Lower limb rehabilitation robot joint motor drive control system

Abstract

The application discloses a lower limb rehabilitation robot joint motor driving control system, and relates to the technical field of multi-motor control. The system is arranged on a driving board and comprises a FOC control module, a power module, a power driving module, a communication interface module and an encoder which are connected with the FOC control module. The power driving module comprises a MOS driving chip circuit, a MOS driving circuit and a current detection circuit. The MOS driving chip circuit drives the joint motor of the lower limb rehabilitation robot to run through the MOS driving circuit. The current detection circuit collects the current of the MOS driving circuit and feeds back to the FOC control module. The encoder is installed on the joint motor. The lower limb rehabilitation robot joint motor driving control system adopts the above structure. Through the cooperative work of the modules, the efficient and stable control of the motor is realized, and the reliability and safety of the driving board are improved.

Description

Technical Field

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

[0002] Many elderly people suffer from lower limb dysfunction due to conditions such as stroke, spinal cord injury, and Parkinson's syndrome. Traditional lower limb rehabilitation methods rely primarily on the experience and manual manipulation of physical therapists. This approach is not only inefficient but also lacks standardized training rules, potentially causing secondary harm to patients. Furthermore, the limited number of physical therapists cannot meet the rehabilitation needs of all patients, thus limiting the effectiveness of treatment.

[0003] With the development of technology, lower limb rehabilitation robots have emerged. A standard lower limb rehabilitation robot system has six joint motors, three for each leg: hip, knee, and ankle. How to coordinate and control the operation of these joint motors has become a key factor limiting the effectiveness of lower limb rehabilitation robot movements. With the continuous development of motor control technology, FOC (Field-Oriented Control) technology has received widespread attention due to its efficient and stable control characteristics. However, most existing FOC motor drive boards are produced by specialized manufacturers, and their fixed designs cannot meet the personalized needs of specific application scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a joint motor drive control system for a lower limb rehabilitation robot. Through the coordinated work of various modules, efficient and stable control of the motor is achieved, and the reliability and safety of the drive board are improved.

[0005] To achieve the above objectives, the present invention provides a joint motor drive control system for a lower limb rehabilitation robot, including an FOC control module and a power 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 is an STM32F405RGT6 microcontroller. The MCU chip calculates the control signals 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 driver chip circuit uses the EG2134 model three-phase independent half-bridge driver chip, and the input terminals of the MOS driver chip are connected to the M0_AH1, M0_BH1, M0_CH1, M0_AL1, M0_BL1 and M0_CL1 ports of the MCU chip respectively.

[0009] Preferably, the MOS drive circuit adopts a full-bridge drive circuit composed of six HYG025N06LS1C2 MOS transistors, namely Q1, Q2, Q3, Q4, Q5, and Q6. The input terminal of Q1 is connected to the MOS driver chip's MOS GH_A and MOS SH_A ports, the input terminal of Q2 is connected to the MOS driver chip's MOS GH_B and MOS SH_B ports, the input terminal of Q3 is connected to the MOS driver chip's MOS GH_C and MOS SH_C ports, the input terminal of Q4 is connected to the MOS driver chip's MOS GL_A and MOS SH_A ports, the input terminal of Q5 is connected to the MOS driver chip's MOS GL_B and MOS GH_B ports, and the input terminal of Q6 is connected to the MOS driver chip's MOS GL_C and MOS SH_C ports. The MOS SH_A, MOS SH_B, and MOS SH_C ports are connected to the driven motor through connector CN5.

[0010] Preferably, the current detection circuit acquires the current information of the MOS drive circuit through the M0_SN1 and M0_SN2 ports, and connects 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 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.

[0012] Preferably, the encoder is an 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 and angle parameters of the joint motor to the MCU chip.

[0013] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0014] (1) The FOC control module is the core part of the drive board. It uses an advanced FOC algorithm to achieve efficient and stable control of the motor. This module collects parameters such as motor current, speed, and angle, and calculates the control signal required by the motor in real time by combining advanced control algorithms. The motor is then driven to run through the power drive module.

[0015] (2) The power drive module is responsible for receiving control signals from the FOC control module and driving the motor. This module uses high-performance power drive chips and drive circuits, which have 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 overcurrent protection function to ensure that the motor can operate safely and stably under abnormal conditions.

[0016] (3) The communication interface module is used to communicate with external devices to realize remote control and data transmission. The UART communication circuit allows users to debug the drive board through the host computer, upload data in real time, and draw running curves. The CAN communication circuit connects the joint motor drive boards of each joint together, and the main control brain sends control commands and receives motor running data. Through the coordinated communication between the various drive boards, the goal of stably controlling the entire lower limb rehabilitation robot system is achieved.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a logic block diagram of an embodiment of a joint motor drive control system for a lower limb rehabilitation robot according to the present invention;

[0020] Figure 2 This is a schematic diagram of the 12V-5V conversion circuit and the 5V-3.3V conversion circuit of the power module according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the 36-12V conversion circuit of the power module according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the FOC module in an embodiment of the present invention;

[0023] Figure 5This is a schematic diagram of the MOS chip driving circuit of the power drive module according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the MOS driving circuit of the power driving module according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the current detection circuit of the power drive module according to an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the CAN communication circuit and DIP switch of the communication interface module in an embodiment of the present invention;

[0027] Figure 9 The encoder is an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Example

[0031] like Figure 1 As shown, a joint motor drive control system for a lower limb rehabilitation robot is mounted on a drive board. It includes an FOC control module and a power supply module, a power drive module, and a communication interface module, all connected to the FOC control module. Each drive board controls one joint motor, and the six drive boards communicate with a host computer for coordinated operation. The drive control board is customized based on the size and performance of the selected motor used to drive the robot joints, meeting individual needs and integrating the drive board with angle detection, achieving a miniaturized and centralized design.

[0032] 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. Both the input and output currents of the power module are direct current (DC).

[0033] like Figure 4As shown, 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 required control signals for the motor by acquiring the motor's current, speed, and angle parameters. The MCU chip incorporates an advanced FOC algorithm to achieve accurate, efficient, and stable control of the motor. FOC control technology reduces resonance and harmonics, thereby reducing noise and vibration generated by the motor during operation. This not only improves motor comfort but also extends the motor's lifespan.

[0034] like Figure 5 As shown, the power drive module includes a MOS driver chip circuit, a MOS driver circuit, and a current detection circuit. The MOS driver chip circuit drives the motors at the joints of the lower limb rehabilitation robot. The MOS driver chip circuit uses an EG2134 three-phase independent half-bridge driver chip. The input terminals of the MOS driver chip are connected to the M0_AH, M0_BH, M0_CH, M0_AL, M0_BL, and M0_CL ports of the MCU chip to receive control commands from the MCU chip.

[0035] like Figure 6 As shown, the MOS drive circuit is positioned 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 six HYG025N06LS1C2 MOS transistors, designated Q1, Q2, Q3, Q4, Q5, and Q6. The input terminal of Q1 is connected to the MOS driver chip's M0GH_A and M0SH_A ports; the input terminal of Q2 is connected to the MOS driver chip's M0GH_B and M0SH_B ports; the input terminal of Q3 is connected to the MOS driver chip's M0GH_C and M0SH_C ports; the input terminal of Q4 is connected to the MOS driver chip's M0GL_A and M0SH_A ports; the input terminal of Q5 is connected to the MOS driver chip's M0GL_B and M0GH_B ports; and the input terminal of Q6 is connected to the MOS driver chip's M0GL_C and M0SH_C ports. The M0SH_A, M0SH_B, and M0SH_C ports are connected to the driven motor via connector CN5.

[0036] like Figure 7 As shown, the current detection circuit acquires the current information of the MOS drive circuit through the M0_SN1 and M0_SN2 ports, amplifies the acquired current signal using an LTC6001UXC5 / R6 operational amplifier, and connects to the MCU chip through the M0_SO1, M0_SO2, and M0_TEMP ports to feed back the current information to the MCU chip.

[0037] The communication interface module includes a UART communication circuit and a CAN communication circuit. The UART communication circuit communicates with the host computer. For example... 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 uses the DIP switch to determine the CAN ID, in order to identify which of the six joints of the lower limb rehabilitation robot the driver board originates from. A binary method is used to determine the first to sixth joints, with 1 for open and 0 for closed. For example, 0001 is the first joint, 0010 is the second, and so on. Based on CAN's full-duplex communication, the operating information of each motor is fed back to the main control brain, and the main control brain controls the motors. This ensures that the signals from both sides do not conflict. Using the CAN ID to determine the position of each motor can prevent confusion.

[0038] like Figure 9 As shown, the encoder module uses the AS5600-ASOT chip, which is connected to the MCU chip via ports M0_ENC_A and M0_ENC_B. The encoder is installed on the driven articulated motor, transmitting the angle and speed parameters of the articulated motor to the MCU chip, thereby realizing the angle detection function of the articulated motor.

[0039] The remaining technical features in the above embodiments can be flexibly selected by those skilled in the art to meet different specific practical needs. However, it is obvious to those skilled in the art that these specific details are not necessary to implement the present invention. In other instances, to avoid obscuring the present invention, well-known components, structures, or parts are not specifically described, and all are within the scope of technical protection defined by the claims of the present invention.

[0040] Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this invention should be within the protection scope of the appended claims. In the above description, numerous specific details have been set forth to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, to avoid obscuring the invention, well-known techniques, such as specific construction details, operating conditions, and other technical conditions, have not been specifically described.

[0041] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A lower limb rehabilitation robot joint motor drive control system, which is arranged on a drive board, characterized in that: The FOC control module, the power supply module, the power drive module, the communication interface module and the encoder are connected with each other. The FOC control module comprises an MCU chip and a battery circuit connected with the VCAP_1, VCAP_2 and NRST ports of the MCU chip. The power supply module comprises a 36V-12V conversion circuit, a 12V-5V conversion circuit and a 5V-3.3V conversion circuit connected in sequence. The power drive module comprises a MOS drive chip circuit, a MOS drive circuit and a current detection circuit. The MOS drive chip circuit adopts a three-phase independent half-bridge drive chip of EG2134 type, and the input ends of the MOS drive chip are connected with the M0_AH1, M0_BH1, M0_CH1, M0_AL1, M0_BL1 and M0_CL1 ports of the MCU chip. The MOS drive circuit adopts a full-bridge drive circuit composed of six MOS tubes of HYG025N06LS1C2 type, and the six MOS tubes are Q1, Q2, Q3, Q4, Q5 and Q6.

2. The joint motor drive control system of a lower limb rehabilitation robot according to claim 1, characterized in that: The input end of Q1 is connected with the M0GH_A and M0SH_A ports of the MOS drive chip, the input end of Q2 is connected with the M0GH_B and M0SH_B ports of the MOS drive chip, the input end of Q3 is connected with the M0GH_C and M0SH_C ports of the MOS drive chip, the input end of Q4 is connected with the M0GL_A and M0SH_A ports of the MOS drive chip, the input end of Q5 is connected with the M0GL_B and M0GH_B ports of the MOS drive chip, and the input end of Q6 is connected with the M0GL_C and M0SH_C ports of the MOS drive chip. The M0SH_A, M0SH_B and M0SH_C ports are connected with the driven motor through a connecting piece CN5. The current detection circuit collects the current of the MOS drive circuit and feeds back to the FOC control module. The communication interface module comprises a UART communication circuit and a CAN communication circuit. The UART communication circuit is connected with an upper computer, and the CAN communication circuit comprises a communication chip TJA1050T and a 4P dial switch. The communication chip U7 is connected with the CANTX and CANRX ports of the MCU chip, and the dial switch is connected with the PC6, PC7, PC8 and PC9 ports of the MCU chip. The encoder is installed on the joint motor and adopts AS5600-ASOT type. The encoder is connected with the MCU chip through the M0_ENC_A and M0_ENC_B ports and delivers the speed parameter and angle parameter of the joint motor to the MCU chip. The MCU chip calculates the control signal required by the motor by collecting the current, speed parameter and angle parameter of the motor.

3. The joint motor drive control system of a lower limb rehabilitation robot according to claim 1, characterized in that: The current detection circuit collects the current information of the MOS driving circuit through the M0_SN1 and M0_SN2 ports, and is connected with the MCU chip through the M0_SO1 and M0_SO2 ports to send the current information to the MCU chip.

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