Joint motor driving control system of lower limb rehabilitation robot

Abstract

The invention discloses a lower limb rehabilitation robot joint motor drive control system, which relates to the technical field of multi-motor control, is arranged on a drive board, and comprises an FOC control module, and a power supply module, a power drive module, a communication interface module and an encoder which are respectively connected with the FOC control module, the power driving module comprises an MOS driving chip circuit, an MOS driving circuit and a current detection circuit, the MOS driving chip circuit drives a joint motor of the lower limb rehabilitation robot to operate through the MOS driving circuit, the current detection circuit collects current of the MOS driving circuit and feeds the current back to the FOC control module, and the encoder is installed on the joint motor. According to the joint motor driving control system of the lower limb rehabilitation robot adopting the structure, through cooperative work of all the modules, efficient and stable control over the motor is achieved, and the reliability and safety of the driving plate are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-motor control, and in particular to a joint motor drive control system for a lower limb rehabilitation robot. Background Art

[0002] Many elderly people may suffer from lower limb dysfunction due to diseases such as stroke, spinal injury, and Parkinson's syndrome. Traditional lower limb rehabilitation treatment methods mainly rely on the experience and manual operation of physiotherapists. This method is not only inefficient, but also has inconsistent training rules, which may cause secondary harm to patients. In addition, due to the limited number of physiotherapists, it is impossible to meet the rehabilitation needs of all patients, which limits the effectiveness of treatment.

[0003] With the development of science and technology, lower limb rehabilitation robots have emerged. A standard lower limb rehabilitation robot system has six joint motors, and the left and right legs have three joints each, namely the hip, knee and ankle. How to coordinate and control the operation of the joint motors has become the key to restricting the movement effect of the lower limb rehabilitation robot. With the continuous development of motor control technology, FOC technology has attracted widespread attention due to its efficient and stable control characteristics. However, most of the existing FOC motor driver boards are produced by professional manufacturers, and their designs are fixed, which cannot meet the personalized needs in specific application scenarios. Summary of the invention

[0004] The purpose of the present invention is to provide a lower limb rehabilitation robot joint motor drive control system, which achieves efficient and stable control of the motor through the coordinated work of various modules and improves the reliability and safety of the drive board.

[0005] To achieve the above-mentioned purpose, the present invention provides a lower limb rehabilitation robot joint motor drive control system, including a FOC control module and a power supply module, a power drive module, a communication interface module, and an encoder respectively connected to the FOC control module. The power drive module includes a MOS drive chip circuit, a MOS drive circuit, and a current detection circuit. The MOS drive chip circuit drives the joint motor of the lower limb rehabilitation robot to operate through the MOS drive circuit. The current detection circuit collects the current of the MOS drive circuit and feeds it back to the FOC control module. The encoder is installed on the joint motor.

[0006] Preferably, the FOC control module includes an MCU chip and a battery circuit connected to the VCAP_1, VCAP_2, and NRST ports of the MCU chip. The MCU chip adopts an STM32F405RGT6 single-chip microcomputer. The MCU chip calculates the control signal required by the motor by collecting the current, speed, and angle parameters of the motor.

[0007] Preferably, the power module includes a 36V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit connected in sequence.

[0008] Preferably, the MOS drive chip circuit uses a three-phase independent half-bridge drive chip of model EG2134. The input terminals of the MOS drive chip are respectively connected to the M0_AH1, M0_BH1, M0_CH1, M0_AL1, M0_BL1, and M0_CL1 ports of the MCU chip.

[0009] Preferably, the MOS drive circuit uses a full-bridge drive circuit composed of 6 MOS transistors of model HYG025N06LS1C2. The 6 MOS transistors are Q1, Q2, Q3, Q4, Q5, and Q6 respectively. The input terminal of Q1 is connected to the M0GH_A and M0SH_A ports of the MOS drive chip. The input terminal of Q2 is connected to the M0GH_B and M0SH_B ports of the MOS drive chip. The input terminal of Q3 is connected to the M0GH_C and M0SH_C ports of the MOS drive chip. The input terminal of Q4 is connected to the M0GL_A and M0SH_A ports of the MOS drive chip. The input terminal of Q5 is connected to the M0GL_B and M0GH_B ports of the MOS drive chip. The input terminal of Q6 is connected to the M0GL_C and M0SH_C ports of the MOS drive chip. The M0SH_A port, M0SH_B port, and M0SH_C port are connected to the driven motor through the connector CN5.

[0010] Preferably, the current detection circuit collects the current information of the MOS drive circuit through the M0_SN1 and M0_SN2 ports, and is connected to the MCU chip through the M0_SO1 and M0_SO2 ports to send the current information to the MCU chip.

[0011] Preferably, the communication interface module includes a UART communication circuit and a CAN communication circuit. The UART communication circuit is communicatively connected to the host computer. The CAN communication circuit includes a communication chip TJA1050T and a 4P DIP switch. The communication chip U7 is connected to the CANTX and CANRX ports of the MCU chip. The DIP switch is connected to the PC6, PC7, PC8, and PC9 ports of the MCU chip.

[0012] Preferably, the encoder uses the AS5600-ASOT model. The encoder is connected to the MCU chip through the M0_ENC_A port and the M0_ENC_B port to send the speed and angle parameters of the joint motor to the MCU chip.

[0013] According to the specific embodiments provided by the present invention, the following technical effects of the present invention are disclosed: (1) The FOC control module is the core part of the driver board, and uses advanced FOC algorithms to achieve efficient and stable control of the motor. The module collects the motor's current, speed, angle and other parameters, combines advanced control algorithms, calculates the control signal required by the motor in real time, and drives the motor through the power drive module.

[0014] (2) The power drive module is responsible for receiving the control signal from the FOC control module and driving the motor. This module uses high-performance power drive chips and drive circuits, and has the characteristics of low loss, high efficiency, and high reliability. At the same time, the power drive module also has a current detection circuit, so it has an overcurrent protection function to ensure that the motor can operate safely and stably under abnormal conditions.

[0015] (3) The communication interface module is used to communicate with external devices to achieve remote control and data transmission. The UART communication circuit allows users to debug the driver board through the host computer, upload data in real time, and draw operation curves. The CAN communication circuit connects the joint motor driver boards of each joint together, and the main control brain sends control instructions and receives motor operation data. Through the coordinated communication between the various driver boards, the purpose of stable control of the entire lower limb rehabilitation robot system is achieved.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a logic block diagram of an embodiment of a lower limb rehabilitation robot joint motor drive control system of the present invention; Figure 2 It is a schematic diagram of the principle of a 12V-5V conversion circuit and a 5V-3.3V conversion circuit of a power module according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the 36-12V conversion circuit principle of the power module of an embodiment of the present invention; Figure 4 This is a schematic diagram of the FOC module principle of an embodiment of the present invention; Figure 5 This is a schematic diagram of the principle of the MOS chip driving circuit of the power driving module of an embodiment of the present invention; Figure 6This is a schematic diagram of the principle of a MOS driving circuit of a power driving module according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the principle of a current detection circuit of a power driving module according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the CAN communication circuit and the DIP switch principle of the communication interface module of the embodiment of the present invention; Fig. 9 An encoder according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

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

[0021] Example like Figure 1 As shown, a lower limb rehabilitation robot joint motor drive control system is arranged on a drive board, including a FOC control module and a power module, a power drive module, and a communication interface module respectively connected to the FOC control module. Each drive board controls a joint motor, and the six drive boards are connected to the host computer for coordinated operation. The drive control board is customized according to the size and performance of the motor selected as the robot joint drive, which can meet personalized needs and integrate the drive board and angle detection together, realizing a miniaturized and centralized design.

[0022] like Figure 2 and Figure 3 As shown, the power module includes a 36V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit connected in sequence. The input and output currents of the power module are both direct current.

[0023] like Figure 4As shown in the figure, the FOC control module includes an MCU chip and a battery circuit connected to the VCAP_1, VCAP_2, and NRST ports of the MCU chip. The MCU chip uses the STM32F405RGT6 single-chip microcomputer. The MCU chip calculates the control signal required by the motor by collecting the current, speed, and angle parameters of the motor. The MCU chip has an advanced FOC algorithm built-in to achieve accurate, efficient, and stable control of the motor. The FOC control technology can reduce resonance and harmonics, thereby reducing the noise and vibration generated by the motor during operation. This not only improves the comfort of the motor but also extends the service life of the motor.

[0024] As Figure 5 shown in the figure, the power drive module includes a MOS drive chip circuit, a MOS drive circuit, and a current detection circuit. The MOS drive chip circuit drives the motor at the joint of the lower limb rehabilitation robot to operate through the MOS drive circuit. The MOS drive chip circuit uses a three-phase independent half-bridge drive chip of the EG2134 model. The input terminals of the MOS drive chip are respectively connected to the M0_AH, M0_BH, M0_CH, M0_AL, M0_BL, and M0_CL ports of the MCU chip to receive the control commands of the MCU chip.

[0025] As Figure 6 shown in the figure, the MOS drive circuit is set between the input voltage DCBUS_1 of the 36V - 12V conversion circuit and GND. The MOS drive circuit uses a full-bridge drive circuit composed of 6 MOS transistors of the HYG025N06LS1C2 model. The 6 MOS transistors are Q1, Q2, Q3, Q4, Q5, and Q6 respectively. The input terminal of Q1 is connected to the M0GH_A and M0SH_A ports of the MOS drive chip. The input terminal of Q2 is connected to the M0GH_B and M0SH_B ports of the MOS drive chip. The input terminal of Q3 is connected to the M0GH_C and M0SH_C ports of the MOS drive chip. The input terminal of Q4 is connected to the M0GL_A and M0SH_A ports of the MOS drive chip. The input terminal of Q5 is connected to the M0GL_B and M0GH_B ports of the MOS drive chip. The input terminal of Q6 is connected to the M0GL_C and M0SH_C ports of the MOS drive chip. The M0SH_A port, M0SH_B port, and M0SH_C port are connected to the driven motor through the connector CN5.

[0026] As Figure 7 shown in the figure, the current detection circuit collects the current information of the MOS drive circuit through the M0_SN1 and M0_SN2 ports, uses an operational amplifier of the LTC6001UXC5 / R6 model to amplify the collected current signal, and is connected to the MCU chip through the M0_SO1, M0_SO2, and M0_TEMP ports to feedback the current information to the MCU chip.

[0027] The communication interface module includes a UART communication circuit and a CAN communication circuit, and the UART communication circuit is connected to the host computer for communication. Figure 8 As shown, the CAN communication circuit includes a communication chip U7 TJA1050T and a 4P dip switch. The communication chip U7 is connected to the CANTX and CANRX ports of the MCU chip, and the dip switch is connected to the PC6, PC7, PC8, and PC9 ports of the MCU chip. The CAN communication circuit determines the CAN ID through the dip switch to confirm which of the six joints of the lower limb rehabilitation robot the driver board comes from. The binary method is used to judge the first to sixth joints, with 1 for opening and 0 for closing. For example, 0001 is the first one, 0010 is 2... Based on CAN full-duplex communication, the operation information of each motor is fed back to the main control brain and the main control brain controls the motor, so that the signals of both parties will not conflict with each other. The position of each motor is determined in the form of CAN ID to prevent confusion.

[0028] like Fig. 9 As shown in the figure, the encoder module uses the AS5600-ASOT chip, which is connected to the MCU chip through the M0_ENC_A port and the M0_ENC_B port. The encoder is installed on the driven joint motor and transmits the angle parameters and speed parameters of the joint motor to the MCU chip, thereby realizing the angle detection function of the joint motor.

[0029] The remaining technical features in the above embodiments can be flexibly selected by those skilled in the art according to actual conditions to meet different specific practical needs. However, it is obvious to those skilled in the art that it is not necessary to adopt these specific details to implement the present invention. In other examples, in order to avoid confusing the present invention, the well-known components, structures or parts are not specifically described, which are all within the technical protection scope defined by the technical solution claimed for protection in the claims of the present invention.

[0030] Modifications and changes made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the scope of protection of the claims attached to the present invention. In the above description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details are not necessary to practice the present invention. In other examples, in order to avoid confusing the present invention, well-known technologies, such as specific construction details, operating conditions and other technical conditions, are not specifically described.

[0031] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A lower limb rehabilitation robot joint motor drive control system, arranged on a drive board, characterized in that: It includes an FOC control module and a power supply module, a power drive module, a communication interface module, and an encoder respectively connected to the FOC control module. The power drive module includes a MOS drive chip circuit, a MOS drive circuit, and a current detection circuit. The MOS drive chip circuit drives the joint motor of the lower limb rehabilitation robot through the MOS drive circuit. The current detection circuit collects the current of the MOS drive circuit and feeds it back to the FOC control module. The encoder is installed on the joint motor.

2. A lower limb rehabilitation robot joint motor drive control system according to claim 1, characterized in that: The FOC control module includes an MCU chip and a battery circuit connected to the VCAP_1, VCAP_2, and NRST ports of the MCU chip. The MCU chip uses an STM32F405RGT6 microcontroller. The MCU chip calculates the control signal required by the motor by collecting the motor's current, speed parameters, and angle parameters.

3. A lower limb rehabilitation robot joint motor drive control system according to claim 2, characterized in that: The power module includes a 36V-12V conversion circuit, a 12V-5V conversion circuit, and a 5V-3.3V conversion circuit which are connected in sequence.

4. A lower limb rehabilitation robot joint motor drive control system according to claim 3, characterized in that: The MOS driver chip circuit adopts the EG2134 model three-phase independent half-bridge driver chip. The input ends of the MOS driver chip are respectively connected to the M0_AH1, M0_BH1, M0_CH1, M0_AL1, M0_BL1, and M0_CL1 ports of the MCU chip.

5. A lower limb rehabilitation robot joint motor drive control system according to claim 4, characterized in that: The MOS drive circuit adopts a full-bridge drive circuit composed of 6 HYG025N06LS1C2 model MOS tubes. The 6 MOS tubes are Q1, Q2, Q3, Q4, Q5, and Q6. The input end of Q1 is connected to the M0GH_A and M0SH_A ports of the MOS drive chip, the input end of Q2 is connected to the M0GH_B and M0SH_B ports of the MOS drive chip, the input end of Q3 is connected to the M0GH_C and M0SH_C ports of the MOS drive chip, the input end of Q4 is connected to the M0GL_A and M0SH_A ports of the MOS drive chip, the input end of Q5 is connected to the M0GL_B and M0GH_B ports of the MOS drive chip, the input end of Q6 is connected to the M0GL_C and M0SH_C ports of the MOS drive chip, and the M0SH_A port, M0SH_B port, and M0SH_C port are connected to the driven motor through the connector CN5.

6. A lower limb rehabilitation robot joint motor drive control system according to claim 5, characterized in that: The current detection circuit collects the current information of the MOS drive circuit through the M0_SN1 and M0_SN2 ports, is connected to the MCU chip through the M0_SO1 and M0_SO2 ports, and sends the current information to the MCU chip.

7. A lower limb rehabilitation robot joint motor drive control system according to claim 6, characterized in that: The communication interface module includes a UART communication circuit and a CAN communication circuit. The UART communication circuit is connected to the host computer for communication. The CAN communication circuit includes a communication chip TJA1050T and a 4P dip switch. The communication chip U7 is connected to the CANTX and CANRX ports of the MCU chip, and the dip switch is connected to the PC6, PC7, PC8, and PC9 ports of the MCU chip.

8. A lower limb rehabilitation robot joint motor drive control system according to claim 7, characterized in that: The encoder adopts the AS5600-ASOT model. The encoder is connected to the MCU chip through the M0_ENC_A port and the M0_ENC_B port to transmit the speed parameters and angle parameters of the joint motor to the MCU chip.

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