An intelligent drive for a joint module

Abstract

The utility model relates to industrial automation technical field, and disclose a kind of for joint module intelligent driver, it is with compact and ingenious appearance design, in mechanical arm joint and space limited application scene, show outstanding adaptability driver's circuit design uses advanced integrated circuit technology and modular design concept.Drive module is responsible for the control logic and signal processing of entire driver, with high-speed data bus and other upper system communication.Main feedback interface circuit uses differential signal transmission mode, can effectively reduce signal interference, improve the accuracy of feedback data.Assistant feedback interface circuit design is the interface form of compatible multiple types feedback equipment, through the switching circuit inside interface circuit, can automatically identify and adapt different types of feedback equipment, effectively solve the deficiency of existing driver in space utilization and functional integration, with wide application prospect and significant technical progress.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and more specifically, to an intelligent actuator for joint modules. Background Technology

[0002] In the development of industrial automation and intelligent equipment, motor drive control has become a core element for achieving precise movement and functionalities. With the increasing trend towards intelligent and miniaturized equipment, the requirements for motors and drives are becoming increasingly stringent. On the one hand, drives need to possess powerful functions, be compatible with multiple communication protocols, and acquire and output various signals to meet complex control needs; on the other hand, this places stricter constraints on the size and space occupied by drives.

[0003] Taking robotic arm joints as an example, due to their compact mechanical structure, the installed actuators must not only accurately control the motors to complete complex motion trajectories, but also be small in size to avoid affecting the overall structure and mobility of the robotic arm. In applications with extremely demanding space requirements, such as aerospace equipment and medical devices, existing actuators generally have functional limitations, failing to meet the needs of multiple interfaces and high-speed communication; or they are too large to be installed and used in limited spaces. Therefore, developing a motor actuator that combines a compact appearance with rich functionality has significant practical implications and broad market prospects. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this invention provides an intelligent actuator for joint modules. Through an innovative design concept, it effectively addresses the deficiencies of existing actuators in terms of space utilization and functional integration. This actuator is designed to achieve a compact and elegant appearance, adapting to special installation environments such as robotic arm joints and confined spaces. It also integrates a rich set of interfaces to meet diverse data transmission, device control, and debugging needs.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an intelligent actuator for joint modules, which adopts a compact and exquisite design. Through precise dimensional planning, its dimensions are strictly controlled within the range of 51mm in length, 34mm in width, and 26.3mm in height. This dimensional design is based on in-depth research and analysis of numerous practical application scenarios, particularly addressing the installation space limitations of robotic arm joints and various types of automated equipment in confined spaces. With this compact design, the actuator can be easily installed in narrow spaces where traditional actuators cannot fit, greatly expanding its application range. For example, in the joints of small robotic arms, traditional actuators, due to their large size, can adversely affect the flexibility of the robotic arm's movement after installation. The actuator of this utility model, however, can perfectly fit the joints without occupying excessive space, effectively ensuring that the robotic arm achieves more flexible and precise movements.

[0006] Interface design: The main feedback interface is used to connect to the motor encoder, supporting various feedback types such as absolute encoders, differential incremental encoders, and Hall sensors. Accurately acquiring the motor's operating state is fundamental to achieving precise control in motion control. The main feedback interface can collect key information such as the motor's position and speed in real time and transmit this data to the driver's CPU. Through in-depth analysis and processing of the main feedback data, the driver can precisely adjust the motor's output according to a preset control strategy, achieving high-precision control of the motor's motion. For example, in high-precision CNC machine tool applications, the main feedback interface provides real-time feedback on the motor's position information, allowing the driver to adjust the motor's speed and direction in a timely manner, ensuring that the machine tool tool can accurately machine parts according to a predetermined trajectory.

[0007] The auxiliary feedback interface is compatible with encoders of various protocols, such as differential incremental encoders, absolute encoders, Hall sensors, and resolvers. It can also output encoder signals via a simulation output interface to achieve frequency division. The main feedback port and auxiliary feedback port connect to the encoder to control the motor system. When both feedback ports operate simultaneously, dual-feedback motion control can be achieved, resulting in higher control precision and accuracy, and better control performance.

[0008] Simulation output interfaces are primarily used to output simulation signals to meet the needs of specific testing or simulation application scenarios. They play a crucial role in driver development, debugging, and applications requiring simulation of real-world operating environments.

[0009] The EtherCAT bus interface includes EtherCATIN and EtherCATOUT interfaces. EtherCAT is key to this driver's high-speed real-time communication. It supports high-speed real-time communication with a communication rate of at least 100Mbps. In modern industrial automation systems, multiple devices require rapid and accurate data exchange and collaborative operation. The EtherCAT bus interface enables this driver to efficiently transmit data with other devices equipped with EtherCAT interfaces, achieving real-time synchronous control between devices.

[0010] The CAN bus interface includes CANIN and CANOUT interfaces for communication with devices in a CAN network. It conforms to the standard CANopen protocol and supports DS402 and DS301 device profiles, ensuring compatibility with numerous CAN devices on the market that adhere to this protocol standard. In complex industrial network environments with various types of devices, the CAN bus is widely used due to its high reliability and strong anti-interference capabilities. This driver's CAN bus interface can easily connect to existing CAN networks for data exchange with other devices.

[0011] The USB debugging interface facilitates parameter setting and debugging of the driver via USB connection to debugging devices. During driver development, installation, and routine maintenance, engineers need to set and adjust driver parameters to meet different application requirements. The USB debugging interface provides a convenient and high-speed debugging method. Engineers can use computers or other debugging devices and dedicated debugging software to quickly read and modify various driver parameters, such as motor speed limits, control modes, and communication protocols, by connecting to the driver via USB. Furthermore, in the event of a driver malfunction, fault diagnosis information can be obtained through the USB debugging interface, facilitating rapid problem location and resolution.

[0012] The RS232 debug interface, as another debugging communication interface, provides more options for debugging. In applications where communication speed requirements are not high, but compatibility and stability are important, the RS232 interface remains widely used. This driver is equipped with an RS232 debug interface, allowing engineers to choose to use the RS232 interface for driver debugging in the retrofitting of older equipment or specific industrial environments, depending on the actual situation. For example, in the upgrade process of some traditional industrial control systems, the original equipment may only support RS232 communication interfaces. Through the RS232 debug interface of this driver, it is easy to connect to these devices, enabling driver debugging and parameter setting, reducing the cost and difficulty of system upgrades.

[0013] The two DO (Digital Output) interfaces can be used to control external digital devices, enabling functions such as switching these devices on and off. Each DO interface can output a maximum current of 2A to meet the driving requirements of different external devices. In automated control systems, it is often necessary to control digital devices such as relays, solenoid valves, and motor brakes. The DO interfaces of this driver can be directly connected to these devices, and through the driver's internal control logic, high-level or low-level signals are output to control the on / off state of these devices. For example, on an industrial automated production line, the DO interface can control the operation of solenoid valves to achieve operations such as material sorting and conveying; in an intelligent lighting control system, the DO interface can control relays to achieve on / off control of lighting fixtures.

[0014] The three-channel DI (Digital Input) interface is used to receive external digital signals and acquire status information from external devices. Each DI interface can detect a minimum voltage change of 7V, ensuring accurate acquisition of external digital signals. In practical applications, the driver needs to understand the status of external devices in real time to make corresponding control decisions. The DI interface can connect to various external digital sensors, such as proximity switches and limit switches. When the status of external devices changes, such as a proximity switch detecting an approaching object or a limit switch detecting that the device has reached a designated position, these sensors will output corresponding digital signals. The DI interface can accurately acquire these signals and transmit them to the driver's control core. Based on these signals, the driver determines the status of the external devices and adjusts the motor's operating state to achieve automated control of the entire system. For example, in an automated warehousing system, the limit switch connected to the DI interface can detect whether goods have reached the designated storage location. The driver, based on the signals acquired by the DI interface, controls the motor to stop or start, ensuring accurate storage and retrieval of goods.

[0015] The driver features a single AI (analog input) interface capable of acquiring external analog signals, such as the analog output signals from sensors. Its input signal range is +10V to -10V, accommodating signal inputs from various types of analog sensors. Many industrial applications require the acquisition of analog signals, such as those from temperature, pressure, and flow sensors. The driver's AI interface can directly connect to these analog sensors, converting the analog signals into digital signals and transmitting them to the driver's CPU for processing. By analyzing the analog signals, the driver can acquire various physical parameters during equipment operation, such as temperature, pressure, and flow rate, thereby achieving precise monitoring and control of the equipment's operating status. For example, in chemical production processes, a pressure sensor connected to the AI ​​interface can monitor pressure changes within the reactor in real time. Based on the pressure signal acquired by the AI ​​interface, the driver adjusts the motor speed and controls the material delivery rate, ensuring that the pressure within the reactor remains within a safe range.

[0016] The auxiliary power supply interface provides independent power to internal circuitry or connected auxiliary devices within the driver. It offers 12-30V to meet the power requirements of specific auxiliary devices. In some applications, the driver may need to connect to specialized auxiliary devices with specific requirements for power supply voltage and current. The auxiliary power supply interface provides a stable power source for these devices, avoiding interference or insufficient power supply issues caused by sharing power with the driver's main power supply. Furthermore, some internal circuit modules within the driver that require high power stability can also be powered independently via the auxiliary power supply interface, improving the overall performance and reliability of the driver.

[0017] The driver's main power supply port is used to connect to the main power supply, providing the main operating power for the entire driver. It supports an input voltage range of 12VDC to 175VDC to adapt to different power supply environments. In practical applications, different application scenarios may use different power supply systems. This driver's main power supply port can adapt to a wide input voltage range. Through reasonable power supply design and voltage matching circuitry, it ensures that the driver can operate normally under different power supply conditions, improving the driver's versatility and applicability.

[0018] The motor power line interface is used to connect the motor and provide it with driving power. This interface is specially designed to withstand large current loads, ensuring that the motor can stably obtain the required electrical energy during operation. In a motor drive system, the motor power line interface is a critical link connecting the driver and the motor, and its performance directly affects the motor's operating performance. The motor power line interface of this driver uses high-quality materials and processes to guarantee the reliability of the electrical connection.

[0019] Interface layout optimization: The main feedback interface, auxiliary feedback interface, simulation output interface, EtherCAT bus interface, CAN bus interface, USB debugging interface, RS232 debugging interface, 2 DO interfaces, 3 DI interfaces, 1 AI interface, auxiliary power supply interface, driver main power supply port, and motor power line interface are all meticulously optimized in their layout on the interface circuit board. The layout design follows the principles of maximizing space utilization and maximizing interface usability. For example, commonly used debugging interfaces (USB debugging interface and RS232 debugging interface) are placed on the same interface to accommodate more different types of driver modules. Simultaneously, to avoid signal interference between different interfaces, high-speed communication interfaces (such as EtherCAT bus interface and CAN bus interface) are reasonably isolated, effectively reducing signal crosstalk and ensuring the accuracy and stability of data transmission across all interfaces. For applications requiring high-power drivers, considering the potential heat and current load, the interface circuit board also features optional solderable power and motor power cables of various specifications, and offers a variety of heat sinks for customer selection to ensure safety and reliability during high-power operation. This optimized interface layout not only improves the ease of installation of the driver in a limited space, but also enhances its overall performance and stability.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This utility model includes a semi-finished driver module, which is responsible for the control logic and signal processing of the entire driver and communicates with other upper-level systems via a high-speed data bus. The main feedback interface circuit adopts a differential signal transmission method, which can effectively reduce signal interference and improve the accuracy of feedback data. The auxiliary feedback interface circuit is designed to be compatible with various types of feedback devices. Through the internal switching circuit of the interface circuit, it can automatically identify and adapt to different types of feedback devices. The simulation output interface circuit is based on digital-to-analog conversion technology and can generate various analog signals according to the instructions of the driver module to meet the needs of different testing scenarios.

[0021] 2. This utility model features an integrated interface, an EtherCAT bus interface, and a CAN bus interface. The EtherCAT and CAN bus interfaces utilize dedicated communication chips conforming to their respective protocol standards, ensuring high-speed and stable communication with external bus networks. The USB and RS232 debugging interfaces employ standard interface chips to achieve data transmission with debugging equipment. Two DO interfaces and three DI interfaces are controlled by dedicated digital input / output chips, enabling reliable control and signal acquisition of external digital devices. The auxiliary power supply interface circuit provides a stable power supply to circuit modules or auxiliary equipment requiring separate power through an independent power regulation module. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram showing the external dimensions of the present invention; Figure 3 This is a schematic diagram of the drive module of this utility model; Figure 4 This is a schematic diagram of the various interfaces of this utility model; Figure 5 This is a schematic diagram of the EtherCAT structure of this utility model.

[0023] In the diagram: J1 / 1, main power supply port for the driver; J1 / 2, motor power line interface; J2, interface circuit board; J3, semi-finished driver module; J4, auxiliary power supply interface; J5, integrated interface; J7, IO interface; J8, EtherCATOUT interface; J9, EtherCATIN interface; J13, USB debugging interface. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figures 1 to 5 As shown, this utility model provides an intelligent driver for a joint module, including a semi-finished driver module J3. An interface circuit board J2 is soldered onto the semi-finished driver module J3. The interface circuit board J2 is fixedly designed with an integrated interface J5 (including a main feedback interface, an auxiliary feedback interface, and a simulation output interface), an IO interface J7 (including two DO (digital output) interfaces, three DI (digital input) interfaces, and one AI (analog input) interface), an auxiliary power supply interface J4, a driver main power supply port J1 / 1, a motor power line interface J1 / 2, an EtherCATIN (CANIN) interface J9, an EtherCATOUT (CANOUT) interface J8, and a USB debugging interface J13.

[0026] The interface circuit board J2 is also fixedly designed with EtherCAT high-speed bus interfaces J8 and J9. The specific implementation is as follows: EtherCAT high-speed bus signals from the host system, such as those from Elmo controllers, Beckhoff controllers, Omron controllers, etc., are input via EtherCATIN interface J9 to the EtherCATIN communication chip ALT4532M-201-T001, which in turn inputs to the corresponding driver module EtherCATIN. The signals are then output via the corresponding driver module EtherCATOUT to the EtherCATOUT communication chip ALT4532M-201-T001, which outputs to the corresponding EtherCATOUT communication interface J8. EtherCATOUT communication interface J8 can output to other external devices or remain unconnected, thus achieving real-time network communication.

[0027] The feedback interface J5 has strong compatibility, including being configured to connect to differential incremental encoders or multi-bit absolute encoders, absolute encoders of various protocols, and to receive the main feedback signal provided by differential incremental encoders or multi-bit absolute encoders, absolute encoders of various protocols to the feedback interface J5.

[0028] The design feature of the interface circuit board J2 lies in the strong compatibility of the feedback interface J5, enabling it to connect to various types of encoders, including differential incremental encoders and multi-bit absolute encoders, as well as absolute encoders supporting multiple protocols. This provides users with great flexibility and convenience, allowing the driver to adapt to different application scenarios and needs. Through the connection of the feedback interface J5, the differential incremental encoder can transmit its generated differential signal to the semi-finished drive module J3, which then performs precise position and speed control. The multi-bit absolute encoder is suitable for applications that require frequent reading of position information or high-precision positioning. The multi-bit absolute encoder connection function of the feedback interface J5 allows the semi-finished drive module J3 to directly receive the output signals of these encoders and perform fast and accurate position control.

[0029] The servo motor connection port J1 / 2 is configured to connect to the servo motor to drive it, and the driver power supply port J1 / 1 is configured to allow an external power supply to power the driver so that it can start normally.

[0030] By integrating the servo motor connection port J1 / 2 and the driver power supply port J1 / 1, the driver enables direct drive and control of the servo motor, reducing intermediate links and allowing control signals to be transmitted directly and efficiently to the servo motor, thereby improving the system's response speed and control accuracy.

[0031] The interface circuit board J2 is also equipped with a driver power supply interface J1 / 1, which is configured to be connected to an external DC power supply system and supports power supply at different voltage levels.

[0032] By supporting power supplies of different voltage levels, it means a more convenient, efficient, and reliable servo control solution. Users do not need to worry about the limitations and complexity of power conditions. They can simply connect the driver to the corresponding power supply to achieve rapid deployment and stable operation. This not only improves the user's work efficiency but also reduces the user's maintenance costs and risks. It enhances the module's flexibility and adaptability, simplifies power configuration, reduces failure risks, and improves the user experience, giving it a wider range of application prospects and higher market competitiveness.

[0033] The IO interface J7 includes 3 DI channels and 2 DO channels, which can be directly connected to photoelectric switches and relays to receive or send logic level signals.

[0034] With 3 DI and 2 DO interfaces, the driver can be directly connected to external devices such as photoelectric switches or relays without additional conversion or adaptation equipment. This allows the driver to be easily integrated into various applications in industrial automation, robotics, medical equipment, and other fields to meet the needs of different scenarios. Secondly, direct connection to photoelectric switches or relays enables the module to detect and control external devices in real time. Photoelectric switches can detect the presence or absence of objects by using the blocking or reflection of the light beam by the detected object, thereby realizing automated control. Relays can control the controlled quantity in the electrical output circuit according to the changes in the input signal, thereby realizing the switching control of the circuit.

[0035] Among them, the interface circuit board J2 has a USB (RS232) debugging interface J13.

[0036] By setting up the USB (RS232) debugging interface J13, developers can connect the device to a computer to perform operations such as application debugging, data transfer, and performance analysis. This allows developers to run and debug applications directly on the device, greatly improving development efficiency.

[0037] Application Examples Application in robotic arm joints: In a small six-axis robotic arm, a G-MOLTWI series intelligent actuator for joint modules is installed at each joint. The main feedback interface connects to encoders at the joints to acquire real-time position and speed information. The actuator uses this information to precisely control the motor operation, achieving accurate positioning and movement of the robotic arm joints. The auxiliary feedback interface connects to temperature and vibration sensors at the joints. When abnormal temperature increases or excessive vibration occur during joint movement, the actuator can promptly adjust motor operating parameters to protect the robotic arm joints from damage. An EtherCAT bus interface connects the actuators at each joint into a network, enabling high-speed communication with the host computer controller to achieve coordinated motion control of the entire robotic arm. In practical applications, this robotic arm can perform high-precision assembly tasks, such as the precision welding of electronic chips. Its compact actuator design makes the joint structure of the robotic arm more compact, greatly improving its movement flexibility.

[0038] Medical Device Application: Space is extremely limited in a small, portable medical testing device. The G-MOLTWI series of intelligent actuators for joint modules drives the internal motors, enabling automated sample transport and motion control of the testing components. A USB debugging interface allows engineers to easily configure parameters and diagnose faults during device development and maintenance. A single AI interface connects to internal sensors to collect relevant physical parameters of the sample, such as temperature and pressure. Due to the compact design of the actuators, this medical testing device can integrate more functions within a limited space while maintaining stability and reliability, providing strong support for medical diagnostics.

[0039] Aerospace Equipment Applications: In the flight control system of a certain type of UAV, the actuator needs to be small in size, powerful in function, and highly reliable. The G-MOLTWI series of intelligent actuators for joint modules communicates with the UAV's flight controller and other devices via a CAN bus interface to achieve distributed control of the motors. Three DI interfaces connect to various switching sensors on the UAV, such as flight mode switches and battery level alarm switches; the actuator adjusts the motor operating status in real time based on these signals. The motor power line interface provides stable drive power to the UAV's motors, ensuring the stability and reliability of the UAV during flight. Its compact housing design allows the actuator to be easily installed in the limited space of the UAV without increasing the overall weight and size of the UAV, effectively improving the UAV's flight performance and application range.

[0040] Through the above specific implementation methods, a G-MOLTWI series product for intelligent actuators of joint modules can leverage its advantages in various application scenarios with strict space requirements to achieve efficient and stable motor drive control functions.

[0041] In summary, the G-MOLTWI series of intelligent actuators for joint modules of this utility model effectively solves the shortcomings of existing actuators in terms of space utilization and functional integration through its compact housing design, rich and optimized interface design, and reasonable circuit design and implementation method. It has broad application prospects and significant technological progress.

[0042] Working principle and usage process of this utility model: The driver's circuit design employs advanced integrated circuit technology and a modular design concept. The driver module is responsible for the overall control logic and signal processing of the driver, communicating with other upper-level systems via a high-speed data bus. The main feedback interface circuit uses differential signal transmission, effectively reducing signal interference and improving the accuracy of feedback data. The auxiliary feedback interface circuit is designed to be compatible with various types of feedback devices; through internal switching circuits, it can automatically identify and adapt to different types of feedback devices. The simulation output interface circuit, based on digital-to-analog conversion technology, can generate various analog signals according to the driver module's instructions, meeting the needs of different testing scenarios.

[0043] The EtherCAT and CAN bus interfaces employ dedicated communication chips conforming to their respective protocol standards, ensuring high-speed and stable communication with external bus networks. The USB and RS232 debugging interfaces utilize standard interface chips for data transmission with debugging equipment. Two DO and three DI interfaces are controlled by dedicated digital input / output chips, enabling reliable control and signal acquisition of external digital devices. The auxiliary power supply interface circuit provides stable power to circuit modules or auxiliary equipment requiring separate power supply through an independent power regulator module. The driver's main power supply port circuit uses a high-efficiency power conversion module, adaptable to main power supplies with different input voltage ranges, and converts them to the operating voltages required by the various circuit modules within the driver. The motor power line interface circuit uses a high-current-carrying-capacity power module, ensuring stable and reliable drive power for the motor.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart actuator for a joint module, comprising a semi-finished drive module (J3), characterized in that: The product has an interface circuit board (J2) soldered onto the semi-finished drive module (J3). The interface circuit board (J2) is fixedly designed with an integrated interface (J5), an IO interface (J7), an auxiliary power supply interface (J4), a driver main power supply port (J1 / 1), a motor power line interface (J1 / 2), an EtherCATIN interface (J9), an EtherCATOUT interface (J8), and a USB debugging interface (J13). The integrated interface (J5) includes a main feedback interface, an auxiliary feedback interface, and a simulation output interface. The IO interface (J7) includes 2 DO interfaces, 3 DI interfaces, and 1 AI interface.

2. The intelligent actuator for a joint module according to claim 1, characterized in that: The product's dimensions are precisely limited to a length of 51mm, a width of 34mm, and a height of 26.3mm.

3. The intelligent actuator for a joint module according to claim 1, characterized in that: The EtherCATIN interface (J9) and EtherCATOUT interface (J8) support high-speed real-time communication, enabling efficient data interaction and collaborative operation with other devices equipped with EtherCATIN interface (J9) and EtherCATOUT interface (J8).

4. The intelligent actuator for a joint module according to claim 1, characterized in that: The EtherCATIN interface (J9) and EtherCATOUT interface (J8) enable communication with devices in the CAN network, and the USB debugging interface (J13) connects to external debugging devices.

5. The intelligent actuator for a joint module according to claim 1, characterized in that: The maximum current output of the two DO interfaces is 2A, the voltage change that the three DI interfaces can recognize is 0~24V, and the input signal range of the one AI interface is +10V~-10V.

6. The intelligent actuator for a joint module according to claim 1, characterized in that: The auxiliary power supply interface provides a voltage of 24VDC, and the main power supply port of the driver supports an input voltage range of 12VDC to 175VDC.

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