Motion control circuit for vigor servo joint motor

Abstract

The utility model relates to the field of electronic technology, especially relates to the action control circuit of VIGOR servo joint motor, include: power management module, main control module, handle and output control signal to other peripheral module to input signal, communication module provides communication interface, motor drive module, motor chip unit receives 6 way PWM control signal through communication module transmission of main control module, cooperation 6 way PWM unit generates 6 way PWM drive signal correspondingly, 3 way sampling resistance unit real -time to motor operating current signal sampling, and feedback to motor chip unit and feedback to main control module after amplification, voltage stabilizing module provides stabilized voltage, joint position detection module, real -time detection joint position information and will detect result feedback to main control module. The utility model has realized that motor does not need to match commutator to realize the function of current switching, still has the effect that the noise is low.

Description

Technical Field

[0001] This utility model relates to the field of electronic technology, and in particular to the motion control circuit of VIGOR servo joint motor. Background Technology

[0002] With the development of technology, the demand for robots is increasing. Currently, robot joint motors on the market rely on brushes and commutators to switch current, which results in drawbacks such as severe mechanical wear leading to short lifespan, high commutation noise, and low efficiency.

[0003] Therefore, there is an urgent need to provide motion control circuits for VIGOR servo joint motors to overcome the above-mentioned defects. Utility Model Content

[0004] The main purpose of this invention is to provide a motion control circuit for a VIGOR servo joint motor, which enables the motor to switch current without the need for a matching commutator, and also has the effect of low noise.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: The motion control circuit for the VIGOR servo joint motor includes: The power management module provides voltage; The main control module is powered by the power management module, processes the input signals, and outputs control signals to other peripheral modules; A communication module, which is connected to the main control module and provides a communication interface; The motor drive module includes a motor chip unit connected to a power management module, a 6-channel PWM unit and a 3-channel sampling resistor unit connected to the motor chip unit; the motor chip unit receives 6 channels of PWM control signals transmitted by the main control module through the communication module, and generates 6 channels of PWM drive signals in accordance with the 6 channels of PWM unit; the 3-channel sampling resistor unit samples the motor operating current signal in real time, feeds it back to the motor chip unit, and after amplification, feeds it back to the main control module; A voltage regulator module is connected to the motor drive module and the communication module to provide a regulated voltage. The joint position detection module is connected to the voltage stabilizing module, detects joint position information in real time, and feeds back the detection results to the main control module.

[0006] Preferably, the 6-channel PWM unit includes 6 PWM signal control conduction paths, and the 6 PWM signal control conduction paths are divided into 3 groups of drive conduction groups; the 3-channel sampling resistor unit is correspondingly connected to the 3 groups of drive conduction groups.

[0007] Preferably, each PWM signal control conduction path is designed with a MOSEFT, and the two MOSEFTs of each drive conduction group are respectively connected to the upper bridge arm output pin and the lower bridge arm output pin of the motor drive chip of the motor chip unit.

[0008] Preferably, each of the sampling resistor units includes a resistor and a capacitor connected in parallel, and each is connected to the source of the MOSEFT connected to the output pin of the lower bridge arm.

[0009] Preferably, the communication module includes: a CAN communication chip connected to the main control module, a protection and filtering unit connected to the CAN communication chip, and a connection interface connected to the protection and filtering unit.

[0010] Preferably, the protection and filtering unit includes: a resistor R40 whose two ends are respectively connected to the CAN communication chip via resistors R29 / R28, a capacitor C46 and a TVS diode D3 connected to the resistor R40 and the connection interface, and a capacitor C42 and a TVS diode D2 connected to the resistor R40 and the connection interface.

[0011] Preferably, the main control module is provided with a debugging interface.

[0012] Preferably, a status indication module connected to the main control module issues corresponding indication signals according to the instructions of the main control module.

[0013] This invention relates to a motion control circuit for a VIGOR servo joint motor. The power management module supplies power to the entire circuit, and the communication module is used for circuit debugging. In use, the main control module sends instructions to the peripheral modules. The motor drive module receives the six PWM control signals from the main control module via the communication module, and the motor chip unit, in conjunction with the six PWM units, generates six corresponding PWM drive signals. These PWM drive signals drive the motor. The three-channel sampling resistor unit samples the motor operating current signal in real time and feeds it back to the motor chip unit. After amplification, the signal is fed back to the main control module. The main control module then issues corresponding instructions based on the feedback information, repeating the above operation. This circuit design allows the product to use a brushless motor, effectively reducing noise while significantly improving efficiency, achieving an energy conversion efficiency of over 90%. Furthermore, the design of this circuit contributes to the compactness of the product's hardware integration. Attached Figure Description

[0014] Figure 1 This is a block diagram of the motion control circuit for the VIGOR servo joint motor in this embodiment.

[0015] Figure 2 This is a circuit connection diagram for connecting the main control module of this utility model to the communication module, status indication module and battery management and protection unit.

[0016] Figure 3 for Figure 2 Circuit diagram of the communication module.

[0017] Figure 4 for Figure 2 Circuit diagram of the status indicator module.

[0018] Figure 5 for Figure 2 The circuit diagram of the battery management and protection unit.

[0019] Figure 6 This is a circuit diagram of the joint position detection module for an example.

[0020] Figure 7 This is a circuit diagram showing the connection between the motor drive module, the joint position detection module, and the sampling resistor in this embodiment.

[0021] Figure 8 This is a circuit diagram of the voltage regulator unit in this embodiment.

[0022] Figure 9 for Figure 7 A schematic diagram of the amplified structure of the 6-channel PWM drive signal module and the sampling resistor module.

[0023] Explanation of icon numbers in the instruction manual: 1-Power management module, 2-Main control module, 3-Communication module, 31-CAN communication chip, 32-Protection and filtering unit, 33-Connection interface, 4-Motor drive module, 41-Motor chip unit, 42-6-channel PWM unit, 43-3-channel sampling resistor unit, 5-Voltage regulator module, 6-Joint position detection module, 7-Status indicator module. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0025] Please see Figures 1 to 9The motion control circuit of the VIGOR servo joint motor in this embodiment includes: a power management module 1 that provides voltage; a main control module 2 powered by the power management module 1, which processes input signals and outputs control signals to other peripheral modules; and a communication module 3 connected to the main control module 2 and providing a communication interface, including a motor chip unit 41 connected to the power management module 1, and a 6-channel PWM unit 42 and a 3-channel sampling resistor unit 43 connected to the motor chip unit 41; the motor chip unit 41 receives the 6-channel PWM control signals transmitted by the main control module 2 through the communication module 3 and cooperates with the 6-channel PWM control unit 42 and the main control module 2 to generate control signals. The PWM unit generates 6 PWM drive signals. The 3 sampling resistor unit 43 samples the motor operating current signal in real time and feeds it back to the motor chip unit 41. After amplification, it is fed back to the motor drive module 4 of the main control module 2. The stabilization module 5, which is connected to the motor drive module 4 and the communication module 3, provides regulated voltage. The joint position detection module 6, which is connected to the stabilization module 5, detects joint position information in real time and feeds back the detection results to the main control module 2. The status indication module 7, which is connected to the main control module 2, issues corresponding indication signals according to the instructions of the main control module 2.

[0026] In a preferred embodiment, the power management module 1 provides the power supply voltage to this circuit. The main control module 2 includes a chip U7, model N32G435RBL7. A thermistor is connected to pin Pb0 of the chip U7, triggering an automatic load reduction or shutdown function when overheating. The communication module 3 includes a CAN communication chip 31 connected to the main control module 2, and a connection interface 33 connected to the CAN communication chip 31 via a protection and filtering unit 32. The protection and filtering unit includes a resistor R40 connected to the CAN communication chip via resistors R29 and R28, a capacitor C46 and a TVS diode D3 connected in parallel to the resistor R40 and the connection interface 33, and a capacitor C42 and a TVS diode D2 connected in parallel to the resistor R40 and the connection interface 33. This circuit design is immune to electrostatic discharge and other electromagnetic interference, while effectively reducing signal noise through filtering. Specifically, the CAN communication chip is an NCA1051N-DSPR. Specifically, the status indication module 7 emits normal transparent blue light, red light, or flashing light to indicate the working status based on the information from the control chip U7. Furthermore, the main control module 2 is equipped with a debugging interface, through which the circuit can be debugged during testing. Furthermore, the main control module 2 can communicate with other modules via the communication module 3.

[0027] The motor chip unit 41 in this embodiment includes a driver chip U11, model 6EDL7141. The 6-channel PWM unit includes 6 PWM signal control conduction paths, which are divided into 3 drive conduction groups. The 3 sampling resistor units are correspondingly connected to the 3 drive conduction groups. Each PWM signal control conduction path is designed with a MOSEFT. The two MOSEFTs in each drive conduction group are respectively connected to an upper bridge arm output pin and a lower bridge arm output pin of the motor driver chip of the motor chip unit 41. Each sampling resistor unit includes a parallel resistor and capacitor, and both are connected to the source of the MOSEFT connected to the lower bridge arm output pin. During operation, the driver chip U11 receives pulse width modulation signals or other control signals sent by the main control chip, amplifies the signals through an internal power amplifier circuit to drive the motor. At the same time, the driver chip also has overcurrent protection, short circuit protection and other functions to ensure the safe operation of the motor. More specifically, the driver chip U11 amplifies the PWM signal, controls the MOSFET bridge, and drives the motor to rotate. The sampling resistors R25, R26, and R43 on the sampling resistor unit connected to U11 detect the phase current in real time and send the signal back to the driver chip U11 for processing. This structure forms a high-precision current closed loop, achieving smooth and efficient torque control, thus giving the circuit high precision. Furthermore, the six PWM signal control conduction paths are turned on / off according to the corresponding PWM control signal. When on, they output a PWM drive signal to drive the motor to perform the corresponding operation. Simultaneously, the corresponding sampling resistor unit samples in real time and feeds the sampled signal back to the motor drive module 4. The motor drive module 4 communicates with the main control module 2 in real time, generating corresponding drive signals and feeding them back to the corresponding modules. This results in high control accuracy, and the circuit does not require a commutator, effectively reducing product noise and better meeting user needs.

[0028] The voltage regulator module 5 implemented in this embodiment provides a stable voltage to the motor drive module 4 and the communication module 3. Specifically, the voltage regulator module 5 includes a voltage regulator chip WL2803E33, which provides a stable voltage to the logic circuits of the main control chip and the motor drive chip.

[0029] In a preferred embodiment, the joint position detection module 6 includes a chip U10, which is an AS5047P-ATSM. It detects the rotational position of the magnetic field in a non-contact manner, converts the physical position into a digital signal, and sends the data to the main control module 2 through SPI or other interfaces.

[0030] The working principle of this invention is as follows: After connecting the circuit to the brushless motor, the power management module 1 provides a stable voltage to the entire circuit, and the main control module 2 communicates with other modules through the communication module 3. Specifically, the main control module 2 outputs PWM control commands to the motor drive module 4. The motor drive module 4 sends PWM drive information to the motor via a 6-channel PWM drive signal module, instructing the motor to drive the corresponding joint movement. The resistor sampling unit samples the circuit in real time and feeds back the sampling information to the motor drive unit 41. The motor drive unit 41 feeds back information to the main control module 2. The main control module 2 adjusts the commands in real time according to the received feedback information. When an abnormal signal is detected, the main control module 2 sends a command to instruct the status indicator module 7 to indicate the corresponding status information in real time. Simultaneously, the joint position detection module 6 acquires the joint position information in real time and feeds the information back to the main control module 2. The main control module 2 further generates corresponding indication commands based on the received feedback information, and so on, thereby realizing the control of the motor by this circuit.

[0031] This circuit design overcomes the shortcomings of traditional motors, enabling current switching without the need for a matching commutator. The three-channel sampling resistor design effectively improves accuracy while reducing noise during joint operation. Furthermore, this circuit design contributes to the compactness of the structure during hardware integration.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A motion control circuit for a VIGOR servo joint motor, characterized in that, include: The power management module provides voltage; The main control module is powered by the power management module, processes input signals, and outputs control signals to other peripheral modules; A communication module, which is connected to the main control module and provides a communication interface; The motor drive module includes a motor chip unit connected to the power management module, a 6-channel PWM unit and a 3-channel sampling resistor unit connected to the motor chip unit; the motor chip unit receives 6 channels of PWM control signals transmitted by the main control module through the communication module, and generates 6 channels of PWM drive signals in accordance with the 6 channels of PWM unit; the 3-channel sampling resistor unit samples the motor operating current signal in real time, feeds it back to the motor chip unit, and after amplification, feeds it back to the main control module; A voltage regulator module is connected to the motor drive module and the communication module to provide a regulated voltage. The joint position detection module is connected to the voltage stabilizing module, detects joint position information in real time, and feeds back the detection results to the main control module.

2. The motion control circuit for the VIGOR servo joint motor as described in claim 1, characterized in that, The 6-channel PWM unit includes 6 PWM signal control conduction paths, and the 6 PWM signal control conduction paths are divided into 3 groups of drive conduction groups; the 3-channel sampling resistor unit is correspondingly connected to the 3 groups of drive conduction groups.

3. The motion control circuit for the VIGOR servo joint motor as described in claim 2, characterized in that, Each PWM signal control conduction path is designed with a MOSEFT. The two MOSEFTs of each drive conduction group are respectively connected to the upper bridge arm output pin and the lower bridge arm output pin of the motor drive chip of the motor chip unit.

4. The motion control circuit for the VIGOR servo joint motor as described in claim 3, characterized in that, Each of the sampling resistor units includes a resistor and a capacitor connected in parallel, and each is connected to the source of the MOSEFT connected to the output pin of the lower bridge arm.

5. The motion control circuit for the VIGOR servo joint motor as described in claim 1, characterized in that, The communication module includes: a CAN communication chip connected to the main control module, a protection and filtering unit connected to the CAN communication chip, and a connection interface connected to the protection and filtering unit.

6. The motion control circuit for the VIGOR servo joint motor as described in claim 5, characterized in that, The protection and filtering unit includes: a resistor R40 connected to the CAN communication chip via resistors R29 and R28 at both ends, a capacitor C46 and a TVS diode D3 connected to the resistor R40 and the connection interface, and a capacitor C42 and a TVS diode D2 connected to the resistor R40 and the connection interface.

7. The motion control circuit for the VIGOR servo joint motor as described in claim 1, characterized in that, The main control module is equipped with a debugging interface.

8. The motion control circuit for the VIGOR servo joint motor as described in any one of claims 1-7, characterized in that, The status indication module connected to the main control module issues corresponding indication signals according to the instructions of the main control module.

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