Master controller, servo actuator and servo controlling system

Patent metadata

Field	Value
Publication number	US-9998063-B2
Application number	US-201615342119-A
Country	US
Kind code	B2
Filing date	Nov 3, 2016
Priority date	Jun 30, 2016
Publication date	Jun 12, 2018
Grant date	Jun 12, 2018

Abstract

A servo actuator controlling system includes a master controller and a number of servo actuators coupled to at least one interface of the master controller. The master controller includes a master MCU and a number of interfaces connected to the master MCU via a first bus. Each servo actuator includes a servo MCU, a first interface coupled to the servo MCU via a second bus, a second interface coupled the first interface and the serve MCU, a first servo switch connected between the first interface and the servo MCU, and a second servo switch connected between the second interface and the servo MCU. The first servo switch is set to turn on or off the first interface and the second servo switch is set to turn on or off the second interface.

First claim

What is claimed is:

1. A servo actuator, comprising:
a common node;
a servo microcontroller (MCU) electrically coupled to the common node;
a first servo switch;
a second servo switch;
a first interface electrically coupled to the common node via the first servo switch;
a second interface electrically coupled to the common node via the second servo switch;
wherein the servo MCU is electrically coupled to both the first servo switch and the second servo switch and controls switching of the first servo switch and the second servo switch; and
wherein in response to the first interface receiving an electronic signal from a master controller, the servo MCU switches on at least the first servo switch, such that the first interface acts as an input interface of the servo actuator and the second interface acts as an output interface of the servo actuator.

2. The servo actuator of claim 1 , wherein a first connection line is connected between the first interface and the servo MCU, and a second connection line is connected between the second interface and the servo MCU, and the servo MCU detects which of the first interface and the second interface receives the electronic signal from the master controller through the first connection line and the second connection line.

3. The servo actuator of claim 2 , wherein the servo MCU, the first interface, and the second interface are coupled to the common node via a Multiple Servo Motor Control Bus (MSMCB).

4. The servo actuator of claim 3 , wherein the MSMCB transmits data according to Inter-Integrated Circuit (I2C) protocol.

5. The servo actuator of claim 1 , wherein the servo actuator further comprises a storage to store a servo actuator identifier.

6. The servo actuator of claim 5 , wherein the storage is selected from one of the group of an EEPROM, a buffer, and a flash memory.

7. A servo actuator controlling system, comprising:
at least two servo actuators comprising a first servo actuator and a second servo actuator electrically connected in sequence, the first servo actuator and the second servo actuator each comprising a first interface and a second interface, the first interface of the first servo actuator electrically coupled to an interface of a master controller of a servo controlling system, the master controller comprising a master micro controller unit (MCU), and the interface of the master controller electrically coupled to the master MCU via a master switch;
each of the first servo actuator and the second servo actuator comprising:
a common node;
a servo MCU electrically coupled to the common node;
a first servo switch;
a second servo switch;
a first interface electrically coupled to the common node via the first servo switch;
a second interface electrically coupled to the common node via the second servo switch, wherein the servo MCU is electrically coupled to both the first servo switch and the second servo switch and controls switching of the first servo switch and the second servo switch;
a first connection line electrically connected between the first interface and the servo MCU; and
a second connection line electrically connected between the second interface and the servo MCU;
wherein in response to the first interface receiving an electronic signal from the master controller, the servo MCU switches on at least the first servo switch, such that the first interface acts as an input interface of the servo actuator and the second interface acts as an output interface of the servo actuator;
and wherein the servo MCU detects which of the first interface and the second interface receives the electronic signal from the master controller through the first connection line and the second connection line.

8. The servo actuator of claim 7 , wherein the servo MCU, the first interface, and the second interface are coupled to the common node via a Multiple Servo Motor Control Bus (MSMCB).

9. The servo actuator of claim 8 , wherein the MSMCB transmits data according to Inter-Integrated Circuit (I2C) protocol.

10. The servo actuator of claim 7 , wherein the servo actuator further comprises a storage to store a servo actuator identifier.

11. The servo actuator of claim 10 , wherein the storage is selected from one of the group of an EEPROM, a buffer, and a flash memory.

Assignees

• Ubtech Robotics Corp

Inventors

• Huang Tingshuang
• Xiong Youjun

Classifications

• H02K11/35

  Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis · CPC title

• H02P31/00 Primary

  Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00 · CPC title

• H01H9/54

  Circuit arrangements not adapted to a particular application of the switching device and for which no provision exists elsewhere · CPC title

• G05B19/4144 Primary

  characterised by using multiplexing for control system · CPC title

• G05B2219/34245

  Address several motors, each with its own identification · CPC title