A biomimetic robot multi-joint motor drive module

Abstract

This utility model discloses a multi-joint motor drive module for a bionic robot, comprising a bionic robot body, five drive units, and a main control chip. The bionic robot body has at least one waist joint and four leg joints, each equipped with a motor. The five drive units are respectively connected to the motors at the waist joint and the four leg joints. Each drive unit has a control signal interface and a power output interface. The main control chip is disposed within the bionic robot body and is used to output multiple control signals to coordinate the movement of the motors at each joint. The control signal interface is electrically connected to the control pins of the main control chip and is used to receive forward rotation, reverse rotation, stop, and braking commands. The power output interface is electrically connected to the motors at the corresponding joints to drive the motors. This utility model aims to achieve flexible joint movement and posture adjustment in bionic robots.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic robot technology, and in particular to a biomimetic robot multi-joint motor drive module. Background Technology

[0002] Bionic robots (such as bionic robotic dogs) have shown broad application prospects in fields such as home companionship, environmental detection, and security patrol due to their flexible movement capabilities. Multi-joint collaborative actuation is the core technological foundation for achieving their complex movements. Existing multi-joint actuation solutions for bionic robots typically use a single drive module to drive multiple joints or simple discrete circuits to drive individual joints, resulting in poor multi-joint coordination. Traditional single drive modules struggle to achieve independent and precise control of multiple joints in the waist and legs, leading to asynchronous joint movements (such as asynchronous leg push-off and waist twisting), which can easily cause gait disorder and prevent the completion of complex gait movements. Utility Model Content

[0003] The main purpose of this invention is to provide a multi-joint motor drive module for biomimetic robots, which aims to enable flexible joint movement and posture adjustment of biomimetic robots.

[0004] To achieve the above objectives, the present invention proposes a bionic robot multi-joint motor drive module, comprising:

[0005] The bionic robot body has at least one waist joint and four leg joints, and motors are provided at the waist joint and the four leg joints.

[0006] Five drive units are respectively connected to the motors at the waist joint and the four leg joints; each drive unit has a control signal interface and a power output interface.

[0007] The main control chip is located inside the bionic robot body and is used to output multiple control signals to coordinate the movement of the motors at each joint.

[0008] The control signal interface is electrically connected to the control pin of the main control chip and is used to receive forward, reverse, stop, and brake commands. The power output interface is electrically connected to the motor at the corresponding joint and is used to drive the motor to move.

[0009] In one possible implementation, each of the drive units uses a CST6118 chip, and the main control chip uses an AC7916A chip.

[0010] In one possible implementation, the drive unit further includes an auxiliary filtering component, which includes a filter inductor connected in series with the power output interface of each drive unit and a filter capacitor connected in parallel with the power supply terminal of each motor drive unit.

[0011] In one possible implementation, the inductance of the filter inductor is 2.2 μH, and the capacitance of the filter capacitor is 1 μF.

[0012] This utility model's technical solution utilizes five CST6118 chips as drive units, working in tandem with the AC7916A main control chip, to achieve precise coordinated movement of the waist and four leg joints of a bionic robot dog. This solves the problems of asynchronous multi-joint movements and disordered gait in traditional drive modules. Simultaneously, the auxiliary filtering component effectively suppresses electromagnetic interference and power ripple, making the motor drive more stable and avoiding signal disturbances and speed fluctuations. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of a bionic robot body according to an embodiment of the present invention;

[0015] Figure 2 This is a schematic diagram of the circuit structure of an embodiment of the present invention.

[0016] Explanation of icon numbers:

[0017] 1. Bionic robot body; 11. Waist joint; 12. Leg joint; 13. Motor; 2. Drive unit; 21. Control signal interface; 22. Power output interface; 3. Main control chip; 4. Auxiliary filtering components; 41. Filter inductor; 42. Filter capacitor.

[0018] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] To address the problems in the background technology, this utility model proposes a biomimetic robot multi-joint motor 13 drive module, comprising:

[0021] The bionic robot body 1 has at least one waist joint 11 and four leg joints 12, and motors 13 are provided at the waist joint 11 and the four leg joints 12.

[0022] Five drive units 2 are respectively connected to motors 13 at the waist joint 11 and the four leg joints 12. Each drive unit 2 has a control signal interface 21 and a power output interface 22; and

[0023] The main control chip 3 is located inside the bionic robot body 1 and is used to output multiple control signals to coordinate the movement of the motors 13 at each joint.

[0024] The control signal interface 21 is electrically connected to the control pin of the main control chip 3 and is used to receive forward rotation, reverse rotation, stop, and braking commands. The power output interface 22 is electrically connected to the motor 13 at the corresponding joint and is used to drive the motor 13 to move.

[0025] Combined with reference Figures 1 to 2 As shown, in this embodiment, at least one lumbar rotational joint and four legs with movable joints are configured (i.e., each leg contains at least one movable joint, such as a hip joint or knee joint, for flexion, extension, and swinging of the leg). Each joint is equipped with a brushed DC motor 13 as the power source for joint movement. The rotational speed of the motor 13 determines the joint movement speed, and the direction of rotation determines the flexion and extension direction of the joint (e.g., forward rotation of the motor 13 drives the leg to swing forward, and reverse rotation drives the leg to swing backward).

[0026] This application's drive module includes five drive units 2 (corresponding one-to-one with five motors 13 at each joint), each drive unit 2 having a control signal interface 21 and a power output interface 22. Each control signal interface 21 is electrically connected to the control pins of the main control chip 3 to receive "forward rotation, reverse rotation, stop, and brake" commands (implemented through level combination or PWM signal encoding). In actual implementation, the drive unit 2 can use a CST6118 single-channel brushed DC motor drive chip, with its INA and INB pins serving as the control signal interface 21. The power output interface 22 (i.e., the chip's OUTA and OUTB pins) is directly connected to the two poles of the corresponding motor 13. The direction of the motor 13 is controlled by the voltage difference between OUTA and OUTB, the amplitude of the voltage difference controls the speed of the motor 13, and stopping / braking is achieved when the voltage difference returns to zero (or an equivalent short circuit). Specifically, when INA = high level and INB = low level, the drive motor 13 rotates forward; when INA = low level and INB = high level, the drive motor 13 rotates in reverse; and when INA = INB = low level (or the enable terminal is configured with braking logic), the motor 13 stops or brakes. Through the centralized scheduling of the main control chip 3 and the independent control of the multiple drive units 2, the limitation of the traditional single drive module on the "asynchronous movement" of multiple joints is broken, and the accurate reproduction of complex gait is achieved. Furthermore, the waist joint 11 and the four leg joints 12 of the simulation robot can move independently or work together, covering multi-dimensional movements such as "forward, backward, lateral movement, and twisting", and can adapt to complex terrains such as grass, steps, and slopes.

[0027] In one possible implementation, each of the drive units 2 uses a CST6118 chip, and the main control chip 3 uses an AC7916A chip.

[0028] Combined with reference Figure 2 As shown, in this embodiment, the CST6118 chip serves as the core of the drive unit 2. Its INA / INB pins constitute the control signal interface 21, which can directly receive level commands output by the AC7916A. The OUTA / OUTB pins serve as the power output interface 22, directly connected to the joint motor 13. The movement state of the motor 13 is precisely controlled by the direction, amplitude, and timing of the voltage difference between the pins. The AC7916A main control chip 3, with its multiple GPIO control pins (such as PA0 to PA10), achieves parallel command output to the five drive units 2, supporting millisecond-level timing synchronization to ensure coordinated movement of the motor 13 in the waist and leg joints 12. Furthermore, the CST6118 has built-in overcurrent and undervoltage protection circuits, which can automatically shield abnormal current / voltage surges to prevent the motor 13 from stalling and burning out, thus improving the reliability of the module.

[0029] In one possible implementation, the drive unit 2 further includes an auxiliary filter component 4, which includes a filter inductor 41 connected in series with the power output interface 22 of each drive unit 2, and a filter capacitor 42 connected in parallel with the power supply terminal of each motor 13 drive unit 2.

[0030] Combined with reference Figure 2 As shown, in this embodiment, the drive unit 2 is equipped with an auxiliary filtering component 4, specifically including a filter inductor 41 connected in series with the OUTA and OUTB pins of the CST6118 chip, and a filter capacitor 42 connected in parallel with the power supply terminal of the chip (i.e., between the VDD pin and the ground terminal of the chip). The filter inductor 41 reduces the reverse coupling of electromagnetic interference to the main control circuit by hindering sudden current changes at the power output terminal (such as the spike current generated when the motor 13 commutates); the filter capacitor 42 stabilizes the operating voltage of the drive chip by dynamically smoothing the power supply voltage fluctuations (such as the instantaneous voltage drop of the battery and the ripple when the drive chip starts and stops) during charging and discharging. This can solve the problems of electromagnetic noise generated by the drive of the motor 13 interfering with the main control signal, as well as the problems of motor 13 speed jitter and control command misjudgment caused by power supply ripple.

[0031] In one possible implementation, the inductance of the filter inductor 41 is 2.2 μH, and the capacitance of the filter capacitor 42 is 1 μF.

[0032] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0033] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biomimetic robot multi-joint motor drive module, characterized in that, include: The bionic robot body has at least one waist joint and four leg joints, and motors are provided at the waist joint and the four leg joints. Five drive units are respectively connected to the motors at the waist joint and the four leg joints. Each drive unit has a control signal interface and a power output interface. and The main control chip is located inside the bionic robot body and is used to output multiple control signals to coordinate the movement of the motors at each joint. The control signal interface is electrically connected to the control pin of the main control chip and is used to receive forward, reverse, stop, and brake commands. The power output interface is electrically connected to the motor at the corresponding joint and is used to drive the motor to move.

2. The bionic robot multi-joint motor drive module according to claim 1, characterized in that, Each of the aforementioned drive units uses a CST6118 chip, and the main control chip uses an AC7916A chip.

3. The bionic robot multi-joint motor drive module according to claim 1, characterized in that, The driving unit further includes an auxiliary filtering component, which includes a filter inductor connected in series with the power output interface of each driving unit and a filter capacitor connected in parallel with the power supply terminal of each driving unit.

4. The bionic robot multi-joint motor drive module according to claim 3, characterized in that, The inductance of the filter inductor is 2.2 μH, and the capacitance of the filter capacitor is 1 μF.

Images