Connection table three-axis driving system

Abstract

The utility model discloses a connection platform three-axis driving system and a driving system, the connection platform three-axis driving system comprises a host and a plurality of slaves, each slave at least comprises a signal input module, a processing module, a signal output module, a communication module, a sensor module and a multipath motor driving module, and the signal input module is used for inputting a control signal; the sensor module is used for collecting current and voltage data; the processing module is used for determining an output PWM signal according to the control signal and the current and voltage data and outputting the PWM signal through the signal output module; the processing module is also used for determining a low level and a high level through the PWM signal, and controlling the current of the multi-path motor according to the low level and the high level; according to the embodiment of the invention, a plurality of drivers are adopted, so that the cost and the space are reduced, and the structure is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of electromechanical control, in particular to a three-axis drive system for a docking station. Background Art

[0002] Stepper motors, actuators that convert electrical signals into mechanical displacement, are widely used in position control systems. Their precise control capabilities and programmability make them key components for automation and smart manufacturing in the Industry 4.0 environment. However, while stepper motors offer high-precision control, they are often limited by torque ripple and resonance issues, which can cause mechanical vibration and noise.

[0003] Traditional docking devices are one-to-one links and can only drive single-channel motors. When multi-channel drives are required, multiple drivers can only be installed. Multiple drivers require multiple communication lines, and each docking device can only correspond to one panel, which greatly increases the cost, space, and structural complexity. Utility Model Content

[0004] In view of the above technical problems, the utility model provides a three-axis drive system for a docking platform.

[0005] In a first aspect, the present invention provides a docking platform three-axis drive system, the docking platform three-axis drive system comprising at least:

[0006] A host and multiple slaves, wherein the slaves at least include a signal input module, a processing module, a signal output module, a communication module, a sensor module and a multi-channel motor drive module, and the processing module is respectively connected to the signal input module, the sensor module, the signal output module, the communication module and the multi-channel motor drive module;

[0007] The signal input module is used to input a control signal;

[0008] The sensor module is used to collect current and voltage data;

[0009] The processing module is used to determine the output PWM signal according to the control signal and the current and voltage data, and output it through the signal output module; the processing module is also used to determine the low level and the high level through the PWM signal, and control the current of the multi-channel motor according to the low level and the high level;

[0010] The communication module is used for performing data transmission with the host.

[0011] Optionally, the first transmitting pin of the host is connected to the second receiving pins of the multiple slaves respectively, and the first receiving pin of the host is connected to the second transmitting pins of the multiple slaves respectively.

[0012] Optionally, the slave device and the host device perform data transmission via RS485.

[0013] Optionally, the motor is a 42 series motor or a 57 series motor.

[0014] Optionally, the processing module at least includes: a control unit, a pulse control unit, and a switch unit, the control unit is connected to the switch unit via the pulse control unit, and the switch unit is connected to the slave, wherein:

[0015] The control unit is used to send a control signal;

[0016] The pulse control unit is used to process the control signal to obtain a processed signal;

[0017] The switch unit is used to control the on / off and direction of the current according to the processed signal, thereby controlling the operation of the slave machine.

[0018] Optionally, the pulse control unit includes at least a first control chip, a second control chip, a third control chip and a fourth control chip, wherein the first control pin of the processing unit is connected to the second pin of the first control chip, the third control pin of the processing unit is connected to the second pin of the second control chip, the fifth control pin of the processing unit is connected to the second pin of the third control chip, and the seventh control pin of the processing unit is connected to the second pin of the fourth control chip.

[0019] Optionally, the first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.

[0020] Optionally, the switch unit includes at least two full-bridge circuits, the first full-bridge circuit includes a first MOSFET, a second MOSFET, a fifth MOSFET and a sixth MOSFET, and the second full-bridge circuit includes a third MOSFET, a fourth MOSFET, a seventh MOSFET and an eighth MOSFET.

[0021] Optionally, the seventh pin of the first control chip is connected to the gate of the first MOSFET; the fifth pin of the first control chip is connected to the gate of the fifth MOSFET;

[0022] The seventh pin of the second control chip is connected to the gate of the second MOSFET; the fifth pin of the second control chip is connected to the gate of the sixth MOSFET;

[0023] The seventh pin of the third control chip is connected to the gate of the third MOS tube; the fifth pin of the third control chip is connected to the gate of the seventh MOS tube;

[0024] The seventh pin of the fourth control chip is connected to the gate of the fourth MOSFET; the fifth pin of the fourth control chip is connected to the gate of the eighth MOSFET.

[0025] Optionally, the source of the first MOSFET, the source of the second MOSFET, the source of the third MOSFET and the source of the fourth MOSFET are connected.

[0026] The drain of the first MOSFET is connected to the source of the fifth MOSFET, the drain of the second MOSFET is connected to the source of the sixth MOSFET, the drain of the third MOSFET is connected to the source of the sixth MOSFET, and the drain of the fourth MOSFET is connected to the source of the eighth MOSFET;

[0027] The drain of the fifth MOSFET, the drain of the sixth MOSFET, the drain of the seventh MOSFET and the drain of the eighth MOSFET are connected;

[0028] The drain of the first MOS tube is connected to the sixth pin of the first control chip;

[0029] The drain of the second MOS tube is connected to the sixth pin of the second control chip;

[0030] The drain of the third MOS tube is connected to the sixth pin of the third control chip;

[0031] The drain of the fourth MOS tube is connected to the sixth pin of the fourth control chip.

[0032] The utility model provides a docking platform three-axis drive system, which includes at least: a host and multiple slaves, wherein the slaves include at least a signal input module, a processing module, a signal output module, a communication module, a sensor module and a multi-channel motor drive module, and the processing module is respectively connected to the signal input module, the sensor module, the signal output module, the communication module and the multi-channel motor drive module; the signal input module is used to input a control signal; the sensor module is used to collect current and voltage data; the processing module is used to determine the output PWM signal according to the control signal and the current and voltage data, and output it through the signal output module; the processing module is also used to determine the low level and the high level through the PWM signal, and control the current of the multi-channel motor according to the low level and the high level; the communication module is used to transmit data with the host. By adopting multiple drivers in the embodiment of the present application, the cost and space are reduced and the structure is simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic structural diagram of a three-axis drive system for a docking station provided in an embodiment of the present utility model;

[0034] Figure 2 A schematic structural diagram of a three-axis drive system for a docking station provided in an embodiment of the present utility model;

[0035] Figure 3 A schematic structural diagram of a slave device provided in an embodiment of the present utility model;

[0036] Figure 4 A circuit diagram of the motor drive of a slave machine provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0037] 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 embodiments described 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 those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0038] See also Figure 1 The present invention provides a circuit diagram of a docking station three-axis drive system, which includes a master 101 and multiple slaves 102. The slaves 102 include at least a signal input module, a processing module, a signal output module, a communication module, a sensor module, and a multi-channel motor drive module. The processing module is respectively connected to the signal input module, the sensor module, the signal output module, the communication module, and the multi-channel motor drive module.

[0039] The signal input module is used to input control signals;

[0040] The sensor module is used to collect current and voltage data;

[0041] The processing module is used to determine the output PWM signal according to the control signal and the current and voltage data, and output it through the signal output module; the processing module is also used to determine the low level and high level through the PWM signal, and control the current of the multiple motors according to the low level and high level;

[0042] The communication module is used to transmit data with the host.

[0043] Optionally, the first transmitting pin of the host is connected to the second receiving pins of the multiple slaves respectively, and the first receiving pin of the host is connected to the second transmitting pins of the multiple slaves respectively.

[0044] Optionally, the slave and the host perform data transmission via RS485.

[0045] Optionally, the motor is a 42 series motor or a 57 series motor.

[0046] like Figure 2and Figure 3 As shown in the figure, the driving voltage range of the three-axis drive integrated controller of the shuttle platform is DC24V, the adapted peak current is below 7.2A, and the motor used is a 42 or 57 series motor.

[0047] In terms of hardware design, the main controller outputs a PWM signal to the SLM2104. The internal control circuit on the left turns on the upper and lower complementary pairs of PMOS and NMOS transistors, outputting low and high levels, respectively. This turns off the upper MOS transistors of the external H-bridge, while turning on the lower MOS transistors. The motor current flows along the motor phase lines. Simultaneously, the power supply charges the bootstrap capacitors through the bootstrap diodes. Dead-band control prevents both MOS transistors from turning on simultaneously. The upper MOS transistor turns off, discharging the voltage previously applied to the lower MOS transistor gate. The PWM output turns on the internal MOS transistor on the left, and this cycle continues to rotate the motor.

[0048] At the software level, serial communication enables normal RS485 communication, and combined with the MODBUS-RTU communication protocol, a master-multiple-slave communication system is established. By configuring the motors corresponding to each address byte in the MODBUS register via the 485 bus, two 42 or 57 series motors can be synchronously controlled. Speed, current, acceleration / deceleration times, and track width can all be set via 485 communication. Combined with two or three sensor signals, input and output signals for upper and lower stations, and key control signals, this system enables seamless control of various operating modes for the docking station industry. Closed-loop speed and current control improves the stability of the stepper system. Vector control combined with PID current regulation enables current reference and PWM drive, further optimizing motor control.

[0049] Connect multiple slave devices in series. Each slave device must have a unique address so that the master device can identify and communicate with it. Set an address DIP switch on the slave device or set the address through software. Finally, establish a one-master, multiple-slave communication system through RS485 communication. The 485 bus achieves synchronous control of stepper motors by setting the motor corresponding to each address byte in the MODBUS register.

[0050] The driver adopts a servo-like control principle, which greatly optimizes the performance of the stepper motor. The precise and smooth sinusoidal current vector control technology effectively reduces the heating of the motor.

[0051] In the embodiment of the present application, 485 bus communication is used to use a single master station to communicate multiple driver states in real time to detect motor states and operating effects, providing users with flexibility for a wide range of applications. By driving multiple H-bridges through a single microcontroller, a single controller can drive multiple motors, reducing the number of drivers required by the system and lowering production costs.

[0052] like Figure 4As shown, optionally, the processing module includes at least: a control unit, a pulse control unit and a switch unit, the control unit is connected to the switch unit through the pulse control unit, and the switch unit is connected to the slave, wherein:

[0053] The control unit is used to send a control signal;

[0054] The pulse control unit is used to process the control signal to obtain a processed signal;

[0055] The switch unit is used to control the on / off and direction of the current according to the processed signal, and to control the operation of the slave machine.

[0056] Optionally, the pulse control unit includes at least a first control chip, a second control chip, a third control chip and a fourth control chip, wherein the first control pin of the processing unit is connected to the second pin of the first control chip, the third control pin of the processing unit is connected to the second pin of the second control chip, the fifth control pin of the processing unit is connected to the second pin of the third control chip, and the seventh control pin of the processing unit is connected to the second pin of the fourth control chip.

[0057] Optionally, the first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.

[0058] Optionally, the switch unit includes at least two full-bridge circuits, the first full-bridge circuit includes a first MOSFET, a second MOSFET, a fifth MOSFET and a sixth MOSFET, and the second full-bridge circuit includes a third MOSFET, a fourth MOSFET, a seventh MOSFET and an eighth MOSFET.

[0059] Optionally, the seventh pin of the first control chip is connected to the gate of the first MOSFET; the fifth pin of the first control chip is connected to the gate of the fifth MOSFET;

[0060] The seventh pin of the second control chip is connected to the gate of the second MOSFET; the fifth pin of the second control chip is connected to the gate of the sixth MOSFET;

[0061] The seventh pin of the third control chip is connected to the gate of the third MOSFET; the fifth pin of the third control chip is connected to the gate of the seventh MOSFET;

[0062] The seventh pin of the fourth control chip is connected to the gate of the fourth MOSFET; the fifth pin of the fourth control chip is connected to the gate of the eighth MOSFET.

[0063] Optionally, the source of the first MOSFET, the source of the second MOSFET, the source of the third MOSFET and the source of the fourth MOSFET are connected.

[0064] The drain of the first MOSFET is connected to the source of the fifth MOSFET, the drain of the second MOSFET is connected to the source of the sixth MOSFET, the drain of the third MOSFET is connected to the source of the sixth MOSFET, and the drain of the fourth MOSFET is connected to the source of the eighth MOSFET;

[0065] The drain of the fifth MOSFET, the drain of the sixth MOSFET, the drain of the seventh MOSFET and the drain of the eighth MOSFET are connected;

[0066] The drain of the first MOS tube is connected to the sixth pin of the first control chip;

[0067] The drain of the second MOS tube is connected to the sixth pin of the second control chip;

[0068] The drain of the third MOS tube is connected to the sixth pin of the third control chip;

[0069] The drain of the fourth MOS tube is connected to the sixth pin of the fourth control chip.

[0070] SLM2104 is used to control the motor drive circuit for independent pulse control, which can effectively improve the independent control of the two full bridges composed of 8 MOS and improve the control accuracy.

[0071] The utility model provides a docking platform three-axis drive system, which includes at least: a host and multiple slaves, the slaves include at least a signal input module, a processing module, a signal output module, a communication module, a sensor module and a multi-channel motor drive module, the processing module is respectively connected to the signal input module, the sensor module, the signal output module, the communication module and the multi-channel motor drive module; the signal input module is used to input a control signal; the sensor module is used to collect current and voltage data; the processing module is used to determine the output PWM signal according to the control signal and the current and voltage data, and output it through the signal output module; the processing module is also used to determine the low level and the high level through the PWM signal, and control the current of the multi-channel motor according to the low level and the high level; the communication module is used to transmit data with the host. By adopting multiple drivers in the embodiment of the present application, the cost and space are reduced and the structure is simplified.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A docking station three-axis drive system, characterized in that: The docking station three-axis drive system includes at least a master and multiple slaves, the slaves include at least a signal input module, a processing module, a signal output module, a communication module, a sensor module and a multi-channel motor drive module, the processing module is respectively connected to the signal input module, the sensor module, the signal output module, the communication module and the multi-channel motor drive module; The signal input module is used to input a control signal; The sensor module is used to collect current and voltage data; The processing module is used to determine the output PWM signal according to the control signal and the current and voltage data, and output it through the signal output module; the processing module is also used to determine the low level and the high level through the PWM signal, and control the current of the multi-channel motor according to the low level and the high level; The communication module is used for performing data transmission with the host.

2. The docking platform three-axis drive system according to claim 1, characterized in that: The first transmitting pin of the host is connected to the second receiving pins of the multiple slaves respectively, and the first receiving pin of the host is connected to the second transmitting pins of the multiple slaves respectively.

3. The docking platform three-axis drive system according to claim 1, characterized in that: The slave device and the host device perform data transmission via RS485.

4. The docking platform three-axis drive system according to claim 1, characterized in that: The motor is a 42 series motor or a 57 series motor.

5. The docking platform three-axis drive system according to claim 1, characterized in that: The processing module at least includes: a control unit, a pulse control unit and a switch unit, wherein the control unit is connected to the switch unit via the pulse control unit, and the switch unit is connected to the slave device, wherein: The control unit is used to send a control signal; The pulse control unit is used to process the control signal to obtain a processed signal; The switch unit is used to control the on / off and direction of the current according to the processed signal, thereby controlling the operation of the slave machine.

6. The docking platform three-axis drive system according to claim 5, characterized in that: The pulse control unit includes at least a first control chip, a second control chip, a third control chip, and a fourth control chip, wherein the first control pin of the control unit is connected to the second pin of the first control chip, and the third control pin of the control unit is connected to the second pin of the second control chip. The fifth control pin of the control unit is connected to the second pin of the third control chip, The seventh control pin of the control unit is connected to the second pin of the fourth control chip.

7. The docking platform three-axis drive system according to claim 6, characterized in that: The first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.

8. The docking platform three-axis drive system according to claim 5, characterized in that: The switch unit includes at least two full-bridge circuits, the first full-bridge circuit includes a first MOSFET, a second MOSFET, a fifth MOSFET and a sixth MOSFET, and the second full-bridge circuit includes a third MOSFET, a fourth MOSFET, a seventh MOSFET and an eighth MOSFET.

9. The docking platform three-axis drive system according to claim 8, characterized in that: The seventh pin of the first control chip is connected to the gate of the first MOSFET; the fifth pin of the first control chip is connected to the gate of the fifth MOSFET; The seventh pin of the second control chip is connected to the gate of the second MOSFET; the fifth pin of the second control chip is connected to the gate of the sixth MOSFET; The seventh pin of the third control chip is connected to the gate of the third MOS tube; the fifth pin of the third control chip is connected to the gate of the seventh MOS tube; The seventh pin of the fourth control chip is connected to the gate of the fourth MOSFET; the fifth pin of the fourth control chip is connected to the gate of the eighth MOSFET.

10. The docking platform three-axis drive system according to claim 9, characterized in that: The source of the first MOS tube, the source of the second MOS tube, the source of the third MOS tube and the source of the fourth MOS tube are connected. The drain of the first MOSFET is connected to the source of the fifth MOSFET, the drain of the second MOSFET is connected to the source of the sixth MOSFET, the drain of the third MOSFET is connected to the source of the sixth MOSFET, and the drain of the fourth MOSFET is connected to the source of the eighth MOSFET; The drain of the fifth MOSFET, the drain of the sixth MOSFET, the drain of the seventh MOSFET and the drain of the eighth MOSFET are connected; The drain of the first MOS tube is connected to the sixth pin of the first control chip; The drain of the second MOS tube is connected to the sixth pin of the second control chip; The drain of the third MOS tube is connected to the sixth pin of the third control chip; The drain of the fourth MOS tube is connected to the sixth pin of the fourth control chip.

Images