Servo system with modular design and module library

Abstract

The invention discloses a modular servo system and module library, and belongs to the technical field of servo control, and the modular servo system comprises a driving module, a control module, a communication module and a power supply module which are detachably connected. Each functional circuit of the servo system is designed based on a modular concept and can be directly called by designers, and required driver hardware is combined in a building block building mode. The modular support is used for carrying out customized design on a single module or multiple modules, so that the compatibility is good, the workload and the cost of customized development of the whole system are reduced on the premise of meeting specific environment or function requirements, the development efficiency is high, and relatively excellent performance can be provided in a specific scene; and meanwhile, modularization is relatively independent in physical space, so that the problem is conveniently and quickly positioned, and the maintenance difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a modularly designed servo system and a module library. Background Art

[0002] Servo drive is a key electrical device in modern motion control, and plays a vital role in the motion control system of servo motor. At present, drive design generally adopts the following two methods: the first is customized design: carry out hardware design according to actual use requirements, sort out each single requirement to design the corresponding functional circuit, and then integrate the design into the final product. The second is universal design: comprehensively consider a variety of application scenarios, realize multi-functional integration, and improve the compatibility of the drive. For customized design, it can ensure that the drive is perfectly matched with the specific application environment and requirements, improve the overall performance and efficiency of the system, and customize the design to add specific safety protection functions to improve the safety and reliability of the equipment, especially in harsh working environments. However, customized design usually involves specific design and manufacturing processes, requires more R&D investment and manufacturing costs, has a longer production cycle, and has low development efficiency; at the same time, customized products have poor versatility and are difficult to adapt to other application scenarios and other system integration. Universal design solves the problem of poor compatibility of customized products, realizes large-scale production, and has low development costs; reduces the types of devices and equipment used, simplifies inventory management and logistics; universal drivers can be quickly integrated into existing systems, accelerating project deployment and product launch progress; universal design helps achieve standardization within the industry and facilitates compatibility and interoperability between different devices and systems. However, in order to meet a wide range of application requirements, universal design is difficult to develop compatibility and may not provide optimal performance in specific applications. Summary of the invention

[0003] The purpose of the present invention is to overcome the problems of the prior art and provide a servo system and a module library with modular design.

[0004] The object of the present invention is to achieve the following technical solution: a modular servo system, the system comprising:

[0005] The drive module includes a drive circuit and a discharge circuit, wherein the drive circuit is detachably connected to the servo motor, and the discharge circuit is connected to the drive circuit;

[0006] The control module includes a main control circuit, a control electric secondary power supply circuit and a digital-to-analog conversion circuit, wherein the main control circuit is connected to the digital-to-analog conversion circuit, and the control electric secondary power supply circuit is connected to the main control circuit and the digital-to-analog conversion circuit;

[0007] The communication module is detachably connected to the main control circuit and the control electric secondary power supply circuit;

[0008] The power module includes a power conversion circuit and an isolation circuit. The input end of the power conversion circuit is provided with a slow start circuit. The power conversion circuit is detachably connected to the control power secondary power circuit, the main control circuit, the digital-to-analog conversion circuit, and the discharge circuit. The isolation circuit is detachably connected to the main control circuit and the drive circuit.

[0009] In one example, the driving module further includes a driving parameter acquisition circuit, including one or more of a temperature detection circuit, a current detection circuit, and a voltage detection circuit.

[0010] In one example, the discharge routing control module or the hardware detection circuit control, the discharge control circuit based on the hardware detection circuit control includes a resistor R9, a resistor R10, a resistor R11 and a voltage comparator, the resistor R9 and the resistor R10 are connected in parallel, and one end of the resistor R9 is connected to the positive electrode of the power electric bus, and one end of the resistor R10 is connected to the negative electrode of the power electric bus, the resistor R9 and the resistor R10 are connected to an input end of the voltage comparator, the other input end of the voltage comparator is connected to the reference voltage, and the output end of the voltage comparator is connected to the base of the transistor through the resistor R11;

[0011] The discharge control circuit based on the control module includes a voltage detection circuit, a control module, an isolation circuit and a resistor R16. The input ends of the voltage detection circuit are connected to the positive and negative poles of the power bus, and the output end is connected to the control module. The output end of the control module is connected to the isolation circuit, and the isolation circuit is connected to the base of the transistor via the resistor R16.

[0012] The discharge circuit includes a resistor R13, a resistor R14, a discharge power resistor R15, a transistor Q3, and a first power tube Q4. The resistors R13 and R14 are connected to the gate of the first power tube, the source of the first power tube and the other end of the resistor R3 are connected to the positive electrode of the power electric bus, the drain of the first power tube is connected to the negative electrode of the power electric bus through the discharge power resistor R15, a resistor R12 is connected in parallel between the base and the emitter of the transistor, and the emitter of the transistor is connected to the negative electrode of the power electric bus;

[0013] When the discharge circuit is controlled by the control module, the resistor R9, the resistor R10, the resistor R11 and the voltage comparator are in a non-selected state; when the discharge circuit is controlled by the hardware detection circuit, the isolation circuit and the resistor R16 are in a non-selected state.

[0014] In one example, the discharge resistor R15 and the first power tube in the discharge circuit are arranged on the bottom surface of the driving module and placed close to the servo controller housing; the voltage comparator, resistor R9, resistor R10, resistor R11, resistor R12, resistor R13, resistor R14, resistor R16, and transistor Q3 devices are arranged on the front of the driving module; and a servo motor interface and a power supply interface are reserved on both sides of the driving module.

[0015] In one example, the power supply interface, communication interface, signal interface, and program burning port of the control module are universal interfaces.

[0016] In one example, the main control circuit includes a main control chip and peripheral circuits, and the main control chip includes one or more of a single-chip microcomputer, a DSP, an FPGA, a PLC, and a DSP; pull-up resistor pads and pull-down resistor pads are reserved on the circuit board of the control module, and the input / output port of the main control chip is connected to the pull-up resistor pad or the pull-down resistor pad to lead out of the control module, or the input / output port of the main control chip directly leads out of the control module.

[0017] In one example, the communication module includes one or more of a CAN communication circuit, an RS485 communication circuit, an RS422 communication circuit, an RS232 communication circuit, an Ethernet communication circuit, an I2C communication circuit, a USB communication circuit, an SPI communication circuit, and a wireless communication circuit.

[0018] In one example, the power supply circuit further includes a single-power supply selection circuit, including a resistor R1, a control electric bus, a resistor R3, and a power electric bus, wherein the positive electrode of the power electric bus is connected between the positive electrode of the control electric bus and the resistor R1 via R2, and the negative electrode of the power electric bus is connected between the negative electrode of the control electric bus and the resistor R3 via R4;

[0019] In the single power supply mode, resistors R1 and R3 are in a non-selected state, and the control electric bus and the power electric bus are connected through resistors R2 and R4; in the dual power supply mode, resistors R2 and R4 are in a non-selected state, and the control electric bus and the power electric bus are separated.

[0020] In one example, an RC charging circuit is connected in parallel to the power electric bus, one end of the capacitor in the RC charging circuit is connected to the positive electrode of the power electric bus, one end of the resistor in the RC charging circuit is connected to the negative electrode of the power electric bus, the capacitor and the resistor in the RC charging circuit are connected to the drain of the second power tube, the source of the second power tube is connected to the negative electrode of the power electric bus, and a capacitor C2 is connected in parallel between the gate and the source of the second power tube; the power electric bus is also connected in parallel to a non-isolated power supply and a voltage detection circuit, and the non-isolated power supply is connected to the gate of the second power tube via a resistor R7;

[0021] The control electric bus is sequentially connected in parallel with a capacitor C3 and an isolated power supply, the isolated power supply is connected to the gate of the second power tube via a resistor R6, the isolated power supply is connected to the drive input end of the isolation switch circuit, the drive output end of the isolation switch circuit is connected to the gate of the second power tube via a resistor R8, the control input end of the isolation switch circuit is connected to the control module, and the control module is connected to the voltage detection circuit;

[0022] When the secondary power is driven to be converted through the non-isolated power supply on the power bus, the isolated power supply, the isolation switch circuit, and the resistor R8 are vacant and in a non-selected state; when the secondary power is driven to be converted through the isolated power supply on the control bus, the non-isolated power supply and the resistor R7 are vacant and in a non-selected state.

[0023] It should be further explained that the technical features corresponding to the above examples can be combined or replaced with each other to form a new technical solution.

[0024] The present invention also includes a module library, including the driving module, control module, communication module and power supply module formed by any one of the above examples or a combination of multiple examples.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In one example, the functional circuits of the servo system are designed based on modular concepts and can be directly called by designers to combine the required driver hardware in the form of "building blocks". Modularity supports customized design of single modules or multiple modules, has good compatibility, reduces the workload and cost of customized development of the entire system while meeting specific environmental or functional requirements, has high development efficiency, and can provide relatively excellent performance in this specific scenario; at the same time, modularity is relatively independent in physical space, which facilitates rapid problem location, reduces maintenance difficulty, and can quickly resolve faults by replacing a single module, reducing the time the system is affected and improving the reliability of system operation.

[0027] 2. In one example, the discharge circuit can be controlled by a control module, and the discharge threshold can be adjusted steplessly by software, which makes the configuration more flexible. The discharge circuit can also be controlled by a hardware detection circuit, and the application circuit is simple, and only needs to respond to changes in hardware status, and the response speed is faster.

[0028] 3. In one example, the heat-generating device, namely the discharge resistor and the first power tube, is arranged on the bottom surface of the driving module and close to the servo controller housing, which is conducive to adding auxiliary heat dissipation measures, such as adding thermal conductive filling materials between the housing and the heating module during heating, and other devices are arranged on the front side of the driving module. A temperature difference is formed between the front and back sides of the driving module, which is more conducive to rapid heat dissipation of the heat-generating device.

[0029] 4. In one example, by reserving pull-up and pull-down resistor pads and sharing signal pins, the number of pads can be reduced, thereby reducing the board area, and the I / O function can be flexibly configured according to actual needs, thereby enhancing the configurability and adaptability of the system.

[0030] 5. In one example, the power module is compatible with single power supply / dual power supply working mode, and can flexibly adjust the power supply configuration according to application requirements to meet the needs of different application scenarios.

[0031] 6. In one example, the driving electric secondary power supply can be converted through the non-isolated power supply on the power electric bus, which has a simple circuit and low cost; the driving electric secondary power supply can be converted through the isolated power supply on the control electric bus, which can avoid the driving electric bus voltage rising and damaging the power module during the servo motor actuation process.

[0032] 7. In one example, the common functional modules (drive module, control module, communication module, power module, etc.) in the electromechanical servo system form a hardware module library after multiple rounds of application verification. Designers can directly call for applications in different scenarios, reducing design defects caused by human factors and improving the reliability and reusability of hardware design. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings. The accompanying drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used in these drawings to represent the same or similar parts. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0034] Figure 1 A system block diagram provided for an example of the present invention;

[0035] Figure 2 A schematic diagram of a reserved pull-up and pull-down resistor pad provided in an example of the present invention;

[0036] Figure 3 A schematic diagram of a discharge control circuit provided for an example of the present invention;

[0037] Figure 4 A schematic diagram of a single or dual power supply selection circuit provided for an example of the present invention;

[0038] Figure 5 A control circuit schematic diagram of a slow start circuit provided for an example of the present invention;

[0039] Figure 6 A schematic diagram of a one-to-four servo drive provided as an example of the present invention;

[0040] Figure 7 A schematic diagram of a one-to-two servo driver provided as an example of the present invention. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the use of ordinal numbers (e.g., "first and second", "first to fourth", etc.) is to distinguish objects, and is not limited to this order, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] In one example, if Figure 1 As shown, a modular servo system specifically includes a drive module, a control module, a communication module and a power module. The modules are detachably connected to each other, and the detachable connection can be achieved by pin connection or crimping technology. Optionally, the circuits in each module are detachably connected to each other, and the detachable connection between the circuits can be achieved by jumper means such as jumper caps and jumper resistors.

[0046] Specifically, the driving module includes a driving circuit and a discharge circuit, and the driving circuit is detachably connected to the servo motor and is used to drive the servo motor. The discharge circuit is connected to the driving circuit to provide a safe discharge path for the back electromotive force generated during the operation of the servo motor to protect other components in the circuit from damage. Preferably, the driving module also includes a driving parameter acquisition circuit, including one or more of a temperature detection circuit, a current detection circuit, and a voltage detection circuit. This example preferably includes a temperature detection circuit, a current detection circuit, and a voltage detection circuit.

[0047] The control module includes a main control circuit, a control electric secondary power supply circuit and a digital-to-analog conversion circuit. The control electric secondary power supply circuit is connected to the main control circuit and the digital-to-analog conversion circuit, and then provides a working voltage for the main control circuit and the digital-to-analog conversion circuit, which can be a voltage stabilizing circuit, a buck circuit, a boost circuit, etc. Further, the main control circuit is connected to the digital-to-analog conversion circuit, and the digital-to-analog conversion circuit is connected to the output end of the drive parameter acquisition circuit. Preferably, the main control circuit includes a main control chip and peripheral circuits (clock circuit, reset circuit, etc.), and the main control chip includes one or more of a single-chip microcomputer, a DSP, an FPGA, a PLC, and a DSP. Preferably, the control module interfaces under different main control chips are consistent, and interchangeable use can be achieved. The control module interface includes a power supply interface, a communication interface, a signal interface (feedback signal interface, a PWM signal interface, a HALL signal interface, etc.), a program burning port, etc. For example, the FPGA control module mainly includes FPGA chip and peripheral circuits, LDO secondary power supply circuit and ADC circuit. The interfaces include 72 GPI / O ports (GPIO can be used for communication, PWM control, HALL signal acquisition and other functions), 16 ADCs, 5V and 3.3V power supply interfaces and JTAG ports, which can meet the control needs of multiple servo motors.

[0048] Furthermore, in the control module, in order to facilitate the user to configure the I / O port (input / output interface) function of the main control chip, the pull-up and pull-down of the I / O port can be realized through the reserved pull-up resistor pads and pull-down resistor pads. The pull-up and pull-down of the I / O port share the same signal pins, which reduces the number of pads and reduces the layout area. Figure 2 As shown, when the I / O port needs to be pulled up, the pull-up resistor is welded between the left side (V+) and the middle pad (I / O); when the I / O port needs to be pulled down, the pull-down resistor is welded between the right side (GND) and the middle pad (I / O); when no pull-up or pull-down is required, the pad is left vacant to achieve flexible configuration.

[0049] The communication module is detachably connected to the main control circuit for information exchange with external devices; the communication module is connected to the control electric secondary power supply circuit, and then the working voltage is provided by the control electric secondary power supply circuit. Preferably, the communication module includes one or more of a CAN communication circuit, an RS485 communication circuit, an RS422 communication circuit, an RS232 communication circuit, an Ethernet communication circuit, an I2C communication circuit, a USB communication circuit, an SPI communication circuit, and a wireless communication circuit. The power supply is generally +3.3V or +5V, and two power supply interfaces of +5V and +3.3V are configured on the communication module at the same time. The communication module can be combined with the communication mode and quantity, and there are many variations. For example, a communication module configured with a communication circuit of a dual-channel RS422 and a dual-channel CAN can be used for 8 communication combination modes. Of course, the remaining communication combination modes are also included to meet the use requirements of most drivers. For the communication mode for special occasions, only the control module can be customized and designed, and the workload is small. After successful development, it is archived to the module library to further enrich and expand the application library.

[0050] The power module includes a power conversion circuit and an isolation circuit. The power conversion circuit includes a control power supply circuit, a drive power supply circuit and an external device power supply circuit. The control power supply circuit converts the control power supply into the power supply required by the control side components, and the drive power supply circuit converts the drive power supply into the power supply required by the drive side components. The external device power supply circuit is used to convert the input voltage of the power input module into the working voltage required by external devices such as sensors. The control side power supply, the drive side power supply and the external device side power supply are isolated from each other. The isolation circuit is detachably connected to the main control circuit and the drive circuit, that is, the main control circuit is connected to the drive circuit via the isolation circuit, and then the drive circuit is regulated by the main control circuit. A slow start circuit is provided at the input end of the power conversion circuit, which is used to slowly increase the output voltage when the power supply is started to avoid excessive impact current, protect the circuit and extend the life of the equipment. Preferably, the power module also includes a conditioning circuit, a voltage detection circuit, a position detection circuit, etc. The conditioning circuit may include a follower circuit, an amplifier circuit, etc., for stabilizing and adjusting the output voltage; the voltage detection circuit is used to detect the output voltage in real time; and the position detection circuit is used to detect the position information of the servo output mechanism in real time. The power module also has the function of an adapter plate, which enables interconnection and fixation between modules. The shape and size are adjusted according to the requirements of the servo system.

[0051] The present invention designs different functional modules by reasonably dividing the driver functional circuit. The single module can be extended and designed according to the functional requirements to meet specific functional requirements and ensure the unification of the functional interface. The single modules are spliced ​​and combined to form the final servo system. Each hardware module in the system is relatively independent. After determining the hardware interface between the modules, multiple R&D personnel can design different modules at the same time, shortening the hardware design cycle and improving the hardware design efficiency. At the same time, due to the independence of the module functions, when the system function fails, the problem can be quickly located, reducing the maintenance time, and the hardware problem can be quickly solved by replacing the single module with the same function, thereby improving the maintenance efficiency. Furthermore, the modular hardware design of the present application is easier to expand. Since each module is independent, new functions can be realized by adding new modules. At the same time, modularization can realize design uniformity, carry out mass production, reduce the work of device selection, differentiated structural design, etc., save production and management costs, and optimize the servo drive production and management process.

[0052] In one example, the discharge circuit can be controlled by a control module or a hardware detection circuit. Figure 3 As shown, the discharge routing control module or the hardware detection circuit control, the discharge control circuit based on the hardware detection circuit control includes a resistor R9, a resistor R10, a resistor R11 and a voltage comparator, the resistor R9 and the resistor R10 are connected in series, and one end of the resistor R9 is connected to the positive electrode of the power electric bus, and one end of the resistor R10 is connected to the negative electrode of the power electric bus, the resistor R9 and the resistor R10 are connected to an input end of the voltage comparator, the other input end of the voltage comparator is connected to the reference voltage Vref, and the output end of the voltage comparator is connected to the base of the transistor through the resistor R11; the discharge control circuit based on the control module control includes a voltage detection circuit, a control module, an isolation circuit and a resistor R16, the voltage detection circuit The two input ends are connected to the positive and negative poles of the power electric bus, the output end is connected to the control module, the output end of the control module is connected to the isolation circuit, and the isolation circuit is connected to the base of the transistor via a resistor R16; the discharge working circuit is composed of a resistor R13, a resistor R14, a discharge power resistor R15, a transistor Q3, and a first power tube Q4. The resistor R13 and the resistor R14 are connected to the gate of the first power tube Q4, the source of the first power tube Q4 and the other end of the resistor R13 are connected to the positive pole of the power electric bus, the drain of the first power tube Q4 is connected to the negative pole of the power electric bus via the discharge power resistor R15, a resistor R12 is connected in parallel between the base and the emitter of the transistor, and the emitter of the transistor is connected to the negative pole of the power electric bus.

[0053] When the discharge circuit is controlled by the control module, the resistor R9, the resistor R10, the resistor R11, and the voltage comparator are in a non-gated state, which means that they are not welded. At this time, the voltage detection circuit is used to monitor the driving bus voltage. When the voltage exceeds the set threshold, the control module outputs a control signal to turn on the transistor Q3, thereby turning on the PMOS tube Q4, and the recoil electromotive force flows through the power tube Q4 to the power resistor R5 for consumption. The advantage of this method is that the discharge threshold can be adjusted steplessly by software, and the configuration is more flexible. When the discharge circuit is controlled by the hardware detection circuit, the isolation circuit and the resistor R16 are in a non-gated state, and the voltage detection circuit and the control module do not participate in the control. The driving bus voltage is monitored in real time through the voltage division of the resistor R9 and the resistor R10, and compared with the reference voltage Vref. When the monitoring signal exceeds the reference voltage Vref, the transistor Q3 is turned on, thereby turning on the PMOS tube Q4, and the recoil electromotive force flows through Q4 to the power resistor R5 for consumption. The advantage of this method is that the application circuit is simple and the response speed is fast.

[0054] In one example, the discharge resistor, the first power tube and other serious heat-generating devices in the discharge circuit are arranged on the bottom surface of the driving module, close to the controller housing for heat dissipation; the voltage comparator, resistor R9, resistor R10, resistor R11, resistor R12, resistor R13, resistor R14, resistor R16, and transistor Q3 are arranged on the front of the driving module. At this time, a temperature difference is formed between the front and back of the driving module, which is more conducive to the rapid heat dissipation of the heat-generating devices; a servo motor interface and a power supply interface are reserved on both sides of the driving module. In this example, the left side of the bottom surface of the driving module is externally connected to the servo motor to power the motor; the right side is connected to an external power supply for power supply.

[0055] In one example, the power module is compatible with single power supply / dual power supply working mode, and the power supply mode can be selected by welding the corresponding jumper resistor / jumper. Figure 4 As shown, the power supply module also includes a single or dual power supply selection circuit, including a resistor R1, a control electric bus, a resistor R3, and a power electric bus, wherein the positive pole of the power electric bus is connected between the positive pole of the control electric bus and the resistor R1 via R2, and the negative pole of the power electric bus is connected between the negative pole of the control electric bus and the resistor R3 via R4;.

[0056] In the single-power supply mode, resistors R1 and R3 are in a non-selected state, the control electric bus and the power electric bus are connected through resistors R2 and R4, and an external single power supply supplies power to both the control electric bus and the power electric bus, thereby realizing single-power supply output; in the dual-power supply mode, resistors R2 and R4 are in a non-selected state, the control electric bus and the power electric bus are separated, and two external power supplies supply power to the control electric bus and the power electric bus respectively, thereby realizing dual-power supply.

[0057] In one example, in the dual power supply mode, the power electric secondary power supply can be converted in two ways, one is that the power electric bus is converted through a non-isolated power supply, and the other is that the control electric bus is converted through an isolated power supply. The former method has a simple circuit and low cost; the latter method can avoid the servo motor actuation process driving the electric bus voltage to rise and damage the power module.

[0058] The control methods of the slow start circuit are different in the two conversion modes, such as Figure 5 As shown, in the control circuit of the slow start circuit, an RC charging circuit is connected in parallel to the power electric bus, one end of the capacitor in the RC charging circuit is connected to the positive electrode of the power electric bus, one end of the resistor in the RC charging circuit is connected to the negative electrode of the power electric bus, the capacitor and the resistor in the RC charging circuit are connected to the drain of the second power tube, the source of the second power tube is connected to the negative electrode of the power electric bus, and a capacitor C2 is connected in parallel between the gate and the source of the second power tube; the power electric bus is also connected in parallel to a non-isolated power supply and a voltage detection circuit, and the non-isolated power supply is connected to the gate of the second power tube via a resistor R7; the control electric bus is sequentially connected in parallel to a capacitor C3 and an isolated power supply, the isolated power supply is connected to the gate of the second power tube via a resistor R6, the isolated power supply is connected to the drive input end of the isolation switch circuit, the drive output end of the isolation switch circuit is connected to the gate of the second power tube via a resistor R8, the control input end of the isolation switch circuit is connected to a control module, and the control module is connected to the voltage detection circuit;

[0059] When the power electric secondary power supply is converted through the power electric bus non-isolated power supply, the isolated power supply, the isolation switch circuit, and the resistor R8 are vacant and in a non-selected state. After the power electric bus is powered on, the bus capacitor C1 and the resistor R5 form an RC charging circuit. The power electric bus voltage rises slowly. After reaching a certain threshold, the non-isolated power supply starts to work and outputs the power electric secondary power supply. The secondary power supply charges C2 through R7. The voltage divider R6 and R7 protects the GS terminal voltage of the NMOS tube Q1 from exceeding the limit value. After the GS terminal voltage rises to the turn-on threshold, the DS terminal of Q1 is turned on, R5 is short-circuited, and C1 is connected to the drive circuit through Q1, and the slow start control is completed.

[0060] When the power electric secondary power supply is converted by controlling the electric bus isolated power supply, the non-isolated power supply and resistor R7 are idle and in a non-selected state. The control circuit is powered on first, and the driving electric secondary power supply is converted through the isolated power supply. After the power electric is powered on, the bus capacitor C1 and the resistor R5 form an RC charging circuit, and the power electric bus voltage rises slowly. The voltage detection circuit detects the power electric bus voltage in real time. When the power electric bus voltage rises to a certain threshold, the control module outputs a signal to make the isolation switch circuit normally open, and the driving electric secondary power supply charges C2 through R8. The voltage divider R6 and R8 protects the GS terminal voltage of the NMOS tube Q1 from exceeding the limit value. After the GS terminal voltage rises to the turn-on threshold, the DS terminal of Q1 is turned on, R5 is short-circuited, and C1 is connected to the driving electric circuit through Q1, and the slow start control is completed.

[0061] Take one servo drive to four servo drives as an example. Figure 6 As shown, the front of the power module is plugged into the control module and the communication module, and the back is plugged into the drive module. The two sides of the power module are connected to the external output through the curved plug connector. The left curved plug is connected to the upper computer, including the control power supply interface and the communication interface, and the right curved plug is connected to the lower-level actuator, including the HALL signal acquisition, feedback signal acquisition, and external device power supply interface. The two sides of the drive module are also connected to the external output through the curved plug connector. The left curved plug is connected to the external power supply, which is the drive power interface, and the right curved plug is connected to the servo motor, which is the servo motor power supply interface.

[0062] Combining the above examples, take a one-to-four servo drive (a component of the servo system) as an example. In this case, the one-to-four servo drive has a three-layer structure. The control module and the communication module are plugged into the power module through a pair of pins and a pair of females. The four corners are fastened with hexagonal copper columns. The drive module is plugged into the bottom of the power module through a pair of pins and a pair of females. The power module and the drive module have mounting holes reserved and are fastened to the drive housing with screws. The one-to-four servo drive can meet the drive requirements of 4-way brushless motors or 6-way brushed motors.

[0063] Take a one-to-two servo drive as an example. Figure 7 As shown, the one-to-two servo driver has a 4-layer structure. The top layer is the communication module, the second layer is the control module, the third layer is the power module, and the bottom layer is the drive module. The modules are connected through pin and female headers and fixed with hexagonal copper columns. The power module and the drive module are fastened to the housing through the reserved mounting holes. The one-to-two servo driver can meet the drive requirements of 2-way brushless motors or 3-way brushed motors.

[0064] The present invention also includes a module library, which has the same inventive concept as the servo system formed by any one of the above examples or a combination of multiple examples. The module library includes a drive module, a control module, a communication module and a power supply module. The final hardware system is formed by retrieving single modules from the module library for splicing and combination. The module library can effectively improve the development efficiency during the driver hardware design process and ensure the consistency and reliability of product quality. The modular design and the development of the module library can be directly called by designers to combine the required driver hardware in the form of "building blocks", which has the characteristics of high design and development efficiency, good compatibility, and easy maintenance.

[0065] The above specific implementation methods are detailed descriptions of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions and substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A modularly designed servo system, characterized in that: include: The drive module includes a drive circuit and a discharge circuit, wherein the drive circuit is detachably connected to the servo motor, and the discharge circuit is connected to the drive circuit; The control module includes a main control circuit, a control electric secondary power supply circuit and a digital-to-analog conversion circuit, wherein the main control circuit is connected to the digital-to-analog conversion circuit, and the control electric secondary power supply circuit is connected to the main control circuit and the digital-to-analog conversion circuit; The communication module is detachably connected to the main control circuit and the control electric secondary power supply circuit; The power module includes a power conversion circuit and an isolation circuit. The input end of the power conversion circuit is provided with a slow start circuit. The power conversion circuit is detachably connected to the control power secondary power circuit and the discharge circuit. The isolation circuit is detachably connected to the main control circuit and the drive circuit.

2. The modular servo system according to claim 1, characterized in that: The driving module also includes a driving parameter acquisition circuit, including one or more of a temperature detection circuit, a current detection circuit, and a voltage detection circuit.

3. The modular servo system according to claim 2, characterized in that: The discharge routing control module or the hardware detection circuit control, the discharge control circuit based on the hardware detection circuit control includes a resistor R9, a resistor R10, a resistor R11 and a voltage comparator, the resistor R9 and the resistor R10 are connected in parallel, and one end of the resistor R9 is connected to the positive electrode of the power electric bus, and one end of the resistor R10 is connected to the negative electrode of the power electric bus, the resistor R9 and the resistor R10 are connected to an input end of the voltage comparator, the other input end of the voltage comparator is connected to the reference voltage, and the output end of the voltage comparator is connected to the base of the transistor through the resistor R11; The discharge control circuit based on the control module includes a voltage detection circuit, a control module, an isolation circuit and a resistor R16. The input ends of the voltage detection circuit are connected to the positive and negative poles of the power bus, and the output end is connected to the control module. The output end of the control module is connected to the isolation circuit, and the isolation circuit is connected to the base of the transistor via the resistor R16. The discharge circuit includes a resistor R13, a resistor R14, a discharge power resistor R15, a transistor Q3, and a first power tube Q4. The resistors R13 and R14 are connected to the gate of the first power tube, the source of the first power tube and the other end of the resistor R3 are connected to the positive electrode of the power electric bus, the drain of the first power tube is connected to the negative electrode of the power electric bus through the discharge power resistor R15, a resistor R12 is connected in parallel between the base and the emitter of the transistor, and the emitter of the transistor is connected to the negative electrode of the power electric bus; When the discharge circuit is controlled by the control module, the resistor R9, the resistor R10, the resistor R11 and the voltage comparator are in a non-selected state; when the discharge circuit is controlled by the hardware detection circuit, the isolation circuit and the resistor R16 are in a non-selected state.

4. The modular servo system according to claim 3, characterized in that: The discharge resistor R15 and the first power tube in the discharge circuit are arranged on the bottom surface of the driving module and placed close to the servo controller housing; the voltage comparator, resistor R9, resistor R10, resistor R11, resistor R12, resistor R13, resistor R14, resistor R16, and transistor Q3 are arranged on the front of the driving module; and a servo motor interface and a power supply interface are reserved on both sides of the driving module.

5. The modular servo system according to claim 1, characterized in that: The power supply interface, communication interface, signal interface and program burning port of the control module are universal interfaces.

6. The modular servo system according to claim 1, characterized in that: The main control circuit includes a main control chip and peripheral circuits, and the main control chip includes one or more of a single-chip microcomputer, a DSP, an FPGA, a PLC, and a DSP; a pull-up resistor pad and a pull-down resistor pad are reserved on the circuit board of the control module, and the input / output port of the main control chip is connected to the pull-up resistor pad or the pull-down resistor pad to lead out of the control module, or the input / output port of the main control chip directly leads out of the control module.

7. The modular servo system according to claim 1, characterized in that: The communication module includes one or more of a CAN communication circuit, an RS485 communication circuit, an RS422 communication circuit, an RS232 communication circuit, an Ethernet communication circuit, an I2C communication circuit, a USB communication circuit, an SPI communication circuit, and a wireless communication circuit.

8. The modular servo system according to claim 1, characterized in that: The power supply circuit also includes a single-power supply selection circuit, including a resistor R1, a control electric bus, a resistor R3, and a power electric bus. The positive electrode of the power electric bus is connected between the positive electrode of the control electric bus and the resistor R1 via R2, and the negative electrode of the power electric bus is connected between the negative electrode of the control electric bus and the resistor R3 via R4; In the single power supply mode, resistors R1 and R3 are in a non-selected state, and the control electric bus and the power electric bus are connected through resistors R2 and R4; in the dual power supply mode, resistors R2 and R4 are in a non-selected state, and the control electric bus and the power electric bus are separated.

9. The modular servo system according to claim 8, characterized in that: The power electric bus is connected in parallel with an RC charging circuit, one end of the capacitor in the RC charging circuit is connected to the positive electrode of the power electric bus, one end of the resistor in the RC charging circuit is connected to the negative electrode of the power electric bus, the capacitor and the resistor in the RC charging circuit are connected to the drain of the second power tube, the source of the second power tube is connected to the negative electrode of the power electric bus, and a capacitor C2 is connected in parallel between the gate and the source of the second power tube; the power electric bus is also connected in parallel with a non-isolated power supply and a voltage detection circuit, and the non-isolated power supply is connected to the gate of the second power tube via a resistor R7; The control electric bus is sequentially connected in parallel with a capacitor C3 and an isolated power supply, the isolated power supply is connected to the gate of the second power tube via a resistor R6, the isolated power supply is connected to the drive input end of the isolation switch circuit, the drive output end of the isolation switch circuit is connected to the gate of the second power tube via a resistor R8, the control input end of the isolation switch circuit is connected to the control module, and the control module is connected to the voltage detection circuit; When the secondary power is driven to be converted through the non-isolated power supply on the power bus, the isolated power supply, the isolation switch circuit, and the resistor R8 are vacant and in a non-selected state; when the secondary power is driven to be converted through the isolated power supply on the control bus, the non-isolated power supply and the resistor R7 are vacant and in a non-selected state.

10. A module library, characterized in that: It comprises the driving module, control module, communication module and power supply module as described in any one of claims 1 to 9.

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