CN218647331U

CN218647331U - Integrated servo electric device

Info

Publication number: CN218647331U
Application number: CN202222813162.XU
Authority: CN
Inventors: 唐耀森; 银谡敏; 李德良
Original assignee: Guangdong Nuolihua Electric Co ltd
Current assignee: Guangdong Nuolihua Electric Co ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2023-03-17
Anticipated expiration: 2032-10-25

Abstract

The utility model relates to an integrated servo electric device. The device comprises a control box with a servo control element and a servo signal transmission port connected with the servo control element, and an all-in-one machine for driving the electric equipment body, wherein the all-in-one machine comprises: a power drive circuit; and a control line port connected to the power driving circuit, the control line port being connected to the servo signal transmission port of the control box through a communication bus cable. The technical scheme of the utility model through separation servo electrical last electrical equipment control module and function port module, and make two modules pass through communication bus and low voltage power cable and be connected, have that the wiring is convenient, the wiring is with low costs, disturb advantages such as little, anti-interference strong, reliability height.

Description

Integrated servo electric device

Technical Field

The utility model relates to an integrated servo electric device belongs to automatic technical field.

Background

The existing electric control scheme of integrated servo in the market simply moves the traditional servo driver to the servo motor directly (as shown in fig. 1), and the electric control is not different from the traditional servo system, and the installation position of the servo driver is only moved from the electric cabinet to the motor to be bound together in form. Because of integrated servo is that driver and motor are integrative, the motor is just where servo, the mounted position of motor all keeps away from electric cabinet when common practical application, consequently all electric cabinets and the digital control line that integrated servo is connected, analog control line, the communication line etc. must all walk very long distance from electric cabinet and draw integrated servo, can introduce many interference problems and make the stability of system worsen, and the control line has many root lines according to the practical application demand in addition, long distance need consume more wire rods. Moreover, most applications have narrow positions for installing the integrated servo, and people cannot conveniently enter the integrated servo, so that great inconvenience is brought to debugging.

SUMMERY OF THE UTILITY MODEL

The utility model provides an integrated servo electric device and method aims at solving one of the technical problem that exists among the prior art at least.

The technical scheme of the utility model a relate to an integrated servo electric device, include: the control box is provided with a servo control element and a servo signal transmission port connected with the servo control element; an all-in-one machine provided on an electric device body and used for driving the electric device body, the all-in-one machine including: the electric drive circuit is used for converting the servo control instruction into an electric equipment drive current signal; a control line port connected to the power drive circuit, the control line port being connected to a servo signal transmission port of the control pod by at least one distance of a communication bus cable; a power input port connected to the power drive circuit, the power input port being configured to be connected to a power supply line in the vicinity of the electrically powered device body.

Further, the communication bus cable is integrated by a communication line and a weak voltage power line, wherein the communication protocol of the communication line comprises a CAN protocol or an RS485 protocol, and the weak voltage ranges from 0V to 48V; the power supply lines include strong voltage power supply lines, wherein the strong voltage ranges from 110V to 380V.

Further, the control box includes: the communication ports are connected with the upper computer, and input or output signals of the communication ports comprise digital quantity, switching value and analog quantity; and the signal conversion processor is used for data conversion between the plurality of communication ports and the servo signal transmission port.

Further, the all-in-one machine includes: a plurality of communication interfaces connected with local electric elements, wherein signals input or output by the plurality of communication interfaces comprise digital quantity, switching quantity and analog quantity; and the signal conversion module is used for converting data between the plurality of communication interfaces and the control line port.

Further, the local electrical element includes an electrically powered device brake resistor and a sensor near the electrically powered device body.

Further, the sensor near the electric equipment body includes a pressure sensor or an environmental sensor.

Further, the upper computer comprises a motion controller, a PLC or a motion control card.

Further, the electrically powered device includes a motor; the control box comprises a control signal conversion circuit connected with the signal conversion processor, and the electric drive circuit comprises an H-bridge circuit used for driving the motor.

Further, the power input port is connected to an industrial power supply through a filter, a contactor and a circuit breaker.

Furthermore, the servo signal transmission port and the control line port are connected through a twisted cable, wherein a metal shielding layer of the twisted cable is respectively connected to a control box and a weak voltage grounding end of the all-in-one machine, and the weak voltage range is 0V to 48V.

The technical scheme of the utility model beneficial effect lie in, both can remain the control box mountable inside electric cabinet, again can compatible all-in-one install narrow space, still can shorten the wiring length between host computer and integrated servo greatly. In addition, the control box and the long-distance communication control all-in-one machine can reduce a large number of wire harnesses, and avoid too large electrical interference caused by long-distance wiring of a digital control line, an analog control line, a communication line and the like of an upper computer inside the electric cabinet, so that the stability and the reliability of the system are greatly improved. Meanwhile, the debugging work can be finished at the control box, and a large amount of wiring work can be finished near the electric cabinet for users without entering a narrow field environment near the motor. Only one cable for connecting the control box and the all-in-one machine is arranged between the electric cabinet and the all-in-one machine, so that too many special heavy-current wiring line grooves and control wiring harnesses are not required to be laid between the electric cabinet and the all-in-one machine.

Drawings

Fig. 1 is a structural view of an integrated servo motor in the related art.

Fig. 2 is an example diagram of the composition of an integrated servo electrical device according to the present invention.

Fig. 3 is a diagram of port configurations and connection examples of an integrated servo electrical device in an embodiment in accordance with the invention.

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, 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.

Referring now to fig. 2, in some embodiments, an electrical device according to the present invention includes a control box 10 and an all-in-one machine 20. The number of the control box 10 and the all-in-one machine 20 can be multiple, and the control box 10 is generally connected with the all-in-one machine 20 in a one-to-one correspondence manner. The control box 10 is generally installed in an electric cabinet to obtain electric protection and facilitate maintenance and commissioning of electric personnel, while the kiosk 20 is generally installed on electric equipment (such as actuators, fluid motors, etc., hereinafter, the motors are directly exemplified as representative) far from an industrial site (especially an electric working area of a narrow space) of the electric cabinet, and a cable connection through at least a distance is required between the control box 10 and the kiosk 20. In a specific embodiment, each motor can be integrated with a single integrated machine 20 on the side or the back of the motor; while the outgoing lines of the multiple integrated machines 20 can be collected into a bus cable to simultaneously implement shielding protection against signal interference in the package of the bus cable.

Referring to fig. 3, in some embodiments, all of the weak current control electrical ports and circuits required for the servo are independently integrated inside the control box 10, while only the electrical components and strong current ports directly related to the motor drive are reserved inside the all-in-one machine 20. In general, the weak voltage ranges from 0V to 48V, and the strong voltage ranges from 110V to 380V. The scheme of the utility model and the integrated servo motor scheme that figure 1 shows fundamentally differ in that: the weak current part element for servo drive is arranged in a control box in the electric cabinet, so that the connection line with an upper computer in the electric cabinet is as short as possible; the circuit of the strong electric part for servo drive is positioned in the integrated machine on the motor so as to be directly connected with an electric power supply circuit near the motor; the scheme of integration servo motor scheme needs to connect weak current control line and forceful electric power supply line between motor and the electric cabinet that is equipped with servo controller simultaneously, and the utility model discloses a forceful electric power supply line between motor and the electric cabinet (or servo controller) is saved completely to the scheme, especially to long distance transmission and high power (generally be more than 7.5 kw) motor, can practice thrift a large amount of wire rod costs, and reduce long distance transmission's electric power interference. Furthermore, the utility model discloses a scheme lies in with the fundamental difference of the traditional scheme of among the prior art "driver + servo motor": traditional scheme needs to be connected forceful electric power supply line and motor encoder signal line between the driver in servo motor and the electric cabinet, and the utility model discloses a forceful electric power supply line between motor and the driver is saved completely to the scheme, nevertheless increases the light current control line, consequently equally the utility model discloses a large amount of wire rod costs can be practiced thrift to the scheme.

With continued reference to fig. 3, the signals transmitted by all weak current functional ports of the integrated servo in the control box 10 include input and output signals such as digital quantity, switching quantity, analog quantity, etc. In some specific embodiments, the communication ports of the control box 10 may include: the system comprises an analog signal port T1, a servo signal transmission port T2, a weak current power supply port T3, a digital communication port T4, a switch communication port T5 and an extended function communication port T6. The control wiring harness of the upper computer 30 (e.g., motion controller, PLC, or motion control card) for implementing advanced motion control algorithms and control logic is all connected to ports T1, T3, T4, T5, T6 of the control box 10. The port T2 of the control box 10 is connected to the control line port of the all-in-one machine 20 by an anti-interference twisted cable (e.g., a 4-core twisted cable), which includes a communication bus. Protocols for this communication bus include, but are not limited to, CAN or RS485. Because the servo signals are generally transmitted by weak current digital signals, the length of the cable can reach 100 meters, and the cost of the weak current wires is not high. The port T3 of the control box 10 is supplied with power from an external power source (e.g. 24V) to the servo-integrated control box, while the ground interface PE is connected to the metallic shield of the twisted cable.

In other embodiments, the control box 10 may further include: servo control elements (e.g., encoder signal interpretation circuit elements, IO switch control circuit elements, PWM circuit elements, etc.) for processing motor control and feedback signals; a signal conversion processor, which is generally implemented as a digital integrated circuit IC, and converts data between the plurality of communication ports T1, T3, T4, T5, and T6 and the servo signal transmission port T2 by being collocated with an analog-to-digital signal converter, an opto-isolator, an amplification circuit, a switching element, and the like; the control signal conversion circuit is used for specially converting digital control instructions (such as rotation angle, rotation speed, rotation direction, start-stop time and the like) of the upper computer 30 into servo control signals of the motor. Specifically, in the operating state, the port T4 of the servo-integrated control box 10 receives a servo control instruction digital signal from the upper computer 30, and the port T5 and/or the port T6 receives an IO instruction from the upper computer 30, and after the IO instruction is processed by a (signal conversion) processor inside the control box 10, the instruction information is sent to the remote all-in-one machine 20 from the port T2.

With continued reference to FIG. 3, in some embodiments, the ports of the kiosk 20 are generally divided into a plurality of power receiving ports and a communication port, wherein a strong voltage is provided from a power source near the kiosk 20 through the power receiving ports, and the servo command information from the control box 10 is received through the communication port, and then the operation of a motor connected to the kiosk 20 is controlled, and the power for driving the motor is provided from the kiosk 20. In addition, IO instructions and IO status digital signals can be transmitted between the communication port and the control box, so that the all-in-one machine 20 executes IO output control (for example, turning on a motor brake switch, an electromagnetic actuating element switch, a cylinder action switch, and the like), or acquires the switch status of an IO port (for example, a proximity sensor switch, a limit switch, and the like), and can also acquire other digital signal data (for example, position signal data of an encoder) to be fed back to the control box 10 or even to the upper computer 30.

In some embodiments, the ports of kiosk 20 include: an IO port YT1 connected in parallel to a brake resistor of the motor; a control line port YT2, which communicates with the servo signal transmission port T2 of the control box 10 through an anti-interference twisted cable (for example, a 4-core twisted cable), wherein a shielding layer of the cable is connected with a ground interface PE of a weak current part of the all-in-one machine; the sensor comprises a sensing signal input port YT3, a feedback signal acquisition unit, a feedback signal processing unit and a feedback signal processing unit, wherein the sensing signal input port YT3 is used for acquiring feedback signals of various customizable field sensors (such as a pressure sensor, a (temperature and humidity) environment sensor and the like); and a power input port YT4 for connecting to an industrial power source (e.g. 380V three-phase power source) through a filter, a contactor and a breaker.

In other embodiments, kiosk 20 may include: an electric drive circuit (such as an H-bridge circuit for driving the motor) for converting the servo control command into a motor drive current signal; a signal conversion module (for example, a digital synthesis circuit) for converting data between the plurality of communication interfaces and the control line port YT 2. For the state information of the ports YT1 and YT3 of the integrated machine 20, firstly, the signal conversion module collects data, and then the data is sent to the T2 port of the control box through the port YT2 of the control line, so that the control box 10 receives relevant information; for the operation (for example, on-off control) of simple control logic can be implemented inside the control box 10, the information received by the servo signal transmission port T2 can be extracted by the signal conversion processor, and then the control is completed by using the servo control element inside the control box 10, thereby improving the automatic control efficiency and response; and complex logic control information is required to be fed back to the upper computer 30 from the port T1 of the control box 10.

In addition, can understand, than traditional technical scheme that needs are connected to the controller through solitary cable in order to realize IO and sensor function in the scheme of the utility model, all-in-one 20 can expand more sensor interface and IO interface at the scene at motor place, and the data of these interfaces directly convert the digital data and with servo data integration into, can only transmit data to the host computer through an anti-interference mutual stranded cable to can save (especially long distance) data transmission wire rod again. In addition, integrated data transmission can transmit more IO data and sensor data together in one transmission period of servo data, so that additional transmission threads among the integrated machine, the controller and the upper computer are omitted, and the control response speed is improved.

In some embodiments, additional sensor signals (e.g., signals from an additional custom-made pressure sensor, signals from an environmental sensor) may be obtained from the sensor signal port YT3 in the kiosk 20 and incorporated into the transmission signal at the control line port via a signal conversion module in the kiosk 20. The signals of the additional sensors are separated from the signals from the all-in-one machine 20 received from the servo signal transmission port T2 of the control box 10 and transmitted to the upper computer 30. For example, referring to the following table, in a data frame transmitted under the CAN bus protocol, sensor data, IO data, and the like may be recorded from a certain bit or bits of a data segment, and the required data may be acquired alone as long as a bit operation is performed on the received data or data of a preset bit range (for example, bits 8 to 16) is extracted. Preferably, more sensor data, IO data, may be integrated into a particular data segment in a compressed or encrypted manner.

Table 1: data frame structure transmitted between control box and all-in-one machine under CAN bus protocol

In the above table, the ID bit of the data frame may indicate the ID value of the kiosk from which the data is transmitted or the ID of the control box to which the data is transmitted; the servo data section can represent PID control parameters of the current motor, feedback data of a motor encoder and the like; in the additional sensor data and IO data segments, the enabled value or the high-low level value of each IO port may be directly represented by binary values of "0" and "1".

Various motor control algorithms and process control logic may be implemented in the upper computer 30. These algorithms and logics are converted into control command data (also refer to the data structure in table 1) and sent to a plurality of control boxes 10, so that one or more integrated machines 20 can perform the coordinated control of one or more motors. The IO action instruction of the upper computer 30 can be received through the communication port, the signal conversion processor of the control box 10 is triggered, the IO action instruction is converted into a digital signal of the all-in-one machine 20, and the digital signal is transmitted to the remote all-in-one machine 20 through the servo signal transmission port T2 of the control box 10. In addition, through a signal conversion module in the all-in-one machine 20, an IO control instruction (for example, 0001) is extracted from a control signal received by a control line port of the all-in-one machine 20, and an IO port YT1 of the all-in-one machine 20 is triggered to act (for example, the YT1 port shown in fig. 3 is made to change an IO voltage (corresponding to IO "1" of the 4 th bit), so that the motor is braked).

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, as long as it achieves the technical effects of the present invention by the same means, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included within the scope of the present invention. Various modifications and variations of the technical solution and/or the embodiments thereof are possible within the scope of the invention.

Claims

1. An integrated servo electrical device, comprising:

a control box (10), wherein the control box (10) is provided with a servo control element and a servo signal transmission port (T2) connected with the servo control element;

an all-in-one machine (20) provided on an electric device body for driving the electric device body, the all-in-one machine (20) including:

the electric drive circuit is used for converting the servo control instruction into an electric equipment drive current signal;

a control line port (YT 2) connected to the power driving circuit, the control line port being connected to a servo signal transmission port (T2) of the control box (10) by at least one distance of a communication bus cable;

and a power input port (YT 4) connected to the power drive circuit, the power input port being connected to a power supply line in the vicinity of the electric device body.

2. The servo-integrated electrical device of claim 1, wherein:

the communication bus cable is integrated by a communication line and a weak voltage power line, wherein the communication protocol of the communication line comprises a CAN protocol or an RS485 protocol, and the weak voltage ranges from 0V to 48V;

the power supply lines include strong voltage power supply lines, wherein the strong voltage ranges from 110V to 380V.

3. Servo integrated electric device according to claim 1, characterized in that said control box (10) comprises:

a plurality of communication ports (T1, T3, T4, T5, T6) connected with the upper computer (30), wherein signals input or output by the plurality of communication ports comprise digital quantity, switching quantity and analog quantity;

a signal conversion processor for data conversion between said plurality of communication ports and said servo signal transmission port (T2).

4. The servo-integrated electrical device according to claim 1, wherein the all-in-one machine (20) comprises:

a plurality of communication interfaces connected with local electric elements, wherein the signals input or output by the plurality of communication interfaces comprise digital quantity, switching quantity and analog quantity;

a signal conversion module for data conversion between the plurality of communication interfaces and the control line port (YT 2).

5. Servo integrated electric device according to claim 4,

the local electrical components include an electrically powered device brake resistor and a sensor near the electrically powered device body.

6. Servo integrated electric device according to claim 5,

the sensor near the body of the electrically powered device includes a pressure sensor or an environmental sensor.

7. Servo integrated electric device according to claim 3,

the upper computer (30) comprises a motion controller, a PLC or a motion control card.

8. Servo integrated electric device according to claim 3,

the electrically powered device comprises an electric motor;

the control box (10) comprises a control signal conversion circuit connected with the signal conversion processor,

the electric drive circuit includes an H-bridge circuit for driving a motor.

9. Servo integrated electric device according to claim 1,

the power input port (YT 4) is connected to an industrial power supply through a filter, a contactor and a circuit breaker.

10. Servo integrated electric device according to claim 1,

the servo signal transmission port (T2) is connected with the control line port (YT 2) through a twisted cable, wherein a metal shielding layer of the twisted cable is connected to a weak voltage grounding end of the control box (10) and a weak voltage grounding end of the all-in-one machine (20) respectively, and the weak voltage range is 0V-48V.