CN114895631A - Servo driver, servo system and robot - Google Patents
Servo driver, servo system and robot Download PDFInfo
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- CN114895631A CN114895631A CN202210502576.2A CN202210502576A CN114895631A CN 114895631 A CN114895631 A CN 114895631A CN 202210502576 A CN202210502576 A CN 202210502576A CN 114895631 A CN114895631 A CN 114895631A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a servo driver, a servo system and a robot, which comprise a master controller, a slave controller and a parameter acquisition module, wherein the master controller is connected with the slave controller, the master controller and the slave controller are both connected with a servo motor, and the parameter acquisition module is connected with the slave controller and the servo motor; the main controller sends a first motor turn-off signal to the servo motor according to the stop signal to stop the servo motor; the parameter acquisition module acquires motor operation parameters of the servo motor and sends the motor operation parameters to the slave controller; whether the servo motor stops operating under the control of the first motor turn-off signal is judged by the slave controller according to the motor operating parameters, if not, the slave controller sends a second motor turn-off signal to stop the servo motor, and meanwhile, an abnormal control instruction is sent to stop the master controller, so that potential safety hazards caused by directly triggering and turning off the band-type brake are avoided, the service life of equipment is reduced, meanwhile, a control function is completed through the double controllers with different architectures, common cause failure is avoided, and the operating safety of the robot is guaranteed.
Description
Technical Field
The present application relates to the field of servo driver technologies, and in particular, to a servo driver, a servo system, and a robot.
Background
With the development of industrial automation technology, servo systems are applied more and more widely in various industries of industrial control. In particular, in the field of control of equipment such as industrial robots and cooperative robots, servo drivers are often used for controlling the operation of servo motors in the modes of position, speed, moment and the like, so that mechanical parts in the equipment such as the industrial robots and the cooperative robots are driven to operate, and high-precision movement and positioning are realized.
However, as the application is popularized, higher requirements are also put on the safety of the operation process of the servo system, especially in the field of cooperative robots. When an emergency stop is required, a traditional servo driver usually triggers and turns off a band-type brake, so that a motor stops running under the action of a brake. However, because the response time of triggering and shutting the brake is long, when the motor runs at a high speed, the brake is shut after being triggered until the motor stops completely, and the motor runs for a long time, so that unpredictable dangers occur, and great potential safety hazards are caused.
Disclosure of Invention
Therefore, it is necessary to provide a servo driver, a servo system and a robot for solving the problem that the conventional servo driver has a large potential safety hazard in the operation process.
A servo driver, comprising: the servo system comprises a master controller, a slave controller and a parameter acquisition module, wherein the master controller and the slave controller are controllers with different architecture types, the master controller is connected with the slave controller, the master controller and the slave controller are both connected with a servo motor of a servo system, and the parameter acquisition module is connected with the slave controller and the servo motor;
the main controller is used for sending a first motor turn-off signal to the servo motor according to the stop signal so as to stop the servo motor;
the parameter acquisition module is used for acquiring motor operation parameters of the servo motor and sending the motor operation parameters to the slave controller;
the slave controller is used for sending a second motor turn-off signal to the servo motor according to the motor operation parameter when the servo motor is judged not to stop operating under the control of the first motor turn-off signal, so that the servo motor stops operating, and meanwhile, the slave controller sends an abnormal control instruction to the master controller, so that the master controller stops operating.
In one embodiment, the master controller and the slave controller are also connected with a brake of the servo system;
the main controller is further used for sending a first brake control signal to the brake when the stop signal is an emergency stop signal so as to brake the brake;
the slave controller is also used for sending a second band-type brake control signal to the brake when the servo motor does not stop running under the control of the first motor turn-off signal, so that the brake is braked.
In one embodiment, the first motor turn-off signal and the second motor turn-off signal are both used for being sent to a three-phase bridge of the servo motor, so that a lower bridge of the three-phase bridge is conducted for a preset duration according to a first preset time interval until the servo motor stops operating.
In one embodiment, the master controller and the slave controller are both connected with a control device of a robot, and the master controller is also connected with the parameter acquisition module;
the master controller is also used for receiving a motion instruction sent by the control device, calculating according to the motion instruction and the motor operation parameters to obtain a first motion control signal, and sending the first motion control signal to the servo motor and the slave controller;
the slave controller is further used for receiving a motion instruction sent by the control device, calculating according to the motion instruction and the motor operation parameters to obtain a second motion control signal, comparing the second motion control signal with the first motion control signal to obtain a comparison result, and sending the abnormal control instruction to the master controller when the comparison result is inconsistent so that the master controller stops working.
In one embodiment, when the servo motor does not stop running under the control of the first motor turn-off signal or when the comparison result is inconsistent, the slave controller is further configured to send alarm information to the control device.
In one embodiment, the parameter acquiring module comprises an electrical parameter acquiring unit and an action parameter acquiring unit, and the electrical parameter acquiring unit and the action parameter acquiring unit are connected with the master controller, the slave controller and the servo motor.
In one embodiment, the electrical parameter obtaining unit includes a current sensor and a current conversion circuit, the current sensor is connected to the servo motor and the current conversion circuit, and the current conversion circuit is connected to the master controller and the slave controller.
In one embodiment, the motion parameter acquiring unit includes a motor encoder, a speed reducer encoder and a code conversion circuit, the motor encoder is connected to the motor of the servo motor and the code conversion circuit, the speed reducer encoder is connected to the speed reducer of the servo motor and the code conversion circuit, and the code conversion circuit is connected to the master controller and the slave controller.
In one embodiment, a servo system is provided, which includes a servo motor, a brake and any one of the above servo drivers, wherein the servo motor is connected with the brake, the servo driver and a mechanical component of a robot, and the servo driver is connected with the brake and a control device of the robot.
In one embodiment, a robot is provided, which includes a control device and the servo system, and further includes two or more mechanical components, and the control device connects the mechanical components through the servo system.
The servo driver, the servo system and the robot are characterized in that the main controller is adopted to send a first motor turn-off signal to stop the operation of the servo motor when receiving a stop signal, the slave controller monitors motor operation parameters in the servo motor stop operation process, judges whether the servo motor stops operation under the control of the main controller or not, if not, the slave controller turns off and takes over the control right of the main controller, sends a second motor turn-off signal to stop the operation of the servo motor, the potential safety hazard and the service life reduction of equipment caused by a hard turn-off mode of directly triggering and turning off the band-type brake are avoided, meanwhile, the control function of the servo system is completed through two controllers with different frameworks, common cause failure is avoided, and the safety in the robot operation process is ensured.
Drawings
FIG. 1 is a system diagram of a servo driver in one embodiment;
FIG. 2 is a flow chart illustrating control of the servo driver according to an embodiment;
FIG. 3 is a system diagram of a servo system in one embodiment;
FIG. 4 is a system diagram of a servo system in another embodiment;
FIG. 5 is a system block diagram of a robot in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first resistance may be referred to as a second resistance, and similarly, a second resistance may be referred to as a first resistance, without departing from the scope of the present application. The first resistance and the second resistance are both resistances, but they are not the same resistance.
It is to be understood that "connection" in the following embodiments is to be understood as "electrical connection", "communication connection", and the like if the connected circuits, modules, units, and the like have communication of electrical signals or data with each other.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
As described in the background art, the servo system is applied more and more widely in various industries of industrial control, but as the application is popularized, higher requirements are also put on the safety of the operation process, especially in the field of cooperative robots. The servo system comprises a servo motor, a brake and a servo driver. The servo motor is an engine which controls mechanical parts of the robot to operate in a servo system; the brake can hold the servo motor tightly under the condition of no power supply, so that the servo motor stops moving; the servo driver can control the servo motor to work through the modes of position, speed, moment and the like, so that the mechanical parts of the robot are driven to operate, and high-precision movement and positioning are realized.
When the existing servo driver needs emergency stop, a trigger is usually adopted to turn off a band-type brake, so that a motor stops running under the action of a brake. However, because the response time of triggering and shutting the brake is long, when the motor runs at a high speed, the brake is shut after being triggered until the motor stops completely, and the motor runs for a long time, so that unpredictable dangers occur, and great potential safety hazards are caused. Meanwhile, the hard turn-off mode can greatly reduce the mechanical service life of the band-type brake. When the servo motor is provided with the speed reducer, the speed reducer is suddenly increased by several times due to the axial force, and the mechanical life is greatly reduced.
Based on this, the embodiment of the application provides a servo driver, servo and robot, adopt main control unit when receiving stop signal, send first motor turn-off signal and make servo stop operation, from the motor operation parameter of monitoring servo motor during the stop operation of controller, judge whether servo stops operating under main control unit's control, if not, from the controller turn-off and take over main control unit's control right, send second motor turn-off signal and make servo stop operation, avoid directly triggering the potential safety hazard and the equipment life reduction that shut off the hard mode of shutting off the band-type brake and cause, accomplish servo's control function through two different structure controllers simultaneously, avoid common cause failure, guarantee the security in the robot operation process.
In one embodiment, as shown in fig. 1, a servo driver 230 is provided, which includes a master controller 231, a slave controller 232, and a parameter obtaining module 233, where the master controller 231 and the slave controller 232 are controllers with different architecture types, the master controller 231 is connected to the slave controller 232, both the master controller 231 and the slave controller 232 are connected to a servo motor 210 of a servo system 20, and the parameter obtaining module 233 is connected to the slave controller 232 and the servo motor 210; the main controller 231 is configured to send a first motor shutdown signal to the servo motor 210 according to the stop signal, so as to stop the operation of the servo motor 210; the parameter obtaining module 233 is configured to obtain a motor operation parameter of the servo motor 210, and send the motor operation parameter to the slave controller 232; the slave controller 232 is configured to send a second motor shutdown signal to the servo motor 210 according to the motor operation parameter when it is determined that the servo motor 210 does not stop operating under the control of the first motor shutdown signal, so as to stop the servo motor 210, and send an abnormal control instruction to the master controller 231 from the slave controller 232, so as to stop the master controller 231.
The stop signal is a signal for stopping the operation of the servo driver 230 controlling the servo motor 210 or the entire servo system 10. The source of the stop signal is not unique, and the stop signal may be obtained by the servo driver 230 by determining according to the motor operating parameter or the external sensor state parameter obtained by the parameter obtaining module 233, or may be obtained by determining according to data by an external device and then input to the servo driver 230. For example, the input may be made to the servo driver 230 from the robot controller 10, or the input may be made to the servo driver 230 from an external scram device incorporated in the robot system. The type of STOP signal differs depending on the actual operation of the robot, and may be, for example, an emergency STOP (E-STOP), a safety STOP 1(Safe STOP1, SS1), a safety STOP 2(SS2), a safety STOP 3(SS2), a Speed Limit (SLS), or the like. The process of obtaining the stop signal according to the parameter can refer to the conventional means of those skilled in the art, and will not be described in detail.
Specifically, the stop signal may act on the master controller 231 and the slave controller 232 of the servo driver 230. The master controller 231 is a running CPU (Central Processing Unit) that controls the servo motor 210 according to the stop signal, and the slave controller 232 is a monitoring CPU that controls the servo motor 210 according to the stop signal, and can monitor whether the control process of the master controller 231 is effective, and if not, can cut off and take over the control of the master controller 231 on the servo motor 210 at any time. It can be understood that each of the master Controller 231 and the slave Controller 232 may be a Controller with an architecture type such as an FPGA (Field Programmable Gate Array), a DSP (Digital Signal processor), an ARM (Advanced RISC Machine, RISC microprocessor), or an MCU (Micro Controller Unit). However, the master controller 231 and the slave controller 232 are two controllers with different architecture types. For example, the master controller 231 may be an FPGA, the slave controller 232 may be a DSP, the master controller 231 may be an ARM, and the slave controller 232 may be an FPGA, which is not limited to this.
Further, after the main controller 231 receives the stop signal, it sends a first motor shutdown signal to the servo motor 210 according to the stop signal, so that the servo motor 210 stops operating. Meanwhile, in the process that the servo motor 210 stops operating according to the first motor turn-off signal, the parameter obtaining module 233 obtains the motor operating parameter of the servo motor 210 in real time, and sends the motor operating parameter to the slave controller 232. The slave controller 232 starts by receiving the stop signal, i.e. monitors whether the servo motor 210 is stopped under the control of the first motor off signal according to the received motor operation parameters. If not, the slave controller 232 sends a second motor off signal to the servo motor 210 to stop the operation of the servo motor 210, and meanwhile, the slave controller 232 sends an abnormal control instruction to the master controller 231 to stop the operation of the master controller 231.
The method for monitoring whether the servo motor 210 stops operating under the control of the first motor turn-off signal according to the received motor operating parameter from the controller 232 is not unique, and may be determined by monitoring the change rate of the motor operating parameter in unit time, or by monitoring whether the motor operating parameter changes to a set threshold value within a preset time, and the specific method may be determined according to the actual type selection of the servo motor and the type of the motor operating parameter. For example, in the present embodiment, when the motor operation parameter is the rotation speed of the motor, the slave controller 232 may determine whether the servo motor 210 is stopped under the control of the first motor off signal by monitoring whether the rotation speed of the motor is in a downward trend within 1 ms. Further, the abnormal control command issued from the controller 232 may be used to cut off the power supply signal or the enable signal of the main controller 231 to stop the operation of the main controller 231.
The first motor shutdown signal and the second motor shutdown signal are both used to be sent to the servo motor 210 to stop running. It can be understood that the servo motor 210 normally drives the mechanical components of the robot to operate, and the main controller 231 of the servo driver sends a motion control signal to the servo motor 210. The first motor-off signal or the second motor-off signal may correspond to the master controller 231 or the slave controller 232 stopping sending the motion control signal to the servo motor 210 to stop the operation thereof, further stopping driving the mechanical parts of the robot.
Correspondingly, the first motor turn-off signal and the second motor turn-off signal are consistent with the motion control signal and are both used for being sent to the three-phase bridge of the servo motor 210 to control the conduction state of the MOS transistors in the three-phase bridge of the servo motor 210, and further control the running state of the servo motor 210. Specifically, after receiving the stop signal, the main controller 231 sends a first motor turn-off signal to turn off all the MOS transistors of the upper bridge of the three-phase bridge of the servo motor 210 and turn on all the MOS transistors of the lower bridge of the three-phase bridge of the servo motor 210. At this time, the rotation of the servo motor 210 is converted from the original consumed electric energy into a generator by inertia, and a back electromotive force opposite to the motor operation direction is generated inside the servo motor. When the rotating speed is higher, the higher the back electromotive force is, the higher the resistance of the back electromotive force to the rotation is, and the purpose of quick speed reduction is realized.
Further, in order to avoid damaging the MOS transistors in the three-phase bridge due to excessive reverse current, in one embodiment, the first motor turn-off signal is used to turn on the lower bridge of the three-phase bridge of the servo motor 210 for a preset duration at a first preset time interval until the servo motor 210 stops operating. The specific values of the first preset time interval and the preset time duration are not unique and can be set according to actual requirements. For example, in this embodiment, the first preset time interval and the preset time duration are both set to 1ms, and after receiving the stop signal, the main controller 231 sends a first motor turn-off signal, turns off all MOS transistors of the upper bridge of the three-phase bridge of the servo motor 210 within the first 1ms, and simultaneously turns on all MOS transistors of the lower bridge of the three-phase bridge of the servo motor 210; then, within the second 1ms duration, all the MOS transistors of the upper bridge and the lower bridge of the three-phase bridge of the servo motor 210 are turned off; and all the MOS transistors of the upper bridge of the three-phase bridge of the servo motor 210 are switched off within the third duration of 1ms, and all the MOS transistors of the lower bridge of the three-phase bridge of the servo motor 210 are switched on at the same time, so that the operation is cycled until the servo motor 210 stops. In this embodiment, the lower bridge of the three-phase bridge of the servo motor 210 is switched on at intervals, so that the motor is quickly stopped, and damage to the motor device is avoided.
Similarly, when the slave controller 232 determines that the servo motor 210 does not stop operating under the control of the first motor turn-off signal according to the motor operating parameter, the effect of the second motor turn-off signal is consistent with the above-described limitation of the first motor turn-off signal, and details are not repeated. In addition, the communication mode between the master controller 231 and the slave controller 232 is not unique, and may be implemented by SPI, RS232 serial port, parallel communication, or the like.
Above-mentioned servo driver, adopt main control unit when receiving stop signal, send first motor turn-off signal and make servo motor stall, from the motor operation parameter of monitoring servo motor stall in-process of controller, judge whether servo motor stall under main control unit's control, if no, from the control authority of controller turn-off and takeover main control unit, send second motor turn-off signal and make servo motor stall, the potential safety hazard and the equipment life reduction that the hard mode of turn-off that avoids direct trigger to turn-off the band-type brake caused, accomplish servo system's control function through two controllers of different frameworks simultaneously, avoid common cause failure, guarantee the security of robot operation in-process.
It will be appreciated that different stop signal types, different stop actions need to be made by the servo system. For example, when the Stop signal is a safety Stop 1(Safe Stop1, SS1) signal generated by triggering a door switch or a safety curtain, etc., the servo driver 230 may be configured to control the servo motor 210 to completely Stop and then to turn off the internal contracting brake. When the stop signal is an emergency stop signal generated by triggering the emergency stop switch, i.e. the Safety Torque Off (STO), the servo driver 230 needs to generate a band-type brake control signal to disconnect the band-type brake while controlling the servo motor 210 to stop according to the stop signal.
Thus, in one embodiment, as shown in FIG. 1, the master controller 231 and the slave controller 232 are also connected to the actuator 220 of the servo system 20; the main controller 231 is further configured to send a first contracting brake control signal to the brake 220 when the stop signal is the emergency stop signal, so that the brake 220 is contracting brake; the slave controller 232 is further configured to send a second band-type brake control signal to the brake 220 when the servo motor 210 does not stop running under the control of the first motor turn-off signal, so that the brake 220 brakes.
Specifically, the master controller 231 and the slave controller 232 are connected to a band-type brake MOS transistor in the brake 220, and output a band-type brake control signal to the band-type brake MOS transistor in the brake 220 to control the attraction and the turn-off of the band-type brake MOS transistor, and further control the brake 220 to tightly hold the servo motor 210, so that the servo motor 210 is in a non-enabled state.
Further, when the stop signal is the emergency stop signal, the main controller 231 sends the first motor turn-off signal and simultaneously sends the first brake control signal to the brake 220. Due to the inductance of the brake 220, the process of tightly holding the servo motor 210 according to the first band-type brake control signal is longer than the time for stopping the servo motor 210 according to the first motor turn-off signal. It can be understood that, at the moment that the brake 220 grips the servo motor 210 according to the first band-type brake control signal, the rotation speed of the servo motor 210 is reduced due to the first motor turn-off signal, the kinetic energy is small, and the brake 220 can realize band-type brake quickly.
Meanwhile, when the slave controller 232 determines that the servo motor 210 does not stop operating under the control of the first motor turn-off signal according to the motor operating parameter, the slave controller 232 also sends a second band-type brake control signal to the brake 220, so that the brake 220 performs band-type braking. It can be understood that the process of controlling the brake 220 by the second brake control signal is consistent with the process of controlling the brake by the first brake control signal, and is not described in detail.
In addition, in the case that the stop signal is not an emergency stop signal, the main controller 231 may send a first band-type brake control signal to the brake 220 to band-type the brake 220 when it is determined that the servo motor 210 has stopped operating according to the motor operating parameter acquired by the parameter acquisition module 233.
In this embodiment, through the mode of controlling servo motor to reduce the rotational speed earlier, let the braking band-type brake actuation turn-off again, can let the band-type brake friction of stopper reduce to improve the life-span of stopper, can reduce the axial force of speed reducer because sudden braking leads to simultaneously effectively, improve the mechanical life of speed reducer.
In one embodiment, as shown in fig. 1, the master controller 231 and the slave controller 232 are both connected to the control device 10 of the robot, and the master controller 231 is further connected to the parameter obtaining module 233; the master controller 231 is further configured to receive a motion instruction sent by the control device 10, calculate a first motion control signal according to the motion instruction and the motor operation parameter, and send the first motion control signal to the servo motor 210 and the slave controller 232; the slave controller 232 is further configured to receive a motion command sent by the control device 10, calculate a second motion control signal according to the motion command and the motor operation parameter, compare the second motion control signal with the first motion control signal to obtain a comparison result, and send an abnormal control command to the master controller 231 when the comparison result is inconsistent, so that the master controller 231 stops working.
It is understood that the servo driver 230 may send a motion control signal to the servo motor 210 according to a motion command sent by the control device 10 of the robot, so that the servo motor 210 normally drives the mechanical components of the robot to move along a desired track according to the motion command sent by the control device 10. The motion command may be a command indicating that the mechanical part of the drive robot reaches a predetermined position or a command indicating that the mechanical part of the drive robot moves a predetermined distance in a predetermined direction.
Specifically, the main controller 231 may receive a motion command sent by the control device 10, perform motion control calculation according to the motion command and the motor operation parameter, and obtain a first motion control signal to send to the servo motor 210, so that the servo motor 210 normally drives the mechanical component of the robot to operate along the desired track of the motion command sent by the control device 10.
Further, the slave controller 232 may also receive a motion instruction sent by the control device 10, and perform motion control calculation according to the motion instruction and the motor operation parameter to obtain a second motion control signal. The slave controller 232 may compare the second motion control signal with the first motion control signal at a predetermined time to obtain a comparison result. If the comparison result is inconsistent, an abnormal control command is issued to the main controller 231, so that the main controller 231 stops working.
In this embodiment, in the normal motion driving process of the robot by the servo driver, the two controllers of the different architectures have a mutual checking function, so as to achieve the purpose of safety control and reduce the potential safety hazard in the operation process of the robot.
In one embodiment, slave controller 232 is also configured to send an alarm message to control device 10 when servo motor 210 does not achieve a shutdown under the control of the first motor-off signal, or when the comparison result is inconsistent. The method and the system have the advantages that the alarm information is beneficial to timely troubleshooting of fault reasons, the same abnormal state is avoided from happening again, and the safety performance of the robot and the servo system is further improved.
In one embodiment, as shown in fig. 1, the parameter obtaining module 233 includes an electrical parameter obtaining unit and an operation parameter obtaining unit, both of which are connected to the master controller 231, the slave controller 232 and the servo motor 210.
Specifically, the electrical parameter obtaining unit is configured to connect to the servo motor 210, obtain an electrical parameter during an operation process of the servo motor, and determine an operation state of the servo motor 210 according to the electrical parameter. The specific structure of the electrical parameter acquisition unit may be determined according to the type of the electrical parameter. For example, in one embodiment, when the electrical parameter is a current signal of the servo motor 210, the electrical parameter obtaining unit includes a current sensor and a current converting circuit, the current sensor connects the servo motor 210 and the current converting circuit, and the current converting circuit connects the master controller 231 and the slave controller 232. Wherein, the current sensor is connected with the bus of the servo motor 210 and obtains the current signal in the operation process. In other embodiments, the electrical parameter obtaining unit may only include a current converting circuit, and the current sensor may be implemented by using a current sensor connected to the servo motor 210 existing in the existing servo system 20. The type of the current sensor can be a resistance type sampling sensor, and can also be a Hall type sampling sensor. The current conversion circuit can convert the analog current signal obtained by the current sensor into a digital current signal, and output the digital current signal to the master controller 231 and the slave controller 232.
Further, the motion parameter acquiring unit is configured to connect to the servo motor 210, acquire a running position, a rotating speed, a running direction, and the like of the servo motor in a running process, and determine a running state of the servo motor 210 according to the motion parameters. The operating position, the rotational speed, the operating direction and other operating parameters of the servo motor 210 during operation are generally collected by an encoder, for example, in this embodiment, the encoder is mounted on the motor to measure the magnetic pole position, the rotational angle, the rotational speed and other information. In addition, in order to increase the output torque of the motor, the servo motor 210 may be provided with a speed reducer, or an encoder may be attached to the speed reducer side to measure information such as the magnetic pole position, the rotational angle, and the rotational speed of the speed reducer.
Therefore, in one embodiment, the operation parameter acquiring unit comprises a motor encoder, a speed reducer encoder and a code conversion circuit, wherein the motor encoder is connected with a motor and a code conversion circuit of the servo motor, the speed reducer encoder is connected with a speed reducer and a code conversion circuit of the servo motor, and the code conversion circuit is connected with the master controller and the slave controller.
The motor encoder and the speed reducer encoder can be incremental encoders, absolute encoders or rotary encoders. The code conversion circuit is a conversion circuit with double encoder interfaces, and different conversion functions can be set according to the specific types of the motor encoder and the speed reducer encoder. For example, if the encoder is a digital encoder, the encoding conversion circuit converts the digital differential signal into a single-ended signal, and then performs level conversion and outputs the single-ended signal to the master controller and the slave controller; if the encoder is an analog encoder, the encoding conversion circuit converts the analog differential signal into a digital signal, and then performs level conversion and outputs the digital signal to the master controller and the slave controller; if the encoder is an incremental encoder, the encoding conversion circuit converts the digital quantity differential signal into a digital quantity single-ended signal, and then performs level conversion and outputs the digital quantity single-ended signal to the master controller and the slave controller; if the encoder is a rotary encoder, the encoding conversion circuit converts the analog quantity differential signal into a digital quantity single-ended signal, and then performs level conversion and outputs the digital quantity single-ended signal to the master controller and the slave controller. It will be appreciated that the purpose of the level translation is to translate to a level consistent with the interface of the master and slave controllers. Similarly, in other embodiments, the motion parameter acquiring unit may only include a code conversion circuit, and both the motor encoder and the reducer encoder may be implemented by using an existing encoder in the existing servo system 20.
The following explains a control principle of the servo driver provided in the embodiment of the present application, by taking the flowchart of fig. 2 as an example.
When the safety torque off is realized (when the stop signal is an emergency stop signal), as shown in fig. 3, the safety master station (control device) of the robot transmits an STO stop command to the two CPUs of the servo driver via EtherCAT. And the running CPU turns off the PWM motor control signal after receiving the command, and the monitoring CPU monitors whether the PWM of the running CPU is turned off or not after receiving the command. When the running CPU receives the STO signal, the running CPU is connected to an input control end of the band-type Brake in parallel, so that the purpose of controlling the on-off of the band-type Brake is achieved, and the function of SBC (safe Brake control) is realized.
When the SS1(Safe Stop 1) stopping function is realized, as shown in fig. 3, during control of an EtherCAT master station, the CPU is operated to send a motor shutdown signal to request the servo motor to Stop, the encoder detects the Stop of the servo motor, and after the servo motor stops, the CPU is operated to send a command of shutting off the brake. As shown in fig. 4, when STO is input externally, the CPU is operated to send a motor turn-off signal to request the servo motor to stop, and the encoder detects the stop of the servo motor, and the STO signal sends a signal to the SBC circuit through hardware delay.
Further, the monitoring CPU monitors the whole stopping process, and monitors the motor current, the motor encoder and the speed reducer side encoding. When the CPU is monitored not to operate according to the appointed command within the appointed time, the take-over right is started, the PWM of the motor is forcibly turned off, the brake is turned off, and meanwhile, the control abnormal information is sent to the control device, so that the redundant control is achieved, and the control failure is avoided.
In one embodiment, as shown in fig. 5, a servo system 20 is provided, which includes a servo motor 210, a brake 220 and a servo driver 230, the servo motor 210 is connected to the brake 220, the servo driver 230 and the mechanical part 30 of the robot, and the servo driver 230 is connected to the brake 220 and the control device 10 of the robot.
Specifically, the servo motor 210 is an engine in the servo system 20 that controls the operation of the mechanical part 30 of the robot. The brake 220 can hold the servo motor 210 tightly without applying power to stop the movement. The electromagnetic brake or the striker type brake can be adopted, and the control mode can be a level type or a pulse modulation type. The servo driver 230 can control the operation of the servo motor 210 by means of position, speed, moment and the like according to the motion command issued by the control device 10 of the robot, so that the servo motor 210 normally drives the mechanical parts of the robot to run along the desired track of the motion command issued by the control device 10.
When the main controller receives the stop signal, the servo driver 230 sends a first motor turn-off signal to stop the operation of the servo motor 210, the slave controller monitors motor operation parameters in the process of stopping the operation of the servo motor, judges whether the servo motor stops operating under the control of the main controller, and if not, the slave controller turns off and takes over the control right of the main controller, and sends a second motor turn-off signal to stop the operation of the servo motor.
In this embodiment, the structure of the improved servo driver can avoid potential safety hazards and shortened service life caused by a hard turn-off mode of directly triggering and turning off the band-type brake, and meanwhile, the control function of the servo system is completed through two controllers with different architectures, so that common cause failure is avoided, and the safety of the robot in the operation process is ensured.
Based on the same inventive concept, the implementation scheme of the servo system provided by the embodiment of the present application to solve the problem is similar to the implementation scheme described in the servo driver, so specific limitations in the embodiment of the servo system may refer to the limitations of the servo driver in the foregoing, and are not described herein again.
In one embodiment, as shown in fig. 5, a robot is provided, which includes a control device 10 and the servo system 20, and further includes two or more mechanical components 30, and the control device 10 is connected to each mechanical component 30 through the servo system 20.
Specifically, the control device 10 is an algorithm software and hardware platform and a display operation platform for controlling the robot to operate in the three-dimensional space, and has an interface or an IO port for communicating with an external device. The control device 10 may issue a motion command to the servo system 20, so that the servo system 20 drives the mechanical part 30 of the robot to follow a desired trajectory according to the motion command issued by the control device 10.
The control device 10 may also send a stop signal to the servo system 20 after the emergency stop switch is triggered, so that the servo system 20 stops driving the mechanical component 30 of the robot to move, thereby avoiding safety accidents and ensuring safety of the robot during operation.
Based on the same inventive concept, the implementation scheme of the servo system provided by the embodiment of the present application to solve the problem is similar to the implementation scheme described in the servo driver, so specific limitations in the embodiment of the servo system may refer to the limitations of the servo driver in the foregoing, and are not described herein again.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A servo driver, comprising: the servo system comprises a master controller, a slave controller and a parameter acquisition module, wherein the master controller and the slave controller are controllers with different architecture types, the master controller is connected with the slave controller, the master controller and the slave controller are both connected with a servo motor of a servo system, and the parameter acquisition module is connected with the slave controller and the servo motor;
the main controller is used for sending a first motor turn-off signal to the servo motor according to the stop signal so as to stop the servo motor;
the parameter acquisition module is used for acquiring motor operation parameters of the servo motor and sending the motor operation parameters to the slave controller;
the slave controller is used for sending a second motor turn-off signal to the servo motor according to the motor operation parameter when the servo motor is judged not to stop operating under the control of the first motor turn-off signal, so that the servo motor stops operating, and meanwhile, the slave controller sends an abnormal control instruction to the master controller, so that the master controller stops operating.
2. A servo driver according to claim 1, wherein the master controller and the slave controller are further connected to a brake of the servo system;
the main controller is further used for sending a first brake control signal to the brake when the stop signal is an emergency stop signal so as to brake the brake;
the slave controller is also used for sending a second band-type brake control signal to the brake when the servo motor does not stop running under the control of the first motor turn-off signal, so that the brake is braked.
3. The servo driver of claim 1, wherein the first motor turn-off signal and the second motor turn-off signal are both used for being sent to a three-phase bridge of the servo motor, so that a lower bridge of the three-phase bridge is turned on for a preset duration at a first preset time interval until the servo motor stops running.
4. A servo driver according to claim 1, wherein the master controller and the slave controller are each connected to a control means of a robot, the master controller being further connected to the parameter acquisition module;
the master controller is further used for receiving a motion instruction sent by the control device, calculating according to the motion instruction and the motor operation parameters to obtain a first motion control signal, and sending the first motion control signal to the servo motor and the slave controller;
the slave controller is further used for receiving a motion instruction sent by the control device, calculating according to the motion instruction and the motor operation parameters to obtain a second motion control signal, comparing the second motion control signal with the first motion control signal to obtain a comparison result, and sending the abnormal control instruction to the master controller when the comparison result is inconsistent so that the master controller stops working.
5. The servo driver of claim 4, wherein the slave controller is further configured to send an alarm message to the control device when the servo motor does not stop operating under the control of the first motor-off signal or when the comparison result is inconsistent.
6. The servo driver of claim 4, wherein the parameter obtaining module comprises an electrical parameter obtaining unit and an action parameter obtaining unit, and the electrical parameter obtaining unit and the action parameter obtaining unit are connected to the master controller, the slave controller and the servo motor.
7. The servo driver of claim 6, wherein the electrical parameter obtaining unit comprises a current sensor and a current converting circuit, the current sensor connects the servo motor and the current converting circuit, and the current converting circuit connects the master controller and the slave controller.
8. The servo driver of claim 6, wherein the operation parameter acquiring unit comprises a motor encoder, a reducer encoder and a code conversion circuit, the motor encoder is connected with a motor of the servo motor and the code conversion circuit, the reducer encoder is connected with a reducer of the servo motor and the code conversion circuit, and the code conversion circuit is connected with the master controller and the slave controller.
9. A servo system comprising a servo motor, a brake and a servo driver according to any of claims 1 to 8, said servo motor connecting said brake, said servo driver and a mechanical part of a robot, said servo driver connecting said brake and a control device of said robot.
10. A robot comprising a control device and the servo system of claim 9, further comprising two or more mechanical parts, wherein the control device is connected to each of the mechanical parts through the servo system.
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| CN114895631B (en) | 2023-06-27 |
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