CN212324016U

CN212324016U - Elastic driver and steering engine system

Info

Publication number: CN212324016U
Application number: CN202021250230.0U
Authority: CN
Inventors: 王忠良; 柳冬; 朱熙龙; 周升
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-01-08
Anticipated expiration: 2030-06-30

Abstract

The utility model belongs to the technical field of the steering wheel, an elastic drive ware and steering wheel system are provided, elastic drive ware includes the motor, motor brake, torque sensor, control circuit and motor brake drive circuit, through integrated torque sensor and motor brake, detect the rotatory moment of torsion of motor by torque sensor, and generate torque sensor output signal, the first motor brake control signal of control circuit output, second motor brake control signal, control motor brake drive circuit generates corresponding brake control signal, carry out accurate control to the motor, so that the action of robot has flexible effect, it is lower to have the joint power accuse precision to have solved present big moment of torsion servo steering wheel, the unable problem that keeps of outage.

Description

Elastic driver and steering engine system

Technical Field

This application belongs to steering wheel technical field, in particular to elastic drive ware and steering wheel system.

Background

Steering engines have a wide range of applications and are a core element of many machines. Therefore, the performance of the steering engine determines the performance of the robot such as the intelligent robot. For example, in an intelligent robot, a steering engine is a key element for forming a joint assembly of the intelligent robot as a power element in the intelligent robot, and is also a key element for realizing intellectualization of the intelligent robot.

However, the existing large-torque servo steering engine has the problems that the joint force control precision is low and the power failure cannot be maintained, so that the application scene of the servo steering engine is greatly limited.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide an elastic drive ware and steering wheel system, aim at solving present big moment of torsion servo steering wheel and have the problem that joint power accuse precision is lower, the outage can't keep, very big restriction the problem of the applied scene of servo steering wheel.

In order to solve the above problems, the present application provides an elastic driver including:

a motor;

the motor brake is connected with the motor and used for braking the motor;

the torque sensor is connected with the motor and used for detecting the rotating torque of the motor and generating a torque sensor output signal; and

the control circuit is connected with the torque sensor and used for receiving the output signal of the torque sensor and outputting a first motor braking control signal, a second motor braking control signal and a motor control signal, wherein the motor control signal is used for adjusting the rotation of the motor;

and the motor brake driving circuit is respectively connected with the motor brake and the control circuit and is used for receiving the first motor brake control signal and the second motor brake control signal and generating a brake control signal according to the first motor brake control signal and the second motor brake control signal so as to control the working state of the motor brake.

Optionally, the elastic driver further includes a level shift circuit, which is respectively connected to the control circuit and the torque sensor, and is configured to perform level shift processing on the torque sensing output signal, generate a torque detection signal, and send the torque detection signal to the control circuit.

Optionally, the motor braking drive circuit includes:

the first power supply end is used for connecting a first power supply voltage;

the second power supply end is used for connecting a second power supply voltage;

the first switch unit is respectively connected with the first power supply end and the motor brake and used for receiving the first motor brake control signal and controlling the connection state between the first power supply end and the motor brake according to the first motor brake control signal;

and the second switch unit is respectively connected with the second power supply end and the motor brake and used for receiving the second motor braking control signal and controlling the connection state between the second power supply end and the motor brake according to the second motor braking control signal.

Optionally, the motor braking drive circuit further includes:

and the discharge unit is connected with the motor brake and is used for performing discharge treatment on reverse current generated in the motor brake.

Optionally, the first switch unit includes: the circuit comprises a first fuse, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, a first diode, a first switch tube and a second switch tube;

a first end of the first fuse is connected to the first power supply end, a second end of the first fuse, a first end of the first capacitor, a first end of the first resistor, and a current input end of the first switch tube are connected in common, a second end of the first capacitor, a second end of the first resistor, a control end of the first switch tube, and a first end of the second resistor are connected in common, a current output end of the first switch tube is connected to an anode of the first diode, a cathode of the first diode is connected to the motor brake, a second end of the second resistor is connected to a current input end of the second switch tube, a control end of the second switch tube, a first end of the third resistor, a first end of the fourth resistor, and a first end of the second capacitor are connected in common, and a current output end of the second switch tube is connected to a current input end of the second switch tube, The second end of the second capacitor and the second end of the fourth resistor are connected to the ground in common, and the second end of the third resistor is connected with the control circuit.

Optionally, the second switch unit includes: the second fuse, the third capacitor, the fourth capacitor, the fifth resistor, the sixth resistor, the seventh resistor, the eighth resistor, the second diode, the third switch tube and the fourth switch tube;

the first end of the second fuse is connected with the second power supply end, the second end of the second fuse, the first end of the third capacitor, the first end of the fifth resistor and the current input end of the third switching tube are connected in common, the second end of the third capacitor, the second end of the fifth resistor, the first end of the sixth resistor and the control end of the third switching tube are connected in common, the current output end of the third switching tube is connected with the anode of the second diode, the second end of the sixth resistor is connected with the current input end of the fourth switching tube, the control end of the fourth switching tube, the first end of the seventh resistor, the first end of the eighth resistor and the first end of the fourth capacitor are connected in common, the current output end of the fourth switching tube, the second end of the eighth resistor and the second end of the fourth capacitor are connected in common to ground, and the second end of the seventh resistor is connected with the control circuit.

Optionally, the bleeding unit includes: a third diode, a ninth resistor and a fifth capacitor;

the cathode of the third diode is connected with the motor brake, the anode of the third diode, the first end of the ninth resistor and the first end of the fifth capacitor are connected in common, and the second end of the ninth resistor and the second end of the fifth capacitor are connected in common to the ground.

Optionally, the level shift circuit includes: a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a fifth capacitor, a sixth capacitor, a third diode, and a fourth diode;

a first end of the ninth resistor and a first end of the eleventh resistor are commonly connected to the torque sensor, a second end of the ninth resistor, a first end of the fifth capacitor, a cathode of the third diode and a first end of the twelfth resistor are commonly connected to the ground, a second end of the tenth resistor, a second end of the fifth capacitor and an anode of the third diode are commonly connected to the ground, and a second end of the twelfth resistor is connected to the control circuit; the first end of the thirteenth resistor and the first end of the fourteenth resistor are commonly connected with the torque sensor, the second end of the thirteenth resistor, the second end of the fourteenth resistor, the first end of the fifteenth resistor, the first end of the sixth capacitor, the cathode of the fourth diode and the first end of the sixteenth resistor are commonly connected, the second end of the fifteenth resistor, the second end of the sixth capacitor and the anode of the fourth diode are commonly connected with the ground, and the second end of the sixteenth resistor is connected with the control circuit.

Optionally, the elastic driver further includes a bus communication interface line connected to the control circuit for providing a debugging test port.

The embodiment of the application also provides a steering engine system, which comprises the elastic driver.

The application provides an elastic drive ware and steering wheel system, elastic drive ware includes the motor, motor brake, torque sensor, control circuit and motor brake drive circuit, through integrated torque sensor and motor brake, detect the rotatory moment of torsion of motor by torque sensor, and generate torque sensor output signal, control circuit exports first motor brake control signal, second motor brake control signal, control motor brake drive circuit generates corresponding brake control signal, carry out accurate control to the motor, so that the action of robot has flexible effect, it is lower to have the joint power accuse precision in present big moment of torsion servo steering wheel to have solved, the unable problem that keeps of outage.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an elastic driver according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of an elastic driver according to another embodiment of the present application.

Fig. 3 is a schematic structural diagram of a motor brake driving circuit according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a motor brake driving circuit according to another embodiment of the present application.

Fig. 5 is a schematic structural diagram of a level shift circuit according to an embodiment of the present application

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.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.

Fig. 1 is a schematic structural diagram of an elastic driver according to an embodiment of the present application, and referring to fig. 1, the elastic driver includes: the braking system comprises a motor 10, a motor brake 20, a torque sensor 30, a motor brake driving circuit 40 and a control circuit 50, wherein the motor brake 20 is connected with the motor 10 and used for braking the motor 10; the torque sensor 30 is connected with the motor 10 and is used for detecting the rotating torque of the motor 10 and generating a torque sensor output signal; the control circuit 50 is connected to the torque sensor 30, and is configured to receive an output signal of the torque sensor and output a first motor braking control signal, a second motor braking control signal, and a motor control signal, where the motor control signal is used to adjust rotation of the motor 10; the motor brake driving circuit 40 is respectively connected to the motor brake 20 and the control circuit 50, and is configured to receive the first motor brake control signal and the second motor brake control signal, and generate a brake control signal according to the first motor brake control signal and the second motor brake control signal, so as to control the operating state of the motor brake 20.

In this embodiment, the torque sensor 30 and the motor brake 20 are integrated in the elastic driver, the torque sensor 30 detects the rotation torque of the motor 10, generates a torque sensor output signal and sends the torque sensor output signal to the control circuit 50, and the control circuit 50 can generate a first motor brake control signal and a second motor brake control signal according to the torque sensor output signal, so as to control the motor brake driving circuit 40 to generate a corresponding brake control signal and send the brake control signal to the motor brake 20, thereby accurately controlling the motor 10, so that the robot acts with a flexible effect, and the problems that the existing large-torque servo steering engine has low joint force control accuracy and can not be maintained in power failure are solved.

In one embodiment, the elastic driver in this embodiment is based on an ST processor platform technology, and the control circuit is based on an ST H750 platform, and adopts a 480MHz kernel master frequency, which greatly improves the execution frequency of the algorithm program.

In one embodiment, the elastic driver in this embodiment adopts a double-encoder full closed-loop position control, a 17-bit absolute value encoder is arranged on the output shaft of the motor, the position of the motor is fed back through BISS communication, and the zero return precision is less than or equal to 0.05 degrees.

Further, in one embodiment, the motor 10 is further provided with a 10-pair motor sampling linear hall sensor, and a subdivider chip is adopted to decode sine and cosine signals of the output signal of the linear hall sensor, for example, the subdivider chip is of the type IC-TW8, and is a 16-bit sine/cosine interpolation subdivider with automatic calibration, and the subdivider chip is used to decode the linear hall sine and cosine signals to feed back the position of the motor, wherein the zeroing precision of the subdivider chip is less than or equal to 0.1 degree.

In one embodiment, the control circuit 50 is further configured to sample the current of the motor 10 and perform vector control on the motor 10 according to the sampling result.

In one embodiment, the control of the motor by the control circuit 50 includes the steps of:

step 1, collecting two-phase current;

step 2, obtaining two-axis orthogonal current magnitude after clarke transformation;

and 3, performing rotation transformation on the two orthogonal current quantities on the shafts to obtain orthogonal current quantities Id and Iq after the rotation transformation, wherein Iq is related to torque, and Id is related to magnetic flux.

In practical control, Id is often set to 0, and the two obtained quantities are not time-varying, so that the two quantities can be controlled independently, like direct-current quantity control, without knowing what specific voltage is to be applied to the three phases of the motor.

Step 4, sending the Iq and Id obtained in the step 3 to a PI regulator to obtain corresponding output voltages Vq and Vd;

and 5, obtaining the rotating angle of the motor through a sensor.

And 6, carrying out inverse park conversion to obtain the biaxial current magnitude.

And 7, carrying out inverse clarke conversion on the Va and the Vb obtained in the step 6 to obtain actually required three-phase voltage, and inputting the three-phase voltage to an inverter bridge to drive the motor to rotate.

In one embodiment, referring to fig. 2, the elastic driver further includes a level shift circuit 60, and the level shift circuit 60 is connected to the control circuit 50 and the torque sensor 30, respectively, for performing a level shift process on the torque sensing output signal and generating a torque detection signal to be sent to the control circuit 50.

In the present embodiment, the output signal of the torque sensor is subjected to level conversion processing, and the level-converted signal is transmitted to the control circuit 50 as a voltage signal corresponding to the level-converted signal, and the control circuit 50 decodes the level signal corresponding to the output signal of the torque sensor, thereby obtaining the output torque, the collision, and the interaction force of the motor. For example, since the torque sensor is a 5V power supply system, the STM32 in the control circuit 50 is a 3.3V power supply system, and the torque signal output by the torque sensor is divided by a precision resistor in the level shift circuit 60 to obtain a torque detection signal, which is sent to the control circuit 50.

In one embodiment, referring to fig. 3, the motor brake driving circuit 20 includes: a first power supply terminal 211, a second power supply terminal 221, a first switching unit 212, and a second switching unit 222; the first power supply terminal 211 is configured to receive a first power supply voltage; the second power supply terminal 221 is used for accessing a second power supply voltage; the first switch unit 212 is respectively connected to the first power supply terminal 211 and the motor brake 20, and is configured to receive a first motor brake control signal and control a connection state between the first power supply terminal 211 and the motor brake 20 according to the first motor brake control signal; the second switch unit 222 is respectively connected to the second power supply terminal 221 and the motor brake 20, and is configured to receive a second motor brake control signal and control a connection state between the second power supply terminal 222 and the motor brake 20 according to the second motor brake control signal.

In this embodiment, the first power supply terminal 211 and the second power supply terminal 221 use different power supply voltages, and there is a preset time interval between the first motor braking control signal and the second motor braking control signal, for example, the first power supply terminal 211 is connected to the motor brake 20 first, so as to control the motor brake 20 to start, at this time, a higher voltage is required for starting a brake pad in the motor brake 20, after the brake pad is started, the second power supply terminal 221 is connected to the motor brake 20 at this time, and the lower voltage in the second power supply terminal 221 is used to keep the motor brake 20 in a standby state, so as to reduce energy consumption when braking is kept.

For example, in one embodiment, a voltage of more than 10V is required when the brake pad is turned on, and only a voltage of less than 6V is required after the brake pad is actually turned on (standby power consumption), so that the first power supply terminal 211 is connected to a voltage of 12V, and the second power supply terminal 221 is connected to a voltage of 5V.

In one embodiment, referring to fig. 4, the motor brake driving circuit further includes a bleeding unit 230, and the bleeding unit 230 is connected to the motor brake 20 for bleeding the reverse current generated in the motor brake 230.

In one embodiment, referring to fig. 4, the first switching unit 212 includes: the circuit comprises a first fuse F1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a second capacitor C2, a first diode D1, a first switch tube Q1 and a second switch tube Q2; a first terminal of the first fuse F1 is connected to the first power supply terminal 211, a second terminal of the first fuse F1, a first terminal of the first capacitor C1, a first terminal of the first resistor R1, and a current input terminal of the first switch tube Q1 are connected in common, a second terminal of the first capacitor C1, a second terminal of the first resistor R1, a control terminal of the first switch tube Q1, and a first terminal of the second resistor R2 are connected in common, a current output terminal of the first switch tube Q1 is connected to an anode of the first diode D1, a cathode of the first diode D1 is connected to the motor brake 20, a second terminal of the second resistor R2 is connected to a current input terminal of the second switch tube Q2, a control terminal of the second switch tube Q2, a first terminal of the third resistor R3, a first terminal of the fourth resistor R4, and a first terminal of the second capacitor C2 are connected in common, the current output terminal of the second switch Q2, the second terminal of the second capacitor C2, and the second terminal of the fourth resistor R4 are connected to ground, and the second terminal of the third resistor R3 is connected to the control circuit 20.

In this embodiment, the third resistor R3 is configured to receive the first motor braking control signal output by the control circuit 50, the third resistor R3 and the fourth resistor R4 divide the voltage of the first motor braking control signal, when the first motor braking control signal is at a high level, the second switching tube Q2 is turned on, at this time, the voltage of the control end of the first switching tube Q1 is pulled low, the first switching tube Q1 is turned on, and the first power supply end 211 is connected to the motor brake 20 to supply power to the motor brake 20.

In one embodiment, the first switch Q1 may be a P-type MOS transistor, and the second switch Q2 may be a PNP-type transistor.

In one embodiment, referring to fig. 4, the second switching unit 222 includes: a second fuse F2, a third capacitor C3, a fourth capacitor C4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a second diode D2, a third switch tube Q3 and a fourth switch tube Q4; a first end of the second fuse F2 is connected to the second power supply terminal 221, a second end of the second fuse F2, a first end of the third capacitor C3, a first end of the fifth resistor R5 and a current input terminal of the third switch tube Q3 are connected in common, a second end of the third capacitor C3, a second end of the fifth resistor R5, a first end of the sixth resistor R6 and a control terminal of the third switch tube Q3 are connected in common, a current output terminal of the third switch tube Q3 is connected to an anode of the second diode D2, a second end of the sixth resistor R6 is connected to a current input terminal of the fourth switch tube Q4, a control terminal of the fourth switch tube Q4, a first end of the seventh resistor R7, a first end of the eighth resistor R8 and a first end of the fourth capacitor C4 are connected in common, and a current output terminal of the fourth switch tube Q4 is connected in common, A second terminal of the eighth resistor R8 and a second terminal of the fourth capacitor C4 are commonly connected to ground, and a second terminal of the seventh resistor R7 is connected to the control circuit 20.

In this embodiment, the seventh resistor R7 is configured to receive the second motor braking control signal output by the control circuit 50, the seventh resistor R7 and the eighth resistor R8 divide the voltage of the second motor braking control signal, when the second motor braking control signal is at a high level, the fourth switching tube Q4 is turned on, at this time, the voltage of the control terminal of the third switching tube Q3 is pulled low, the third switching tube Q3 is turned on, and the second power supply terminal 221 is connected to the motor brake 20 to supply power to the motor brake 20.

In one embodiment, the third switching transistor Q3 may be a P-type MOS transistor, and the fourth switching transistor Q4 may be a PNP-type transistor.

In one embodiment, referring to fig. 4, the bleeding unit 230 includes: a third diode D3, a ninth resistor R9, and a fifth capacitor C5; a cathode of the third diode D3 is connected to the motor brake 20, an anode of the third diode D3, a first end of the ninth resistor R9, and a first end of the fifth capacitor C5 are connected to ground, and a second end of the ninth resistor R9 and a second end of the fifth capacitor C5 are connected to ground.

In the present embodiment, the third diode D3, the ninth resistor R9 and the fifth capacitor C5 are disposed at the input end of the motor brake, and when the switching unit is turned off, the relay coil in the motor brake 20 generates a reverse electromotive force, which is applied to the transistor in the switching unit, so that the transistor may be broken down. For this purpose, a third diode D3 of opposite polarity to the power supply is installed in the circuit. Since the direction of the back electromotive force of the relay coil is positive at the bottom and negative at the top, which is just opposite to the polarity of the power supply voltage, the discharge diode discharges the back electromotive force of the inductor.

In one embodiment, referring to fig. 5, the level shift circuit 60 includes: a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a fifth capacitor C5, a sixth capacitor C6, a third diode D3 and a fourth diode D4; a first end of the ninth resistor R9 and a first end of the eleventh resistor R11 are commonly connected to the torque sensor 30, a second end of the ninth resistor R9, a first end of the fifth capacitor C5, a cathode of the third diode D3 and a first end of the twelfth resistor R12 are commonly connected, a second end of the tenth resistor R10, a second end of the fifth capacitor C5 and an anode of the third diode D3 are commonly connected to ground, and a second end of the twelfth resistor R12 is connected to the control circuit 50; a first end of the thirteenth resistor R13 and a first end of the fourteenth resistor R14 are commonly connected to the torque sensor 30, a second end of the thirteenth resistor R13, a second end of the fourteenth resistor R14, a first end of the fifteenth resistor R15, a first end of the sixth capacitor C16, a cathode of the fourth diode D4 and a first end of the sixteenth resistor R16 are commonly connected, a second end of the fifteenth resistor R15, a second end of the sixth capacitor C6 and an anode of the fourth diode D4 are commonly connected to ground, and a second end of the sixteenth resistor R16 is connected to the control circuit 50.

In one embodiment, the flexible driver further includes a bus communication interface line, and the bus communication interface line is connected to the control circuit and is used for providing a debugging test port.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. An elastic driver, characterized in that the elastic driver comprises:

a motor;

the motor brake is connected with the motor and used for braking the motor;

2. The elastic driver as claimed in claim 1, wherein said elastic driver further comprises a level shift circuit connected to said control circuit and said torque sensor, respectively, for performing a level shift process on said torque sensor output signal and generating a torque detection signal to be sent to said control circuit;

the control circuit generates the first motor braking control signal, the second motor braking control signal and the motor control signal according to the torque detection signal.

3. The elastomeric actuator of claim 1, wherein the motor brake driver circuit comprises:

the first power supply end is used for connecting a first power supply voltage;

4. The elastomeric actuator of claim 1, wherein the motor brake driver circuit further comprises:

5. The elastic driver of claim 3, wherein the first switching unit comprises: the circuit comprises a first fuse, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, a first diode, a first switch tube and a second switch tube;

6. The elastic driver of claim 3, wherein the second switching unit comprises: the second fuse, the third capacitor, the fourth capacitor, the fifth resistor, the sixth resistor, the seventh resistor, the eighth resistor, the second diode, the third switch tube and the fourth switch tube;

7. The elastomeric driver of claim 4, wherein the bleed unit comprises: a third diode, a ninth resistor and a fifth capacitor;

8. The elastic driver of claim 2, wherein said level shift circuit comprises: a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a fifth capacitor, a sixth capacitor, a third diode, and a fourth diode;

9. The flexible driver of claim 1, further comprising a bus communication interface line coupled to the control circuit for providing a debug test port.

10. A steering engine system comprising a resilient actuator as claimed in any one of claims 1 to 9.