins are arranged in sequence along a third direction on opposite sides of the shell and are corresponding to the motor and / or the reducer.

[0012] According to another aspect of the present application, a robot control method is provided, wherein the joints of the robot include the robot joint structure described above, and the method comprises: determining an acceleration safety range and / or an angular velocity safety range of the robot part where the joint is located; judging whether the acceleration detected in real time by the joint exceeds the acceleration safety range, and / or whether the angular velocity detected in real time exceeds the angular velocity safety range; if the acceleration does not exceed the acceleration safety range and the angular velocity does not exceed the angular velocity safety range, the robot control system controls the robot to operate normally; if the acceleration exceeds the acceleration safety range and / or the angular velocity exceeds the angular velocity safety range, the robot control system controls the joint to stop executing the current action and return to a safe static state of the robot.

[0013] According to another aspect of the present application, a robot is provided, comprising at least one joint, wherein the joint adopts the robot joint structure described above.

[0014] In the embodiments of the present application, a double-sided power board design and multiple MOS tubes in parallel are used to support larger current and higher power output; and an accelerometer and gyroscope chip are integrated on the control board, which not only realizes the design of a high power density motor driver, but also realizes real-time monitoring of the motion acceleration and angular velocity of the robot part where the joint is located, thereby solving the problems of insufficient driver output current, insufficient compact structure, and insufficient safety monitoring of unexpected movements of the robot's electric-driven joints in high-burst conditions in the prior art, thereby meeting the application requirements of stable operation of the robot under high-burst conditions and achieving the technical effect of improving the reliability and safety of the robot's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the robot joint structure provided for this application; Figure 2 A schematic diagram of the joint motor driver signals and control functions provided in this application; Figure 3 A schematic diagram of a joint motor driver power board structure provided in this application; Figure 4 A flowchart of a robot control method provided in this application; Figure 5 A schematic diagram of a robot arm system and a robot control system provided in this application.

[0016] The above drawings include the following reference numerals: 10. Shell; 20. Motor; 30. Reducer; 40. Driver; 50. Thermal grease layer; 60. First heat sink fin; 70. Second heat sink fin; 401. Control board; 402. Power board; 4011. Drive circuit; 4012. Control circuit; 4013. Speed ​​measuring circuit; 4014. Accelerometer circuit; 4015. Gyroscope circuit; 4021. First bus capacitor module; 4022. First temperature sensor module; 4023. Second bus capacitor module; 4024. Second temperature sensor module; 4025. Power MOS tube module; 4026. Third temperature sensor module; 4027. Current sensor module; 4028. Fourth temperature sensor module. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0020] According to one aspect of the present application, a robot joint structure is provided, which has the characteristics of high torque density and large current, and helps the robot joint to complete high-burst and high-torque working conditions. Figure 1 A schematic diagram of the robot joint structure provided for this application, such as Figure 1As shown, the robot joint structure includes: The housing 10 is the outer shell of the entire robot joint structure, and is used to accommodate the motor 20, the reducer 30 and the driver 40 integrated inside. Usually, a light and high-strength material such as aluminum alloy is selected to ensure sufficient mechanical strength and good heat dissipation performance.

[0021] The motor 20, the reducer 30 and the driver 40 are all arranged in the housing 10; the motor 20 is arranged in the housing 10 and is mechanically connected to the reducer 30. A brushless DC motor (BLDC) or a permanent magnet synchronous motor (PMSM) can be selected. The motor 20 is responsible for providing power and driving the movement of the robot joints through rotational motion.

[0022] The reducer 30 is mechanically connected to the motor 20 and is used to reduce the speed of the motor 20 and increase the output torque. The reducer 30 is also arranged in the housing 10 and can be embedded in or close to the motor 20. The reducer 30 is used to reduce the speed of the motor 20 and increase the output torque, so that the robot joint can generate greater force to meet the application requirements of high-load operation scenarios. A planetary gear reducer or a harmonic reducer can be selected.

[0023] The driver 40 is electrically connected to the motor 20 and is used to drive the motor 20 to operate, including but not limited to motor position control, speed control, and torque control; the driver 40 includes a control board 401 and a power board 402, which are electrically connected. The control board 401 is arranged on one side close to the motor 20, and a drive circuit 4011, a control circuit 4012, a speed measurement circuit 4013, an accelerometer circuit 4014, and a gyroscope circuit 4015 are arranged on its first side. This layout is conducive to shortening the signal transmission path, reducing delays, and improving response speed. One side of the power board 402 is arranged correspondingly close to the second side of the control board 401, and the other side is arranged correspondingly close to the inner side wall of the housing 10. The first side of the power board 402 is arranged with a first busbar capacitor module 4021 and a first temperature sensor module 4022; the second side is arranged with a second busbar capacitor module 4023, a second temperature sensor module 4024, a current sensor module 4027, and a power MOS tube module 4025. This double-sided design can effectively utilize space and facilitate heat dissipation.

[0024] The driver 40 includes a control board 401 and a power board 402, and the control board 401 is electrically connected to the power board 402; a drive circuit 4011, a control circuit 4012, a speed measurement circuit 4013, an accelerometer circuit 4014, and a gyroscope circuit 4015 are arranged on the first surface of the control board 401, and the first surface of the control board 401 is arranged close to the motor 20; a first busbar capacitor module 4021 and a first temperature sensor module 4022 are arranged on the first surface of the power board 402, and one side of the power board 402 The second side is correspondingly arranged close to the control board 401; the second bus capacitor module 4023, the second temperature sensor module 4024, the power MOS tube module 4025, the third temperature sensor module 4026, the current sensor module 4027 and the fourth temperature sensor module 4028 are arranged on the second side of the power board 402, and the second side of the power board 402 is correspondingly arranged close to the inner wall of the shell 10; the power MOS tube module 4025 includes a plurality of inverter switches, and each inverter switch is composed of a plurality of power MOS tubes connected in parallel.

[0025] The driving circuit 4011 is used to convert the motor control signal from the control circuit 4012 into a motor drive signal and output it to the power board 402. The control circuit 4012 is responsible for processing the data from the speed measuring circuit 4013, the current sensor module 4027, the accelerometer circuit 4014 and the gyroscope circuit 4015, performing the position control, speed control and torque control of the motor, and feeding back the measurement information to the robot control system. The functions of the robot control system can be completed by the controller installed on the robot body. The speed measuring circuit 4013 is used to measure the speed and position of the motor 20 to provide feedback for the closed-loop control. The accelerometer circuit 4014 is used to measure the acceleration of the robot part where the robot joint is located, helping the robot control system to determine the motion state of the robot. The gyroscope circuit 4015 is used to measure the angular velocity of the robot part where the robot joint is located, and combined with the accelerometer data to provide measurement information for robot motion safety monitoring.

[0026] The accelerometer circuit 4014 and the gyroscope circuit 4015 are integrated into the joint driver circuit to achieve a high degree of integration of the function of a robot joint motor driver and circuit structure innovation, which is applied to the robot system to improve the safety of robot operation. The control board collects the motor speed signal through the speed measurement circuit, and the accelerometer and gyroscope collect the acceleration and angular velocity of the robot part where the joint is located in all directions. These signals are transmitted to the control chip (MCU / DSP / FPGA) through the signal bus (SPI) on the control board for processing. The control board is connected to the power board through the signal pin header, and sends the motor drive signal to control the switch action of the power MOS tube, thereby driving the motor to work.

[0027] The first bus capacitor module 4021 is used to smooth the fluctuation of the joint input voltage, reduce ripples, and ensure the stability of the power supply. The first temperature sensor module 4022 is used to monitor the operating temperature of the first bus capacitor module 4021 to prevent overheating. The second bus capacitor module 4023 is used to further smooth the fluctuation of the joint input voltage and support higher current carrying capacity. The second temperature sensor module 4024 is used to monitor the operating temperature of the second bus capacitor module 4023, and the third temperature sensor module 4026 is used to monitor the operating temperature of the power MOS tube module 4025. The fourth temperature sensor module 4028 is used to monitor the operating temperature of the current sensor module 4027. The current sensor module 4027 is used to measure the three-phase current of the motor 20 to provide data support for current control and fault detection. The power MOS tube module 4025 controls the motor current through switching action to achieve high current requirements under high burst conditions.

[0028] This application adopts a highly compact and high power density power board design, which can achieve an increase in the maximum current and overload multiples of the motor driver under high-burst joint conditions, while maintaining a compact structure and improving the flexibility and workload capacity of the robot system.

[0029] In order to improve the compactness of the joint motor driver structure and the power density, this application adopts a double-sided power board design, one side of which is arranged with power MOS tubes, some chip bus capacitors, current sensors and temperature sensors, and the other side is mainly arranged with edge bus capacitors. This design can effectively utilize space and facilitate heat dissipation. By connecting multiple MOS tubes in parallel to form an inverter switch, it can support larger currents and meet the high current requirements under high-burst conditions. The double-sided design of the power board combined with the thermal grease layer and the heat sink fins outside the shell significantly improves the heat dissipation efficiency and reduces the risk of local hot spots.

[0030] In view of the problem that the existing robot joint motor drivers lack monitoring of the robot's motion acceleration and angular velocity, and the robot's safety monitoring of unexpected movements is insufficient, this application integrates accelerometers and gyroscope chips on the control board to achieve real-time monitoring of the motion acceleration and angular velocity of the robot part where the joint is located. By real-time monitoring of acceleration and angular velocity, the robot can immediately take protective measures when an abnormal situation is detected to avoid potential safety risks.

[0031] As an optional embodiment, the speed measuring circuit 4013, the accelerometer circuit 4014 and the gyroscope circuit 4015 are connected to the control circuit 4012 via a communication bus; wherein the speed measuring circuit 4013 transmits the joint motor speed position signal to the control circuit 4012 via the communication bus for processing, the accelerometer circuit 4014 transmits the acceleration signal when the robot part where the joint is located moves to the control circuit 4012 via the communication bus for processing, and the gyroscope circuit 4015 transmits the angular velocity signal when the robot part where the joint is located moves to the control circuit 4012 via the communication bus for processing; the drive circuit 4011 is electrically connected to the control circuit 4012, and is used to convert the motor control signal into a motor drive signal, and output it to the power board 402.

[0032] To ensure efficient and reliable data transmission, you can choose to use high-speed, low-latency communication protocols such as SPI (Serial Peripheral Interface) or I2C (Inter-Integrated Circuit).

[0033] The speed measuring circuit 4013 uses a magnetic encoder or an inductive encoder. The original pulse signal collected by the speed measuring circuit is shaped and filtered, and then transmitted to the control circuit 4012 through the communication bus. The control circuit decodes the received data, calculates the actual speed and position of the motor, and provides feedback for closed-loop control.

[0034] The accelerometer circuit 4014 can use a MEMS (micro-electromechanical system) accelerometer chip. This type of sensor is small in size, low in power consumption and high in precision. It is suitable for embedded applications and can measure linear acceleration in three-axis directions. The signals collected by the accelerometer circuit are transmitted to the control circuit 4012 via the communication bus (SPI / I2C). The control circuit performs filtering, compensation and other processing on these data to obtain accurate acceleration values, and judge the motion state of the robot accordingly.

[0035] The gyroscope circuit 4015 also uses a MEMS gyroscope chip, which can measure the angular velocity in three axes. When used in combination with an accelerometer, six-degree-of-freedom posture perception can be achieved. The signal collected by the gyroscope circuit is transmitted to the control circuit 4012 via a communication bus. The control circuit processes the angular velocity data to obtain an accurate angular velocity value, and judges the motion state of the robot based on it.

[0036] The drive circuit 4011 and the control circuit 4012 are electrically connected by PCB wiring. The drive circuit receives the pulse width modulation signal or other forms of motor control signal from the control circuit, converts it into a MOS tube drive signal, drives the power MOS tube to work, and thus controls the operation of the motor. The drive circuit should also include over-current, over-voltage, over-temperature and short-circuit protection functions to prevent damage caused by abnormal conditions.

[0037] After receiving the data transmitted by the speed measuring circuit, current sensor module, temperature sensor module, accelerometer circuit and gyroscope circuit, the control circuit 4012 conducts comprehensive analysis and processing. This includes but is not limited to: Motor control: Based on the speed and position information provided by the speed measuring circuit, the control algorithm is executed to adjust the speed and position of the motor to ensure that it runs according to the predetermined instructions. Safety monitoring: Real-time monitoring of the data of each sensor, once an abnormal situation (such as overspeed, overtemperature, excessive tilt, etc.) is found, the protection mechanism is immediately triggered to stop related actions to ensure system safety.

[0038] In the embodiments of the present application, the rotation speed and position of the joint motors and the overall motion state of the robot are monitored in real time, and measures can be taken quickly when abnormal situations occur to avoid potential safety risks. For example, when it is detected that the robot moves beyond the preset safety range, an emergency stop or deceleration command can be automatically triggered to protect the operator and other equipment.

[0039] As an optional embodiment, the first bus capacitor module 4021 and the second bus capacitor module 4023 constitute the bus capacitor module of the power board 402; the first temperature sensor module 4022, the second temperature sensor module 4024, the third temperature sensor module 4026 and the fourth temperature sensor module 4028 are connected to form the temperature measurement circuit of the power board 402; the temperature measurement circuit of the power board 402 is connected to the control circuit 4012 through an analog-to-digital conversion interface; wherein, the temperature measurement circuit of the power board 402 transmits the temperature signal of the power MOS tube module 4025, the temperature signal of the bus capacitor module and the temperature signal of the current sensor module 4027 to the control circuit 4012 for processing through the analog-to-digital conversion interface.

[0040] The analog temperature signals collected by the temperature sensor are transmitted to the analog-to-digital conversion interface (ADC) of the control circuit 4012 through the traces on the PCB. The ADC converts these analog signals into digital signals.

[0041] After receiving the digital temperature signal, the control circuit 4012 will further process it. This includes but is not limited to: Temperature compensation: Based on the data provided by the temperature sensor, the current measurement resistor and other components that are greatly affected by temperature are temperature compensated to improve the measurement accuracy. Fault detection: Real-time monitoring of the temperature of each key component. Once the temperature exceeds the preset safety range, an alarm is immediately triggered or protective measures are taken, such as reducing the output power, stopping the movement, etc., to prevent overheating damage. Dynamic adjustment: Based on temperature feedback, the control system can dynamically adjust the operating parameters of the motor driver, such as reducing the switching frequency or reducing the output current, to maintain the system within a safe operating temperature range.

[0042] In the embodiment of the present application, the key heating parts of the entire power board can be fully monitored, overheating can be detected in time and protective measures can be taken to effectively avoid component damage caused by excessive temperature, thereby greatly improving the stability and life of the system. By transmitting the temperature signal to the control circuit 4012 for processing, intelligent management of the power board temperature is achieved. The control system can automatically adjust the operating parameters according to the temperature feedback, optimize the system performance, extend the service life of the equipment, and improve the safety of the system and user experience.

[0043] Figure 2 The schematic diagram of the joint motor driver signal and control function provided in this application is as follows: Figure 2 As shown, the robot motion acceleration at the joint installation position is measured by the accelerometer circuit, the robot motion angular velocity at the joint installation position is measured by the gyroscope circuit, the joint motor speed and position are measured by the speed measurement circuit, the control circuit integrates the bus voltage measurement circuit to measure the joint battery voltage, the current measurement resistor circuit located on the power board collects the three-phase current of the joint motor, and the power board NTC circuit (corresponding to the temperature measurement circuit of the above power board) collects the power MOS tube temperature / bus capacitor temperature / current measurement resistor temperature. These signals are transmitted to the control circuit through the SPI bus or AD sampling interface. The control circuit realizes signal processing (filtering, etc.), joint motor control, current measurement temperature compensation, and joint safety protection functions (overvoltage, overcurrent, overtemperature, overspeed, etc.). At the same time, the motor control function module generates a motor control signal input to the drive circuit, and the drive circuit generates a power MOS tube drive signal and outputs it to the power board.

[0044] As an optional embodiment, the first bus capacitor module 4021 includes multiple bus capacitors, and the first temperature sensor module 4022 includes multiple temperature sensors; wherein: the multiple bus capacitors are arranged in sequence on the first surface of the power board 402 along the first direction and the second direction; and the multiple temperature sensors are dispersed in the first bus capacitor module 4021.

[0045] The "first direction" and "second direction" here generally refer to two axes perpendicular to each other, such as the X axis and the Y axis. This layout allows components to be evenly distributed in a plane, thereby optimizing space utilization and ensuring that heat can be evenly dissipated.

[0046] The bus capacitors are sequentially arranged along the first direction and the second direction on the first surface of the power board 402. In addition, a reasonable spacing can reduce electromagnetic interference and heat concentration.

[0047] You can choose multilayer ceramic capacitors (MLCC) with low equivalent series resistance and low equivalent series inductance to improve filtering effect and stability and reduce volume. The capacity of each capacitor is accurately calculated according to the operating current, switching frequency and required voltage stability of the motor drive, and multiple capacitors are combined in series and parallel to meet the design requirements.

[0048] Multiple temperature sensors are dispersedly arranged in the first busbar capacitor module 4021. Each key heating component is monitored by one or more temperature sensors to ensure that the operating temperature of each part can be fully understood. NTC (negative temperature coefficient) thermistors can be used, which have the characteristics of fast response and high precision and are suitable for real-time temperature monitoring. The data collected by the temperature sensor is input to the main control chip (MCU / DSP / FPGA) on the control board through the AD interface for further processing and analysis.

[0049] All these components need to be connected to the control circuit through traces on the PCB. To facilitate maintenance and replacement, sufficient space can be reserved on the power board 402 for connectors and other interfaces, while ensuring that all connections are firm and reliable and will not loosen due to vibration or mechanical shock.

[0050] In the embodiments of the present application, by rationally arranging and dispersing the temperature sensors, the key heating parts of the entire power board can be fully monitored, overheating can be detected in time and protective measures can be taken to effectively avoid component damage caused by excessive temperature, thereby greatly improving the stability and life of the system. The orderly arrangement of the power MOS tubes helps to evenly distribute heat and reduce the risk of local hot spots. Combined with the application of a thermally conductive silicone grease layer, heat can be quickly conducted away from these heat sources, improving the overall heat dissipation efficiency. The uniform distribution of busbar capacitance helps to smooth input voltage fluctuations, reduce ripple, and ensure the stability of the power supply. Since there is a temperature sensor next to each key component, once abnormal temperature rise occurs, the control system can quickly locate the fault point according to the specific location of the temperature sensor, shorten the repair time, and reduce maintenance costs.

[0051] As an optional embodiment, the second bus capacitor module 4023 includes multiple bus capacitors, the second temperature sensor module 4024, the third temperature sensor module 4026 and the fourth temperature sensor module 4028 each include multiple temperature sensors, the current sensor module 4027 includes multiple current sensors, and the power MOS tube module 4025 includes multiple power MOS tubes; wherein: multiple bus capacitors are arranged in sequence on the second surface of the power board 402 along the first direction and the second direction; multiple current sensors are arranged in sequence on the second surface of the power board 402 along the first direction and / or the second direction; multiple power MOS tubes are arranged in sequence on the second surface of the power board 402 along the first direction and the second direction; multiple temperature sensors in the second temperature sensor module 4024 are dispersedly arranged in the second bus capacitor module 4023, multiple temperature sensors in the third temperature sensor module 4026 are dispersedly arranged in the power MOS tube module 4025, and multiple temperature sensors in the fourth temperature sensor module 4028 are dispersedly arranged in the current sensor module 4027.

[0052] The "first direction" and "second direction" here generally refer to two axes perpendicular to each other, such as the X axis and the Y axis. This layout allows components to be evenly distributed in a plane, thereby optimizing space utilization and ensuring that heat can be evenly dissipated.

[0053] The bus capacitors are sequentially arranged along the first direction and the second direction on the second surface of the power board 402. Reasonable spacing can help reduce electromagnetic interference.

[0054] Multiple current sensors are also arranged in sequence on the second surface of the power board 402 along the first direction and / or the second direction. They should be positioned as close to the corresponding phase line as possible to ensure measurement accuracy. In this way, the current sensor can accurately capture the current change of each phase and provide real-time feedback for the control system.

[0055] Multiple power MOS tubes are also arranged in sequence along the first direction and the second direction on the second surface of the power board 402. In order to improve the heat dissipation efficiency, the power MOS tubes can be divided into multiple groups, and the MOS tubes in each group are kept at an appropriate distance to better contact with the thermal grease layer, thereby conducting heat to the housing.

[0056] Multiple temperature sensors are dispersedly arranged in the second busbar capacitor module 4023, the current sensor module 4027 and the power MOS tube module 4025. Each key heating component is monitored by one or more temperature sensors, which can fully grasp the working temperature of each part. The temperature sensor can be fixed on the surface of the target component by welding or using thermal conductive glue, in close contact, to obtain the most accurate temperature reading.

[0057] All these components need to be connected to the control circuit through traces on the PCB. To facilitate maintenance and replacement, sufficient space can be reserved on the power board 402 for connectors and other interfaces, while ensuring that all connections are firm and reliable and will not loosen due to vibration or mechanical shock.

[0058] In the embodiment of the present application, by reasonably arranging and dispersing the temperature sensors, the key heating parts of the entire power board can be fully monitored, overheating can be detected in time and protective measures can be taken to effectively avoid component damage caused by excessive temperature, thereby greatly improving the stability and life of the system. The orderly arrangement of power MOS tubes, busbar capacitors and current measurement resistors (also known as current sensors), combined with the application of thermal conductive silicone grease layers, allows heat to be quickly conducted away from these heat sources, reducing the risk of local hot spots and improving the overall heat dissipation efficiency. This is not only conducive to maintaining a lower operating temperature, but also supports a higher current carrying capacity to meet the needs of robot joints under high-burst conditions. Dispersed temperature sensors can provide necessary temperature compensation data for current measurement and reduce measurement errors caused by changes in ambient temperature. At the same time, the arrangement of current sensors close to the phase line also helps to improve the accuracy of current sampling and provide reliable data support for the precise control of the motor. The uniform distribution of busbar capacitors helps to reduce the volume of space occupied by capacitors. Since there are temperature sensors next to each key component, once abnormal heating occurs, the fault point can be quickly located according to the specific location of the temperature sensor, shortening the maintenance time and reducing maintenance costs.

[0059] Figure 3 A schematic diagram of a joint motor driver power board structure provided in this application, such as Figure 3 As shown, there are three neatly arranged rectangular frames in the middle, with 6 frames in each column, a total of 18 frames, each of which represents a power MOS tube; on the left side, there are a series of smaller rectangular frames, arranged in a ladder shape, with a total of 24 frames, each of which represents a bus capacitor; on the right side, there are 3 larger rectangular frames, arranged horizontally, each of which represents a current measuring resistor. Three TOLL packaged MOS power tubes can be used to form a switch, and 6 inverter switches have a total of 18 MOS power tubes, providing a high overload multiple current for the power board. At the same time, NTC thermistors (also known as temperature sensors) are arranged next to the current measuring resistor, bus capacitor, and power MOS tube to collect temperature. Arranging NTC thermistors next to the current measuring resistor can be used to compensate for the current measurement error caused by high temperature.

[0060] Current measuring resistors are used to measure three-phase currents, but their resistance value will change with the increase of temperature, thus affecting the current measurement accuracy, especially under high current conditions. NTC thermistors measure the temperature around the current measuring resistors, and the measured signals are transmitted back to the control circuit through the pin header. The control circuit calculates and compensates for the current measurement error caused by the temperature change of the current measuring resistor. Temperature measurement is used to compensate for the measurement accuracy of the current measuring resistor, improve the measurement accuracy, and improve the control performance and stability of the robot system.

[0061] As an optional embodiment, it also includes: a thermal grease layer 50, which is arranged between the power board 402 and the shell 10, one side of the thermal grease layer 50 is in contact with the power MOS tube module 4025, and the other side of the thermal grease layer 50 is in contact with the inner wall of the shell 10.

[0062] Thermal grease should be made of high thermal conductivity silicone material to ensure good thermal conductivity. In addition, the selected thermal grease should have excellent high temperature resistance to adapt to the operating temperature range of the electric drive joint under high burst conditions.

[0063] In order to ensure long-term and reliable heat conduction, the thermal grease needs to have a certain degree of adhesion, so as to form a stable contact interface between the power board 402 and the housing 10 and avoid debonding due to vibration or mechanical shock.

[0064] In the embodiment of the present application, the thermal grease layer 50 serves as a high-efficiency heat conduction medium between the power MOS tube module 4025 and the shell 10, which can significantly reduce the thermal resistance between the two, so that the heat generated by the MOS tube can be quickly conducted to the shell and dissipated through the heat dissipation fins outside the shell, which helps to maintain the MOS tube at a lower operating temperature, thereby improving the heat dissipation efficiency of the entire system and effectively solving the heat dissipation problem of the power MOS tube module 4025.

[0065] As an optional embodiment, it also includes: a first heat dissipation fin 60 and a second heat dissipation fin 70; wherein: a plurality of first heat dissipation fins 60 are arranged in sequence along a first direction on the outer side of the shell 10 and are correspondingly arranged with the thermal grease layer 50; a plurality of second heat dissipation fins 70 are arranged in sequence along a third direction on opposite sides of the shell 10 and are correspondingly arranged with the motor 20 and / or the reducer 30.

[0066] This application sets a thermal grease layer between the power board and the shell to ensure that the heat can be quickly transferred to the shell and dissipated through the heat sink fins outside the shell. In addition, an NTC thermistor is arranged on the power board to monitor the temperature of key components in real time and perform necessary temperature compensation and protection.

[0067] A plurality of first heat sink fins 60 are sequentially arranged along a first direction (usually vertical or horizontal) on the outside of the housing 10, and their positions are set corresponding to the thermal grease layer 50. The heat sink fins are in direct contact with or very close to the power board adhered to the housing through the thermal grease to ensure that heat can be efficiently transferred from the power MOS tube to the heat sink fins. The heat sink fins are usually made of materials with good thermal conductivity, such as aluminum or copper, so as to quickly dissipate heat.

[0068] In order to maximize the heat dissipation effect, the heat sink fins can be designed with a specific shape, such as increasing the number of fins, adjusting the spacing between fins, or using different fin shapes (such as wavy, straight, etc.) to promote air flow and improve heat dissipation efficiency.

[0069] A plurality of second heat sink fins 70 are sequentially arranged on opposite sides of the housing 10 along a third direction (generally a direction perpendicular to the first direction). These heat sink fins are arranged corresponding to the motor 20 and / or the reducer 30, so that the heat generated by the motor and the reducer can be effectively dissipated to the surrounding environment through the heat sink fins. Similarly, the second heat sink fins should also be made of materials with excellent thermal conductivity to ensure efficient heat conduction. Considering the working environment of the motor and the reducer, a fan or other forced cooling device can be added to the second heat sink fin to further enhance the heat dissipation capacity. In addition, a layer of heat dissipation paint can be coated on the surface of the heat sink fin to increase the effect of radiative heat dissipation.

[0070] The entire heat dissipation system (including the first and second heat dissipation fins) should be tightly integrated with the housing 10 to ensure that there is no additional thermal barrier to block the heat transfer path. At the same time, the design of the heat dissipation fins needs to take into account the compactness and lightness of the overall structure to meet the miniaturization requirements of the robot joints.

[0071] In the embodiment of the present application, by introducing the first and second heat dissipation fins, the heat dissipation efficiency of the entire system can be significantly improved, especially under high-burst conditions, when the electric drive joint needs to handle large currents, effective heat dissipation can prevent overheating problems, thereby protecting the internal electronic components from damage. Reasonable layout of the heat dissipation fins outside the shell does not affect the design of the internal circuit and mechanical structure, and makes full use of the external space to achieve a compact and efficient design.

[0072] According to another aspect of the present application, a robot control method is provided, wherein the joints of the robot include the robot joint structure described above. Figure 4 A flowchart of a robot control method provided in this application, such as Figure 4 As shown, the method comprises the following steps: Step 1: Determine the acceleration safety range and / or angular velocity safety range of the robot part where the robot joint is located. The acceleration safety range is the maximum acceleration value and the minimum acceleration value allowed by the robot part where the joint is located under normal working conditions; the angular velocity safety range is the maximum angular velocity value and the minimum angular velocity value allowed by the robot part where the joint is located under normal working conditions.

[0073] Step 2: Determine whether the acceleration detected in real time when the robot part where the joint is located moves exceeds the acceleration safety range, and / or whether the angular velocity detected in real time exceeds the angular velocity safety range. The acceleration and angular velocity data of the robot part where the robot joint is located are collected in real time through the accelerometer circuit 4014 and the gyroscope circuit 4015 integrated on the control board. The data collected by these sensors are transmitted to the control circuit 4012 through a communication bus (such as SPI or I2C); the control circuit 4012 processes the received acceleration and angular velocity data, compares them with the preset safety range, and transmits the comparison results to the robot control system.

[0074] Step 3: If the acceleration does not exceed the acceleration safety range and the angular velocity does not exceed the angular velocity safety range, the robot control system controls the robot to operate normally. When both the acceleration and angular velocity are within the safety range, the control circuit 4012 continues to execute the normal motor control algorithm to maintain the normal movement of the robot joints; the control circuit 4012 will continue to monitor the acceleration and angular velocity measurements in real time to ensure that changes can be responded to in a timely manner at any time.

[0075] Step 4: If the acceleration exceeds the acceleration safety range and / or the angular velocity exceeds the angular velocity safety range, the robot control system controls the robot to enter a safe static state, that is, the robot control system controls all joints of the robot to stop executing the current action and return to the robot's safe static state.

[0076] In an embodiment of the present application, the safety control method of the robot motion acceleration and angular velocity measured by the joints is, first, each joint sets the safety range of motion acceleration and angular velocity according to the position on the robot where it is installed. If the value exceeds the safety range during the actual operation, the robot control system controls all joints of the robot to stop executing the current action and return to the safe static state of the robot. Since the joint motor driver circuit integrates accelerometers and gyroscope circuits, the measurement and monitoring of the robot motion acceleration and angular velocity of the joint installation part are realized. If it exceeds the safety range, the robot stops executing the current action and returns to the safe static state, thereby improving the safety of the robot system.

[0077] According to another aspect of the present application, a robot is provided, which includes at least one joint, and the joint adopts the robot joint structure described above.

[0078] Figure 5 A schematic diagram of a robot arm system and a robot control system provided in this application, such as Figure 5 As shown in FIG. 1 , the robot arm system is equipped with joints with integrated accelerometers and gyroscopes, which can transmit the acceleration and angular velocity measurement signals of joints 1 to N and the judgment signals of whether they exceed the safety range to the robot control system through the CAN / EtherCAT communication bus for processing to realize the safety monitoring of robot motion. By integrating accelerometer and gyroscope chips, the motion acceleration and angular velocity of the robot part where the joint is located can be monitored. According to the measured acceleration and angular velocity, the robot control system decides whether to enter a safe static state to realize the safety monitoring of the robot. In this way, the robot can also safely monitor the unexpected acceleration and angular acceleration of multiple points of the robot when completing high-burst working conditions.

[0079] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0080] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0081] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot joint structure, characterized in that: include: Housing (10); The motor (20), the reducer (30) and the driver (40) are all arranged in the housing (10); The reducer (30) is mechanically connected to the motor (20) and is used to reduce the rotation speed of the motor (20) and increase the output torque; The driver (40) is electrically connected to the motor (20) and is used to drive the motor (20) to operate; The driver (40) comprises a control board (401) and a power board (402), wherein the control board (401) is electrically connected to the power board (402); a drive circuit (4011), a control circuit (4012), a speed measurement circuit (4013), an accelerometer circuit (4014), and a gyroscope circuit (4015) are arranged on a first surface of the control board (401), and the first surface of the control board (401) is arranged close to the motor (20); a first busbar capacitor module (4021) and a first temperature sensor module (4022) are arranged on a first surface of the power board (402), and the power board The first embodiment of the present invention relates to a power board (402) and a second control board (401) provided on one side thereof; a second busbar capacitor module (4023), a second temperature sensor module (4024), a power MOS tube module (4025), a third temperature sensor module (4026), a current sensor module (4027) and a fourth temperature sensor module (4028) provided on the second side of the power board (402), and the second side of the power board (402) is provided on the inner side wall of the housing (10); the power MOS tube module (4025) comprises a plurality of inverter switches, each of the inverter switches being composed of a plurality of power MOS tubes connected in parallel.

2. The robot joint structure according to claim 1, characterized in that: The speed measuring circuit (4013), the accelerometer circuit (4014) and the gyroscope circuit (4015) are connected to the control circuit (4012) via a communication bus; wherein the speed measuring circuit (4013) transmits the joint motor speed position signal to the control circuit (4012) via the communication bus for processing, the accelerometer circuit (4014) transmits the acceleration signal when the robot part where the joint is located moves to the control circuit (4012) via the communication bus for processing, and the gyroscope circuit (4015) transmits the angular velocity signal when the robot part where the joint is located moves to the control circuit (4012) via the communication bus for processing; The drive circuit (4011) is electrically connected to the control circuit (4012) and is used to convert the motor control signal into a motor drive signal and output it to the power board (402).

3. The robot joint structure according to claim 1, characterized in that: The first bus capacitor module (4021) and the second bus capacitor module (4023) constitute a bus capacitor module of the power board (402); the first temperature sensor module (4022), the second temperature sensor module (4024), the third temperature sensor module (4026) and the fourth temperature sensor module (4028) are connected to constitute a temperature measurement circuit of the power board (402); the temperature measurement circuit of the power board (402) is connected to the control circuit (4012) via an analog-to-digital conversion interface; wherein the temperature measurement circuit of the power board (402) transmits the temperature signal of the power MOS tube module (4025), the temperature signal of the bus capacitor module and the temperature signal of the current sensor module (4027) to the control circuit (4012) via the analog-to-digital conversion interface for processing.

4. The robot joint structure according to claim 3, characterized in that: The first bus capacitor module (4021) includes a plurality of bus capacitors, and the first temperature sensor module (4022) includes a plurality of temperature sensors; wherein: A plurality of bus capacitors are sequentially arranged on a first surface of the power board (402) along a first direction and a second direction; The plurality of temperature sensors are dispersedly arranged in the first bus capacitor module (4021).

5. The robot joint structure according to claim 3, characterized in that: The second bus capacitor module (4023) includes a plurality of bus capacitors, the second temperature sensor module (4024), the third temperature sensor module (4026) and the fourth temperature sensor module (4028) each include a plurality of temperature sensors, the current sensor module (4027) includes a plurality of current sensors, and the power MOS tube module (4025) includes a plurality of power MOS tubes; wherein: A plurality of bus capacitors are sequentially arranged on the second surface of the power board (402) along a first direction and a second direction; The plurality of current sensors are sequentially arranged on the second surface of the power board (402) along the first direction and / or the second direction; A plurality of power MOS tubes are arranged in sequence on the second surface of the power board (402) along a first direction and a second direction; The multiple temperature sensors in the second temperature sensor module (4024) are dispersedly arranged in the second bus capacitor module (4023), the multiple temperature sensors in the third temperature sensor module (4026) are dispersedly arranged in the power MOS tube module (4025), and the multiple temperature sensors in the fourth temperature sensor module (4028) are dispersedly arranged in the current sensor module (4027).

6. The robot joint structure according to claim 1, characterized in that: Also includes: A thermally conductive silicone grease layer (50), the thermally conductive silicone grease layer (50) being arranged between the power board (402) and the housing (10), one surface of the thermally conductive silicone grease layer (50) being in contact with the power MOS tube module (4025), and the other surface of the thermally conductive silicone grease layer (50) being in contact with the inner wall of the housing (10).

7. The robot joint structure according to claim 6, characterized in that: Also includes: A first heat dissipation fin (60) and a second heat dissipation fin (70); wherein: A plurality of the first heat dissipation fins (60) are sequentially arranged along a first direction on the outside of the housing (10) and are disposed corresponding to the thermal conductive silicone grease layer (50); A plurality of the second heat dissipation fins (70) are sequentially arranged along a third direction on opposite sides of the housing (10) and are disposed correspondingly to the motor (20) and / or the reducer (30).

8. A robot control method, wherein the joint of the robot comprises the robot joint structure according to any one of claims 1 to 7, characterized in that: The method comprises: Determining a safe range of acceleration and / or a safe range of angular velocity of a part of the robot where the joint is located; Determine whether the acceleration detected in real time by the joint exceeds the acceleration safety range, and / or whether the angular velocity detected in real time exceeds the angular velocity safety range; If the acceleration does not exceed the acceleration safety range and the angular velocity does not exceed the angular velocity safety range, the robot control system controls the robot to operate normally; If the acceleration exceeds the acceleration safety range and / or the angular velocity exceeds the angular velocity safety range, the robot control system controls the joint to stop executing the current action and return to the robot's safe static state.

9. A robot, characterized in that: The robot comprises at least one joint, and the joint adopts the robot joint structure according to any one of claims 1 to 7.

Images