Multi-axis servo drive and system

Abstract

The utility model provides a kind of multi-shaft servo driver and system, the multi-shaft servo driver includes circuit substrate, and USB hub and a plurality of control units are equipped on circuit substrate;Control unit is used to drive at least one servo motor to operate or stop, and control unit is electrically connected to USB hub, and USB hub is used to connect host computer, to make control unit and host computer communication.The utility model is by being equipped with USB hub and the control unit connected with USB hub in circuit substrate, so that USB hub converges multiple groups of lines, it is beneficial to only set one USB interface, save the wiring space on circuit substrate and the number and installation space of USB interface, realize the effective reduction of multi-shaft servo driver size;And by USB hub connection host computer, so that each control unit does not need separate USB interface to connect host computer, also does not need to frequently plug and switch USB interface, greatly improves the debugging convenience.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation control, and more specifically to a multi-axis servo drive and system. Background Technology

[0002] A servo drive (also known as a controller or servo amplifier) ​​is a device that controls a servo motor. It functions similarly to a frequency converter and is part of a servo system. It is mainly used in high-precision positioning systems. It controls the servo motor through three methods: position, speed, and torque, to achieve high-precision positioning of the transmission system.

[0003] To enable a single servo driver to drive multiple motors, taking eight servo motors as an example, refer to... Figure 1 As shown, an eight-axis servo drive includes a circuit board and eight controllers electrically connected to the circuit board. Each controller corresponding to a motor axis has a separate USB interface. The eight controllers control eight motors respectively. When debugging each axis controller, the host computer must connect to the USB interface of each controller separately, requiring frequent manual switching and plugging / unplugging of the USB cable during the debugging process. In other words, the existing multi-axis servo drive circuit board needs to have the same number of controllers and USB interfaces as the number of motors, which occupies wiring space on the circuit board and easily leads to an increase in the size of the circuit board, hindering the miniaturization design of multi-axis servo drives. Furthermore, when the host computer needs to debug the multi-axis servo drive, it must also plug its USB cable into the USB interface corresponding to the controller currently being debugged, which is not conducive to convenient switching control between controllers of different motor axes. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-axis servo driver and system to solve the technical problems of large size and cumbersome USB connection switching of existing multi-axis servo drivers.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, this utility model provides a multi-axis servo driver, which includes a circuit board, on which a USB hub and several control units are provided; the control units are used to drive and control at least one servo motor to run or stop, and the several control units are all electrically connected to the USB hub, which is used to connect to a host computer so that the control units can communicate with the host computer.

[0007] In one embodiment, the control unit includes a microprocessor electrically connected to the USB hub.

[0008] In one embodiment, the control unit includes two microprocessors, each of which drives and controls a servo motor to run or stop.

[0009] In one embodiment, the two microprocessors are connected to the same data port of the USB hub.

[0010] In one embodiment, two control units are included.

[0011] In one embodiment, three control units are included.

[0012] In one embodiment, four of the control units are included.

[0013] In one embodiment, the microprocessor is electrically connected to the USB hub via wiring on the circuit board.

[0014] In one embodiment, each of the control units is arranged parallel to the other on the circuit board.

[0015] Secondly, this utility model provides a multi-axis servo system, including: a host computer and the aforementioned multi-axis servo driver, wherein the multi-axis servo driver is electrically connected to the host computer.

[0016] The advantages of this invention compared to the prior art are as follows: By incorporating a USB hub and a control unit connected to the USB hub on the circuit board, the USB hub aggregates multiple lines, facilitating the use of only one USB interface. This saves wiring space on the circuit board, as well as the number and installation space of USB interfaces, effectively reducing the size of the multi-axis servo drive. Furthermore, by connecting to the host computer via the USB hub, each control unit no longer needs a separate USB interface to connect to the host computer, nor does it require frequent plugging and unplugging and switching of USB interfaces, greatly improving debugging convenience and thus enhancing the market competitiveness of the multi-axis servo drive.

[0017] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this utility model more obvious and understandable, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an existing multi-axis servo driver;

[0019] Figure 2 This utility model provides a structural schematic diagram of a multi-axis servo driver;

[0020] Figure 3This is a schematic diagram of the structure of a control unit provided by the present invention.

[0021] Image label:

[0022] 1. Circuit board; 2. Control unit; 21. Connecting lines; 22. Microprocessor; 3. USB hub; 4. Host computer. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] It should be understood that, when used in this specification and the appended claims, the terms “comprising” and “including” indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0025] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0027] Example 1

[0028] See Figures 2 to 3 As shown, this embodiment discloses a multi-axis servo driver, including a circuit board 1. The circuit board 1 has a USB hub 3 and several control units 2. The control units 2 are used to drive and control at least one servo motor to run or stop. All control units 2 are electrically connected to the USB hub 3, which is used to connect to a host computer 4, enabling communication between the control units 2 and the host computer 4. The host computer 4 can be connected to the USB hub 3 via a communication cable to achieve data communication with each control unit 2.

[0029] It is understandable that the control unit 2 on the circuit board 1 is connected to the USB hub 3 via electrical signals. In specific implementation, the host computer 4 is connected to the USB hub 3, so that the USB hub 3 can receive electrical signals from the control unit 2 and the host computer 4, and can also transmit electrical signals to the host computer 4 and the control unit 2, realizing communication between the host computer 4 and the control unit 2, so as to facilitate the debugging of motor control parameters.

[0030] In this embodiment, the multi-axis servo driver incorporates a USB hub 3 and a control unit 2 connected to the USB hub 3 on the circuit board 1. This allows the USB hub 3 to aggregate multiple lines, facilitating the use of only one USB interface. This saves wiring space on the circuit board 1, as well as the number of USB interfaces and installation space, effectively reducing the size of the multi-axis servo driver. Furthermore, by connecting the host computer 4 to the USB hub 3, each control unit 2 does not need a separate USB interface to connect to the host computer 4, nor does it require frequent plugging and unplugging and switching of USB interfaces. This greatly improves debugging convenience and enhances the market competitiveness of the multi-axis servo driver.

[0031] In a further embodiment, the control unit 2 includes a plurality of connection lines 21 electrically connected to the USB hub 3. In this embodiment, the connection lines 21 are wires on the circuit board 1, which can be formed by etching. It is understood that the connection lines 21 serve as signal transmission channels to enable communication between the USB hub 3 and the control unit 2. More specifically, the control signals received by the host computer 4 from the USB hub 3 are transmitted to each control unit 2 via the connection lines 21; simultaneously, the servo motor operating status signals fed back by the control unit 2 are also transmitted back to the USB hub 3 via the connection lines 21, and then uploaded by the USB hub 3 to the host computer 4.

[0032] In a further embodiment, the control unit 2 includes a microprocessor 22; the microprocessor 22 is electrically connected to the connection line 21. Specifically, the microprocessor 22 is electrically connected to the USB hub 3 through wiring on the circuit board 1, that is, through the connection line 21. In other words, the microprocessor 22 communicates with the host computer 4 through the connection line 21 and the USB hub 3.

[0033] In a further embodiment, the control unit 2 includes two microprocessors 22, each of which drives and controls a servo motor to run or stop. During debugging, the corresponding microprocessor 22 receives debugging instructions and independently outputs instructions to the corresponding servo motor, which facilitates individual debugging for different servo motor parameter requirements, improves control accuracy, and ensures that the failure of one microprocessor 22 does not affect the operation of the other axis, thus improving the reliability of the multi-axis servo drive.

[0034] In a further embodiment, the two microprocessors 22 in the same control unit 2 are connected to the same data port of the USB hub 3. Specifically, each microprocessor 22 is configured with a unique identifier, such as a hardware address, before leaving the factory. Each hardware address corresponds to a servo motor. When the host computer 4 debugs the servo motor control parameters in the microprocessor 22, the debugging command sent carries the target hardware address. After the debugging command is transmitted to the microprocessor 22 via the hub 3 and the connection line 21, the microprocessor 22 reads the address information in the debugging command, compares it with its own pre-stored hardware address, and then drives the connected servo motor to respond to the debugging command. The feedback signal sent by the microprocessor 22 also carries the hardware address back, so that the host computer 5 can accurately obtain the operating status of the currently communicating servo motor.

[0035] In a further embodiment, the USB hub 3 has several downstream port groups, and the connection lines 21 are electrically connected to the downstream port groups. It is understood that each downstream port group includes several downstream ports, and the number of downstream ports corresponds one-to-one with the number of connection lines 21. The number of downstream ports is determined by the type of the USB hub 3 and the USB interface on its upstream end. Taking a USB 3.0 interface as an example, it follows the USB 3.0 protocol. Considering that in a multi-axis servo drive, each downstream port needs to stably transmit signals from 1-4 control units 2, including 1-2 debugging commands and 1-2 motor feedback signals, and combining the bandwidth redundancy of USB 3.0 with the hardware design of the USB hub 3, a single downstream port group is generally configured with 2-8 downstream ports. This avoids insufficient bandwidth and signal delay caused by an excessive number of downstream ports in a single downstream port group. In practice, the signals from the host computer 4 are processed by the USB hub 3 and distributed to each downlink port group. The connection line 21 transmits the signals from the downlink port groups to the corresponding control units 2. The feedback signals from the control units 2 are fed into the USB hub 3 via the connection line 21 and the downlink port groups, and then uploaded to the host computer 4. The downlink port groups enable grouped connections between the USB hub 3 and the control units 2, facilitating the organization and maintenance of the connection lines 21, avoiding confusion among multiple connection lines 21, and allowing for flexible selection of port groups based on the number of control units 2, thus improving scalability.

[0036] In a further embodiment, the number of downlink port groups is four. These four downlink port groups adapt to the layout of multiple control units 2, meeting the common requirements for debugging eight servo motors, and ensuring the basic load-bearing capacity of the circuit, thereby guaranteeing the structural stability and reliability of the multi-axis servo drive. It is understood that the number of downlink port groups limits the upper limit of control unit 2, but in specific implementations, the number of control units 2 can be adjusted according to actual needs, enabling the multi-axis servo drive to meet the debugging requirements of four-axis, six-axis, and eight-axis servo axes.

[0037] In a further embodiment, the upstream port of the USB hub 3 is a USB interface, which is used to connect the USB cable of the host computer 4. The host computer 4 transmits signals to the USB interface via the USB cable, and the USB interface transmits the signals to the USB hub 3, and finally distributes them to the control unit 2; the feedback signal is returned to the host computer 4 along the opposite path. In this embodiment, a single USB interface replaces the traditional multiple USB interfaces, further saving space on the circuit board 1, thereby reducing the overall size of the multi-axis servo driver.

[0038] In a preferred embodiment, the multi-axis servo driver includes two control units 2. The two control units 2 enable control of the four-axis servo motor. Traditional four-axis drivers, to achieve the same functionality, require a USB interface for each single-axis driver to connect to the host computer 4, thus requiring four USB interfaces. However, this embodiment, through a single-interface multi-channel design using a USB hub, only requires one USB interface to achieve communication between the four-axis servo driver and the host computer 4, reducing the number of USB interfaces by three compared to the traditional design. The reduced number of USB interfaces not only directly saves interface installation space on the circuit board 1 but also simplifies the connection process between the host computer 4 and the driver, eliminating the need to plug and unplug USB cables separately for the two control units 2, significantly improving debugging convenience.

[0039] In a preferred embodiment, the multi-axis servo driver includes three control units 2. The three control units 2 enable control of the six-axis servo motor. In conventional solutions, a six-axis servo driver requires six independent USB interfaces to communicate with the host computer 4; this embodiment, relying on the signal aggregation function of the USB hub 3, only requires one USB interface for unified communication, reducing five USB interfaces compared to the traditional design. The reduction of five USB interfaces significantly reduces the wiring complexity of the circuit board, saves interface installation space on the circuit board 1, simplifies the connection process between the host computer 4 and the driver, and greatly improves debugging convenience.

[0040] In a preferred embodiment, the multi-axis servo driver includes four control units 2. The four control units 2 enable control of the eight-axis servo motor. Traditional eight-axis drivers require eight independent USB interfaces to achieve individual communication between each axis and the host computer 4; this embodiment utilizes the single-interface expansion capability of the USB hub 3, using only one USB interface to cover the communication needs of the four control units 2, i.e., eight-axis control, reducing seven USB interfaces compared to traditional designs. The reduction of seven USB interfaces not only significantly saves space on the circuit board but also avoids the cumbersome operation of frequently plugging and unplugging and switching USB cables in traditional solutions, allowing eight-axis debugging to be completed through a single interface, greatly improving operational convenience.

[0041] It is understandable that if there are two or more control units 2, each control unit 2 is arranged in parallel on the circuit board 1. All control units 2 on the circuit board 1 are planned to be arranged in parallel, which reduces wiring redundancy, significantly improves the space utilization of the circuit board 1, and further facilitates the miniaturization design of multi-axis servo drives.

[0042] Example 2

[0043] See Figures 2 to 3 As shown, this embodiment discloses a multi-axis servo system. Based on the multi-axis servo driver of Embodiment 1, the multi-axis servo system of this embodiment includes: a host computer 4 and the multi-axis servo driver of Embodiment 1; the multi-axis servo driver is electrically connected to the host computer 4. It can be understood that the host computer 4 is connected to the USB interface of the multi-axis servo driver via a USB cable. The multi-axis servo system of this embodiment eliminates the frequent plugging and unplugging of the USB cable in traditional debugging, achieving stable and efficient transmission of debugging commands and feedback signals; simultaneously, relying on the USB hub 3 design of the multi-axis servo driver, the host computer 4 can simultaneously or directionally debug multiple servo motors, significantly improving debugging efficiency and reducing operational complexity.

[0044] The above examples are merely illustrative of the technical content of this utility model to facilitate reader understanding, but do not imply that the implementation of this utility model is limited to these embodiments. Any technical extensions or re-creations made based on this utility model are protected by this utility model. The scope of protection of this utility model is defined by the claims.

Claims

1. A multi-axis servo driver, comprising a circuit board, characterized in that: The circuit board is equipped with a USB hub and several control units. Each control unit drives and controls at least one servo motor to run or stop. All control units are electrically connected to the USB hub, which connects to a host computer to enable communication between the control units and the host computer. Each control unit includes a microprocessor electrically connected to the USB hub. The control unit includes two microprocessors, each driving and controlling a servo motor to run or stop. The two microprocessors are connected to the same data terminal of the USB hub. The microprocessors are electrically connected to the USB hub via wiring on the circuit board.

2. The multi-axis servo driver according to claim 1, characterized in that, It includes two control units.

3. The multi-axis servo driver according to claim 1, characterized in that, It includes the three control units mentioned above.

4. The multi-axis servo driver according to claim 1, characterized in that, It includes four control units.

5. The multi-axis servo driver according to any one of claims 2-4, characterized in that, Each of the control units is arranged parallel to the other on the circuit board.

6. A multi-axis servo system, characterized in that, include: The host computer and the multi-axis servo driver as described in any one of claims 1-5, wherein the multi-axis servo driver is electrically connected to the host computer.

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