CN105141124B - A kind of power module of industrial robot - Google Patents
A kind of power module of industrial robot Download PDFInfo
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- CN105141124B CN105141124B CN201510599072.7A CN201510599072A CN105141124B CN 105141124 B CN105141124 B CN 105141124B CN 201510599072 A CN201510599072 A CN 201510599072A CN 105141124 B CN105141124 B CN 105141124B
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Abstract
The invention discloses a kind of power module of industrial robot, including to 24V supply voltages filter the filtering regulator block of voltage stabilizing, non-isolated 5V and convert block, non-isolated 12V and convert block, non-isolated 15V and convert block, non-isolated 15V and convert block, isolation 5V conversion blocks and isolation 3.3V conversion blocks.The power module of the present invention can provide the magnitudes of voltage such as 3.3V, 5V, 15V, 15V for industrial robot controller, and each magnitude of voltage has corresponding LED light to indicate its working condition.
Description
Technical field
The invention belongs to Industrial Robot Technology field, specifically a kind of power module of industrial robot.
Background technology
The control technology of industrial robot is grown up on the basis of the control technology of conventional mechanical system.Machine
People's control system is a kind of typical multiaxis real time kinematics control system, is the brain of robot, be determine robot function and
The principal element of performance.Industrial robot control system can control movement position of the industrial robot in working space, appearance
Time of state and track, operation order and action etc..It has simple programming, menu operation, friendly man-machine interaction circle
The features such as face, on-line operation are pointed out and are easy to use.The power supply of control system is a complicated design, it is desirable to have a variety of electricity
Pressure, a variety of ground wires.The power transfer module of traditional industrial robot control system is together with controller body design, so
With regard to many many design contents, also make it that controller is more complicated in itself.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of reliable and stable power supply mould to the controller of industrial robot
Block, neatly can provide multiple voltage, it is ensured that the normal work of robot controller to industrial robot.
A kind of power module for industrial robot that the present invention is provided, 24V DC-voltage supplies, including mistake are provided by outside
Regulator block and six photovoltaic conversion blocks are filtered, six described photovoltaic conversion blocks are respectively non-isolated 5V conversions block, 12V turns of non-isolated
Change block, non-isolated 15V conversions block, non-isolated -15V conversions block, isolation 5V conversion blocks and isolation 3.3V conversion blocks, each photovoltaic conversion
Block has indicator lamp to indicate conversion conditions；The power module passes through European interface and external connection, including three kinds of ground wires.
Described outside 24V DC-voltage supplies are connected to the power module by interface P1, and described interface P1 has 4
It is individual, two of which interface connection PGND, the VIN_24V_NP of two other interface connection filtering regulator block；
Filtering a kind of scheme of regulator block is, including：VIN_24V_NP pins connection Transient Suppression Diode D4 1 pin,
Transient Suppression Diode D5 1 pin, diode D3 2 pins, diode D3 1 pin connection electric capacity C6, the 1 of electric capacity C7 are drawn
Pin and offer PVDD24 voltages, Transient Suppression Diode D4 2,3 pins meet PGND, and 2, the 3 of Transient Suppression Diode D5 draws
Pin meets PGND, electric capacity C6 another termination PGND, electric capacity C7 2 pins connection PGND；
Non-isolated 5V converts a kind of scheme of block, including：PVDD24 is connected with electrode capacitance C5 1 pin, there is electrode capacitance C5
2 pins ground connection PGND, PVDD24 pass through resistance for 20K resistance R3 and diode D1 connecting triodes Q1 base stage 1, three
Pole pipe Q1 base stage 1 is grounded PGND by resistance for 10K resistance R4, and PVDD24 passes through resistance R2 connection three of the resistance for 20K
Pole pipe Q1 colelctor electrode 3, the triode Q1 ground connection PGND of emitter stage 2, during by adjustable voltage stabilizer U1, PVDD24 passes through 0.1 μ F
Electric capacity C1 be connected with ground PGND, PVDD24 by connect 10 μ F have electrode capacitance C2 1 pin with PGND be connected, it is adjustable surely
Depressor U1 models are LM2576HV-ADJ, adjustable voltage stabilizer the U1 connection of VIN pins PVDD24, U1 ON/OFF pins connection three
Pole pipe Q1 colelctor electrode 3, adjustable voltage stabilizer U1 OUT pins are connected to outside PVDD5V0 by 100 μ H inductance L1, adjustable
Voltage-stablizer U1 GND pin connection ground PGND, adjustable voltage stabilizer U1 GND pin is connected to adjustable voltage stabilizer by diode D2
On U1 OUT pins, PVDD5V0 is by 0.1 μ F electric capacity C4 connections ground PGND, the electric capacity C3 connections that PVDD5V0 passes through 330 μ F
Ground PGND, adjustable voltage stabilizer U1 FB pins are connected to PVDD5V0, adjustable voltage stabilizer U1 FB pins by 12K resistance R1
PGND is connected to by 3.9K resistance R5；
Non-isolated 12V converts a kind of scheme of block, including：PVDD24 connections 330uF 1 pin for having electrode capacitance C13, has
Electrode capacitance C13 2 pins ground connection PGND, PVDD24 passes through resistance R8 and diode D6 connecting triode Q2 of the resistance for 20K
Base stage 1, triode Q2 base stage 1 is grounded PGND by resistance for 10K resistance R15, and PVDD24 passes through the R7 that resistance is 20K
Connecting triode Q2 colelctor electrode 3, the triode Q2 ground connection PGND of emitter stage 2, during by adjustable voltage stabilizer U2, PVDD24 passes through
0.1uF electric capacity C9 is connected with ground PGND, and PVDD24 is connected by connecting 10uF 1 pin for having electrode capacitance C10 with ground PGND,
Adjustable voltage stabilizer U2 models are LM2576HV-ADJ, adjustable voltage stabilizer U2 VIN pins connection PVDD24, U2 ON/OFF pins
Connecting triode Q2 colelctor electrode 3, adjustable voltage stabilizer U2 OUT pins are connected to outside PVDD12 by 100 μ H inductance L2,
Adjustable voltage stabilizer U2 GND pin connection ground PGND, adjustable voltage stabilizer U2 GND pin are connected to adjustable steady by diode D7
On depressor U2 OUT pins, electric capacity C12 connections ground PGND, the electric capacity C11 that PVDD12 passes through 330uF that PVDD12 passes through 0.1 μ F
Connection ground PGND, adjustable voltage stabilizer U2 FB pins are connected to PVDD12, adjustable voltage stabilizer U2 FB by 34.1K resistance R6
Pin is connected to PGND by 3.9K resistance R16；
Non-isolated 15V converts a kind of scheme of block, including：The μ F of PVDD24 connections 330 1 pin for having electrode capacitance C18, has
Electrode capacitance C18 2 pins ground connection PGND, PVDD24 is 20K R20 and diode D15 connecting triodes Q3 by resistance
Base stage 1, triode Q3 base stage 1 is grounded PGND by resistance for 10K resistance R21, and PVDD24 passes through resistance of the resistance for 20K
R19 connecting triodes Q3 colelctor electrode 3, the triode Q3 ground connection PGND of emitter stage 2, during by adjustable voltage stabilizer U3, PVDD24
It is connected by 0.1 μ F electric capacity C14 with ground PGND, 1 pin and ground PGND that have electrode capacitance C15 that PVDD24 passes through 10 μ F of connection
Connection, adjustable voltage stabilizer U3 models are LM2576HV-ADJ, adjustable voltage stabilizer U3 VIN pins connection PVDD24, adjustable voltage stabilizing
Device U3 ON/OFF pin connecting triodes Q3 colelctor electrode 3, the inductance L3 that adjustable voltage stabilizer U3 OUT pins pass through 100uH
Outside PVDD15 is connected to, adjustable voltage stabilizer U3 GND pin connection ground PGND, adjustable voltage stabilizer U3 GND pin passes through two
Pole pipe D16 is connected on adjustable voltage stabilizer U3 OUT pins, PVDD15 by 0.1uF electric capacity C17 connections ground PGND,
The resistance R18 connections that electric capacity C16 connections ground PGND, adjustable voltage stabilizer U3 that PVDD15 passes through 330 μ F FB pins pass through 43.7K
To PVDD15, adjustable voltage stabilizer U3 FB pins are connected to PGND by 3.9K resistance R22；
Non-isolated -15V converts a kind of scheme of block, including：Resistance R26s and two poles of the PVDD24 by resistance for 20K
Pipe D17 connecting triodes Q4 base stage 1, triode Q4 base stage 1 meets PVDD-15 by resistance for 10K resistance R27,
PVDD24 is met PVDD-15, is close to by colelctor electrode 3 of the resistance for 20K R25 connecting triodes Q4, triode Q4 emitter stage 2
During voltage-stablizer U4, PVDD24 is connected by 0.1uF electric capacity C19 with ground PGND, and PVDD24 has electrode capacitance by 330 μ F's of connection
C20 1 pin is connected with ground PGND, and PVDD24 is connected by connecting 10 μ F 1 pin for having electrode capacitance C21 with ground PGND, surely
Depressor U4 models are LM2576HV-15, voltage-stablizer U4 VIN pins connection PVDD24, U4 ON/OFF pin connecting triodes
Q4 colelctor electrode 3, voltage-stablizer U4 OUT pins are connected to ground PGND, voltage-stablizer U4 GND pin by 100 μ H inductance L4
PVDD-15 is connected, voltage-stablizer U4 GND pin is connected on adjustable voltage stabilizer U4 OUT pins by diode D18, voltage stabilizing
Device U4 GND pin by diode D19 connections ground PGND, PVDD-15 by 0.1 μ F electric capacity C23 connections ground PGND,
PVDD-15 is connected to by 330 μ F electric capacity C22 connections ground PGND, voltage-stablizer U4 FB pins by 0 ohm of resistance R23
PGND；
Isolation 5V converts a kind of scheme of block, including：PVDD24 is grounded PGND by 330uF electric capacity C29, and PVDD24 leads to
The electric capacity C30 connections ground PGND, PVDD24 for crossing 0.1 μ F is connected by 10uF electric capacity C31 connections ground PGND, AGND by inductance L8
It is grounded PGND, power module U6 model XR10/24S05, power module U6VIN+ pin connection PVDD24, power module
U6VIN- pins connect PGND, and power module U6 pins VOUT+ passes through inductance L6 connection VCC_5V0, power module U6 pin
VOUT- passes through 0.1 μ F electric capacity by inductance L9 connections GND, VCC_5V0 by 47 μ F electric capacity C33 connections GND, VCC_5V0
C32 connections GND；
Isolation 3.3V converts a kind of scheme of block, including；PVDD24 is grounded PGND, PVDD24 by 330 μ F electric capacity C24
10 μ F electric capacity C26 connections ground PGND, power module U5 models are passed through by 0.1 μ F electric capacity C25 connections ground PGND, PVDD24
For XR10/24S3V3, power module the U5 connection of VIN+ pins PVDD24, power module U5 VIN- pins connection PGND, electricity
Source module U5 pins VOUT+ is connected by inductance L5 connections VCC_3V3, power module U5 pin VOUT- by inductance L7
GND, VCC_3V3 pass through 0.1 μ F electric capacity C27 connections GND by 47 μ F electric capacity C28 connections GND, VCC_3V3；
M1, M2, M3, M4 are anchor pad, and it is directly connected to bottom plate CHASSIS, passes through 1 μ F electric capacity C8 connections PGND.
Indicator lamp part includes：PVDD12 is grounded PGND by 1K or so resistance R9 and LED D9, and PVDD5V0 leads to
Cross resistance R10 and LED D10 the ground connection PGND, resistance R11 and LED that PVDD15 passes through 1.5K or so of 150 ohms
Lamp D11 is grounded PGND, and PGND passes through 100 by 1.5K or so resistance R17 and LED D8 connection PVDD-15, VCC_3V3
Resistance R12 and LED D12 the ground connection GND, resistance R13 and LED that VCC_5V0 passes through 150 ohms of ohms
D13 is grounded GND, and PVDD24 is grounded PGND by 2K or so resistance R14 and LED D14；
A kind of connection in power interface part includes：J1 is Europlug, and J1 A1, B1, C1 meet VCC_3V3, J1 A2,
B2, C2, A3, B3, C3 meet GND, and J1 A4, B4, C4 meet VCC_5V0, J1 A5 by resistance R24 connection VCC_3V3, J1's
B5, C5 connect PVDD12, J1 A6, B6, C6 connection PGND, J1 A7, B7, C7 connection PVDD15, J1 A8, B8, C8 connection
AGND, J1 A9, B9, C9 connection PVDD-15, J1 A10, B10, C10 connection PVDD5V0, J1 A11, B11, C11, A12,
B12, C12, A13, B13, C13 connect PGND, J1 A14, B14, C14, A15, B15, C15, A16, B16, C16 connection VIN_
24V_NP。
Brief description of the drawings
Fig. 1 voltage stabilizing filter block schematic diagrams.
Fig. 2 non-isolated 5V converts block schematic diagram.
Fig. 3 non-isolated 12V converts block schematic diagram.
Fig. 4 non-isolated 15V converts block schematic diagram.
Fig. 5 non-isolated -15V converts block schematic diagram.
Fig. 6 isolation 5V conversion block schematic diagrams.
Fig. 7 isolation 3.3V conversion block schematic diagrams.
Fig. 8 fixing hole schematic diagrams.
Fig. 9 photovoltaic conversion status indicator lamp schematic diagrams.
Figure 10 interface principle figures.
A kind of power module overall structure diagram of industrial robots of Figure 11.
Embodiment
The present invention is further described in detail below in conjunction with accompanying drawing.
The present invention is to provide a kind of electricity by by the voltage that 24V voltage piecemeals are changed into needed for various controller is inputted
Source module.The power module for the industrial robot that the present invention is provided, 24V DC-voltage supplies are provided by outside, as shown in figure 11,
Described power module includes filtering regulator block and six photovoltaic conversion blocks, and six described photovoltaic conversion blocks are respectively non-isolated
5V conversions block, non-isolated 12V conversions block, non-isolated 15V conversions block, non-isolated -15V conversions block, isolation 5V conversion blocks and isolation
3.3V converts block, and each photovoltaic conversion block has indicator lamp to indicate conversion conditions, and one end is grounded, and the other end is by filtering regulator block
The outside 24V DC-voltage supplies end of VIN_24_NP ends connection.The power module by European interface and external connection, including
Three kinds of ground wires, respectively PGND, AGND and GND.
Shown in reference picture 1, one kind filtering regulator block includes：The 1 of VIN_24V_NP pins connection Transient Suppression Diode D4
Pin, Transient Suppression Diode D5 1 pin, diode D3 2 pins, diode D3 1 pin connection electric capacity C6, electric capacity C7
1 pin and PVDD24 voltages are provided, Transient Suppression Diode D4 2,3 pins meet PGND, Transient Suppression Diode D5's
2nd, 3 pins meet PGND, electric capacity C6 another termination PGND, electric capacity C7 2 pins connection PGND.Described electric capacity C6 capacitance is
0.1 μ F, described electric capacity C7 capacitance is 330 μ F.
Shown in reference picture 2, a kind of non-isolated 5V conversions block includes：PVDD24 is connected with electrode capacitance C5 1 pin, there is extremely electric
The 2 pins ground connection PGND, PVDD24 for holding C5 passes through base stage of the resistance for 20K resistance R3 and diode D1 connecting triodes Q1
1, triode Q1 base stage 1 are grounded PGND by resistance for 10K resistance R4, and PVDD24 is connected by resistance for 20K resistance R2
Triode Q1 colelctor electrode 3 is connect, triode Q1 emitter stage 2 is grounded PGND, and during by adjustable voltage stabilizer U1, PVDD24 passes through
0.1 μ F electric capacity C1 is connected with ground PGND, and PVDD24 is connected by connecting 10 μ F 1 pin for having electrode capacitance C2 with ground PGND,
Adjustable voltage stabilizer U1 models are LM2576HV-ADJ, adjustable voltage stabilizer U1 VIN pins connection PVDD24, U1 ON/OFF pins
Connecting triode Q1 colelctor electrode 3, adjustable voltage stabilizer U1 OUT pins are connected to outside by 100 μ H inductance L1
PVDD5V0, adjustable voltage stabilizer U1 GND pin connection ground PGND, adjustable voltage stabilizer U1 GND pin are connected by diode D2
Onto adjustable voltage stabilizer U1 OUT pins, PVDD5V0 passes through 330 μ F by 0.1 μ F electric capacity C4 connections ground PGND, PVDD5V0
Electric capacity C3 connections ground PGND, adjustable voltage stabilizer U1 FB pins are connected to PVDD5V0, adjustable voltage stabilizing by 12K resistance R1
Device U1 FB pins are connected to PGND by 3.9K resistance R5.
Shown in reference picture 3, a kind of non-isolated 12V conversions block includes：Draw have electrode capacitance C13 the 1 of the μ F of PVDD24 connections 330
Pin, the 2 pins ground connection PGND, PVDD24 for having electrode capacitance C13 passes through resistance R8 and diode D6 connection three pole of the resistance for 20K
Pipe Q2 base stage 1, triode Q2 base stage 1 is grounded PGND by resistance for 10K resistance R15, and PVDD24 is 20K by resistance
R7 connecting triodes Q2 colelctor electrode 3, triode Q2 emitter stage 2 ground connection PGND, during by adjustable voltage stabilizer U2, PVDD24
It is connected by 0.1 μ F electric capacity C9 with ground PGND, 1 pin and ground PGND that have electrode capacitance C10 that PVDD24 passes through 10 μ F of connection
Connection, adjustable voltage stabilizer U2 models are LM2576HV-ADJ, adjustable voltage stabilizer the U2 connection of VIN pins PVDD24, U2 ON/
OFF pin connecting triodes Q2 colelctor electrode 3, adjustable voltage stabilizer U2 OUT pins are connected to outside by 100 μ H inductance L2
PVDD12, adjustable voltage stabilizer U2 GND pin connection ground PGND, adjustable voltage stabilizer U2 GND pin are connected by diode D7
Onto adjustable voltage stabilizer U2 OUT pins, PVDD12 passes through 330 μ F by 0.1 μ F electric capacity C12 connections ground PGND, PVDD12
Electric capacity C11 connections ground PGND, adjustable voltage stabilizer U2 FB pins are connected to PVDD12 by 34.1K resistance R6, adjustable steady
Depressor U2 FB pins are connected to PGND by 3.9K resistance R16.
Shown in reference picture 4, a kind of non-isolated 15V conversions block includes：Draw have electrode capacitance C18 the 1 of the μ F of PVDD24 connections 330
Pin, the 2 pins ground connection PGND, PVDD24 for having electrode capacitance C18 passes through R20 and diode D15 connecting triode of the resistance for 20K
Q3 base stage 1, triode Q3 base stage 1 is grounded PGND by resistance for 10K resistance R21, and PVDD24 is 20K's by resistance
Resistance R19 connecting triodes Q3 colelctor electrode 3, the triode Q3 ground connection PGND of emitter stage 2, during by adjustable voltage stabilizer U3,
PVDD24 be connected by 0.1 μ F electric capacity C14 with ground PGND, PVDD24 by connect 10 μ F have electrode capacitance C15 1 pin and
Ground PGND connections, adjustable voltage stabilizer U3 models are LM2576HV-ADJ, and adjustable voltage stabilizer U3 VIN pins connect PVDD24, can
Voltage-stablizer U3 ON/OFF pin connecting triodes Q3 colelctor electrode 3 is adjusted, adjustable voltage stabilizer U3 OUT pins pass through 100 μ H's
Inductance L3 is connected to outside PVDD15, adjustable voltage stabilizer U3 GND pin connection ground PGND, adjustable voltage stabilizer U3 GND pin
It is connected to by diode D16 on adjustable voltage stabilizer U3 OUT pins, the electric capacity C17 connections ground that PVDD15 passes through 0.1 μ F
The resistance that electric capacity C16 connections ground PGND, adjustable voltage stabilizer U3 that PGND, PVDD15 pass through 330 μ F FB pins pass through 43.7K
R18 is connected to PVDD15, and adjustable voltage stabilizer U3 FB pins are connected to PGND by 3.9K resistance R22.
Shown in reference picture 5, a kind of non-isolated -15V conversions block includes：PVDD24 by resistance for 20K resistance R26 and
Diode D17 connecting triodes Q4 base stage 1, triode Q4 base stage 1 meets PVDD-15 by resistance for 10K resistance R27,
PVDD24 is met PVDD-15, is close to by colelctor electrode 3 of the resistance for 20K R25 connecting triodes Q4, triode Q4 emitter stage 2
During voltage-stablizer U4, PVDD24 is connected by 0.1 μ F electric capacity C19 with ground PGND, and PVDD24 has electrode capacitance by 330 μ F's of connection
C20 1 pin is connected with ground PGND, and PVDD24 is connected by connecting 10 μ F 1 pin for having electrode capacitance C21 with ground PGND, surely
Depressor U4 models are LM2576HV-15, voltage-stablizer U4 VIN pins connection PVDD24, U4 ON/OFF pin connecting triodes
Q4 colelctor electrode 3, voltage-stablizer U4 OUT pins are connected to ground PGND, voltage-stablizer U4 GND pin by 100 μ H inductance L4
PVDD-15 is connected, voltage-stablizer U4 GND pin is connected on adjustable voltage stabilizer U4 OUT pins by diode D18, voltage stabilizing
Device U4 GND pin by diode D19 connections ground PGND, PVDD-15 by 0.1 μ F electric capacity C23 connections ground PGND,
PVDD-15 is connected to by 330 μ F electric capacity C22 connections ground PGND, voltage-stablizer U4 FB pins by 0 ohm of resistance R23
PGND。
Shown in reference picture 6, one kind isolation 5V conversion blocks include：PVDD24 is grounded PGND by 330 μ F electric capacity C29,
PVDD24 is by 0.1 μ F electric capacity C30 connections ground PGND, PVDD24 with passing through 10 μ F electric capacity C31 connections PGND, and AGND passes through
Inductance L8 connections ground PGND, power module U6 model XR10/24S05, power module U6 VIN+ pins connection PVDD24, electricity
The source module U6 connection of VIN- pins PGND, power module U6 pin VOUT+ passes through inductance L6 connection VCC_5V0, power supply mould
Block U6 pin VOUT- is passed through by electric capacity C33 connections GND of the inductance L9 connections GND, VCC_5V0 by 47 μ F, VCC_5V0
0.1 μ F electric capacity C32 connections GND.
Shown in reference picture 7, one kind isolation 3.3V conversion blocks include：PVDD24 is grounded PGND by 330 μ F electric capacity C24,
PVDD24 passes through 10 μ F electric capacity C26 connections ground PGND, power module by 0.1 μ F electric capacity C25 connections ground PGND, PVDD24
U5 model XR10/24S3V3, power module the U5 connection of VIN+ pins PVDD24, power module U5 VIN- pins connection
PGND, power module U5 pins VOUT+ passes through inductance L7 by inductance L5 connections VCC_3V3, power module U5 pin VOUT-
GND is connected, VCC_3V3 passes through 0.1 μ F electric capacity C27 connections GND by 47 μ F electric capacity C28 connections GND, VCC_3V3.
Shown in reference picture 8, M1, M2, M3, M4 are four anchor pads, and it is directly connected to bottom plate CHASSIS, passes through 1nF's
Electric capacity C8 connections PGND.
Shown in reference picture 9, a kind of scheme in indicator lamp part includes：PVDD12 is grounded by 1K resistance R9 and LED D9
PGND, PVDD5V0 are grounded PGND by the resistance R10 and LED D10 of 150 ohms, and PVDD15 passes through 1.5K's or so
Resistance R11 and LED D11 ground connection PGND, PGND by 1.5K or so resistance R17 and LED D8 connection PVDD-15,
VCC_3V3 is grounded GND, the electricity that VCC_5V0 passes through 150 ohms by the resistance R12 and LED D12 of 100 ohms
Hinder R13 and LED D13 ground connection GND, PVDD24 and PGND is grounded by 2K or so resistance R14 and LED D14.
Shown in reference picture 10, a kind of interface connection of the power module for the industrial robot that the present invention is provided is：Described
24V dc sources provide for outside, are connected by P1 interfaces, and P1 interfaces have 4, and P1 interface 3,4 connects PGND, P1 interfaces 1,
2 connection VIN_24V_NP.Power interface part includes：J1 is Europlug, and J1 A1, B1, C1 meet VCC_3V3, J1 A2,
B2, C2, A3, B3, C3 meet GND, and J1 A4, B4, C4 meet VCC_5V0, and J1 A5 passes through resistance R24 (10 ohm of resistance) connections
VCC_3V3, J1 B5, C5 connection PVDD12, J1 A6, B6, C6 connection PGND, J1 A7, B7, C7 connection PVDD15, J1's
A8, B8, C8 connection AGND, J1 A9, B9, C9 connection PVDD-15, J1 A10, B10, C10 connection PVDD5V0, J1 A11,
B11, C11, A12, B12, C12, A13, B13, C13 connect PGND, J1 A14, B14, C14, A15, B15, C15, A16, B16,
C16 connections VIN_24V_NP.
Claims (4)
1. a kind of power module of industrial robot, it is characterised in that：Described power module provides 24V DC voltages by outside
Power supply, including filtering regulator block and six photovoltaic conversion blocks, six described photovoltaic conversion blocks be respectively non-isolated 5V conversions block,
Non-isolated 12V conversions block, non-isolated 15V conversions block, non-isolated -15V conversions block, isolation 5V conversion blocks and isolation 3.3V conversions
Block, each photovoltaic conversion block has indicator lamp to indicate conversion conditions；The power module passes through European interface and external connection, including three
Plant ground wire；
Described outside 24V DC-voltage supplies are connected to the power module by interface P1, and described interface P1 has 4,
Two of which interface connects PGND, the VIN_24V_NP of two other interface connection filtering regulator block；
Filtering regulator block concrete composition and annexation include：VIN_24V_NP pins connection Transient Suppression Diode D4's is negative
Pole, Transient Suppression Diode D5 negative pole, diode D3 positive pole, diode D3 negative pole connection electric capacity C6, electric capacity C7 are just
Pole and offer PVDD24 voltages, Transient Suppression Diode D4 positive pole meet PGND, and Transient Suppression Diode D5 positive pole connects
PGND, electric capacity C6 another termination PGND, electric capacity C7 negative pole connection PGND；
Non-isolated 5V, which converts block concrete composition and annexation, to be included：PVDD24 is connected with electrode capacitance C5 positive pole, there is electrode capacitance
C5 negative pole ground connection PGND, PVDD24 passes through negative pole of the resistance for 20K resistance R3 connection diodes D1, diode D1 positive pole
Connecting triode Q1 base stage 1, triode Q1 base stage 1 is grounded PGND by resistance for 10K resistance R4, and PVDD24 passes through resistance
It is worth the colelctor electrode 3 of the resistance R2 connecting triodes Q1 for 20K, the triode Q1 ground connection PGND of emitter stage 2, by adjustable voltage stabilizer
During U1, PVDD24 is connected by 0.1 μ F electric capacity C1 with ground PGND, the μ F of PVDD24 connections 10 positive pole for having electrode capacitance C2,
The negative pole for having electrode capacitance C2 is connected with ground PGND, and adjustable voltage stabilizer the U1 connection of VIN pins PVDD24, U1 ON/OFF pins connect
Triode Q1 colelctor electrode 3 is connect, adjustable voltage stabilizer U1 OUT pins are connected to outside PVDD5V0 by 100 μ H inductance L1,
Adjustable voltage stabilizer U1 GND pin connection ground PGND, adjustable voltage stabilizer U1 GND pin connection diode D2 positive pole, two poles
Pipe D2 negative pole is connected on adjustable voltage stabilizer U1 OUT pins, PVDD5V0 by 0.1 μ F electric capacity C4 connections ground PGND,
PVDD5V0 is connected with electrode capacitance C3 positive pole, the negative pole connection ground PGND for having electrode capacitance C3, and it is 330 μ F to have electrode capacitance C3；It is adjustable
Voltage-stablizer U1 FB pins are connected to PVDD5V0 by 12K resistance R1, the electricity that adjustable voltage stabilizer U1 FB pins pass through 3.9K
Resistance R5 is connected to PGND；
Non-isolated 12V, which converts block concrete composition and annexation, to be included：The μ F of PVDD24 connections 330 positive pole for having electrode capacitance C13,
The negative pole ground connection PGND, PVDD24 for having electrode capacitance C13 passes through negative pole of the resistance for 20K resistance R8 connection diodes D6, two poles
Pipe D6 positive pole connecting triode Q2 base stage 1, triode Q2 base stage 1 is grounded PGND by resistance for 10K resistance R15,
PVDD24 passes through colelctor electrode 3 of the resistance for 20K R7 connecting triodes Q2, the triode Q2 ground connection PGND of emitter stage 2, by can
When adjusting voltage-stablizer U2, PVDD24 is connected by 0.1 μ F electric capacity C9 with ground PGND, and the μ F's of PVDD24 connections 10 has electrode capacitance C10
Positive pole, there is electrode capacitance C10 negative pole be connected with ground PGND, adjustable voltage stabilizer U2 VIN pins connect PVDD24, U2 ON/
OFF pin connecting triodes Q2 colelctor electrode 3, adjustable voltage stabilizer U2 OUT pins are connected to outside by 100 μ H inductance L2
PVDD12, adjustable voltage stabilizer U2 GND pin connection ground PGND, adjustable voltage stabilizer U2 GND pin connection diode D7 are just
Pole, diode D7 negative pole is connected on adjustable voltage stabilizer U2 OUT pins, the electric capacity C12 connections ground that PVDD12 passes through 0.1 μ F
PGND, PVDD12 connect 330 μ F electric capacity C11 positive pole, electric capacity C11 negative pole connection ground PGND, adjustable voltage stabilizer U2 FB
Pin is connected to PVDD12 by 34.1K resistance R6, and adjustable voltage stabilizer U2 FB pins are connected to by 3.9K resistance R16
PGND；
Non-isolated 15V, which converts block concrete composition and annexation, to be included：The μ F of PVDD24 connections 330 positive pole for having electrode capacitance C18,
The negative pole ground connection PGND, PVDD24 for having electrode capacitance C18 passes through negative pole of the resistance for 20K R20 connection diodes D15, diode
D15 positive pole connecting triode Q3 base stage 1, triode Q3 base stage 1 is grounded PGND by resistance for 10K resistance R21,
PVDD24 is grounded PGND by colelctor electrode 3 of the resistance for 20K resistance R19 connecting triodes Q3, triode Q3 emitter stage 2,
During by adjustable voltage stabilizer U3, PVDD24 is connected by 0.1 μ F electric capacity C14 with ground PGND, and the μ F's of PVDD24 connections 10 has pole
Electric capacity C15 positive pole, the negative pole for having electrode capacitance C15 is connected with ground PGND, adjustable voltage stabilizer U3 VIN pins connection PVDD24,
Adjustable voltage stabilizer U3 ON/OFF pin connecting triodes Q3 colelctor electrode 3, adjustable voltage stabilizer U3 OUT pins pass through 100 μ H
Inductance L3 be connected to outside PVDD15, adjustable voltage stabilizer U3 GND pin connection ground PGND, adjustable voltage stabilizer U3 GND draws
Pin connection diode D16 positive pole, diode D16 negative pole is connected on adjustable voltage stabilizer U3 OUT pins, and PVDD15 passes through
0.1 μ F electric capacity C17 connections ground PGND, the μ F of PVDD15 connections 330 electric capacity C16 positive pole, electric capacity C16 negative pole connection ground
PGND, adjustable voltage stabilizer U3 FB pins are connected to PVDD15, adjustable voltage stabilizer U3 FB pins by 43.7K resistance R18
PGND is connected to by 3.9K resistance R22；
Non-isolated -15V, which converts block concrete composition and annexation, to be included：PVDD24 passes through resistance R26 connection two of the resistance for 20K
Pole pipe D17 negative pole, diode D17 positive pole connecting triode Q4 base stage 1, triode Q4 base stage 1 is 10K by resistance
Resistance R27 meet PVDD-15, PVDD24 passes through colelctor electrode 3 of the resistance for 20K R25 connecting triodes Q4, triode Q4 hair
Emitter-base bandgap grading 2 meets PVDD-15, during by voltage-stablizer U4, and PVDD24 is connected by 0.1 μ F electric capacity C19 with ground PGND, PVDD24 connections
The 330 μ F positive pole for having electrode capacitance C20, the negative pole for having electrode capacitance C20 is connected with ground PGND, and having for the μ F of PVDD24 connections 10 is extremely electric
Hold C21 positive pole, the negative pole for having electrode capacitance C21 is connected with ground PGND, voltage-stablizer the U4 connection of VIN pins PVDD24, U4 ON/
OFF pin connecting triodes Q4 colelctor electrode 3, voltage-stablizer U4 OUT pins are connected to ground PGND by 100 μ H inductance L4,
Voltage-stablizer U4 GND pin connection PVDD-15, voltage-stablizer U4 GND pin connection diode D18 positive pole, diode D18's
Negative pole is connected on adjustable voltage stabilizer U4 OUT pins, voltage-stablizer U4 GND pin connection diode D19 positive pole, diode
D19 negative pole connection ground PGND, PVDD-15 passes through 0.1 μ F electric capacity C23 connections ground PGND, the μ F of PVDD-1 connections 330 electric capacity
C22 positive pole, electric capacity C22 negative pole connection ground PGND, voltage-stablizer U4 FB pins are connected to by 0 ohm of resistance R23
PGND；
Isolation 5V conversion block concrete compositions and annexation include：PVDD24 connections 330uF electric capacity C29 positive pole, electric capacity C29
Negative pole ground connection PGND, PVDD24 by 0.1 μ F electric capacity C30 connections ground PGND, PVDD24 connections 10uF electric capacity C31 is just
Pole, electric capacity C31 negative pole connection ground PGND, the VIN+ pins that AGND passes through inductance L8 connections ground PGND, power module U6 are connected
PVDD24, power module U6 VIN- pins connection PGND, power module U6 pins VOUT+ by inductance L6 connection VCC_5V0,
Electric capacity C33 connections GND, VCC_ that power module U6 pin VOUT- passes through 47 μ F by inductance L9 connections GND, VCC_5V0
5V0 passes through 0.1 μ F electric capacity C32 connections GND；
Isolation 3.3V conversion block concrete compositions and annexation include；The μ F of PVDD24 connections 330 electric capacity C24 positive pole, electric capacity
Electric capacity C25 connections ground PGND, the μ F of PVDD24 connections 10 electric capacity C26 that C24 negative pole ground connection PGND, PVDD24 passes through 0.1 μ F
Positive pole, electric capacity C26 negative pole connection ground PGND, power module U5 VIN+ pins connection PVDD24, power module U5's
VIN- pins connect PGND, and power module U5 pins VOUT+ passes through inductance L5 connection VCC_3V3, power module U5 pin
VOUT- passes through 0.1 μ F electric capacity by inductance L7 connections GND, VCC_3V3 by 47 μ F electric capacity C28 connections GND, VCC_3V3
C27 connections GND；
M1, M2, M3, M4 are anchor pad, and it is directly connected to bottom plate CHASSIS, passes through 1nF electric capacity C8 connections PGND.
2. a kind of power module of industrial robot according to claim 1, it is characterised in that：Each photovoltaic conversion block middle finger
Showing the annexation of lamp part includes：PVDD12 is grounded PGND by 1K resistance R9 and LED D9, and PVDD5V0 passes through 150
Resistance R10 and LED D10 the ground connection PGND, PVDD15 of ohm are grounded PGND by 1.5K resistance R11 and LED D11,
PGND passes through 100 Ohmic resistance R12 and LED by 1.5K resistance R17 and LED D8 connections PVDD-15, VCC_3V3
D12 is grounded GND, and VCC_5V0 is grounded GND, the resistance that PVDD24 passes through 2K by 150 ohm of resistance R13 and LED D13
R14 and LED D14 ground connection PGND.
3. a kind of power module of industrial robot according to claim 1, it is characterised in that：Described European interface is adopted
J1 Europlugs are used, the annexation of J1 each pin is：A1, B1, C1 meet VCC_3V3, J1 A2, B2, C2, A3, B3, C3
GND is met, J1 A4, B4, C4 meet VCC_5V0, and J1 A5 connects PVDD12 by resistance R24 connections VCC_3V3, J1 B5, C5,
J1 A6, B6, C6 connection PGND, J1 A7, B7, C7 connection PVDD15, J1 A8, B8, C8 connection AGND, J1 A9, B9, C9
Connect PVDD-15, J1 A10, B10, C10 connection PVDD5V0, J1 A11, B11, C11, A12, B12, C12, A13, B13,
C13 connections PGND, J1 A14, B14, C14, A15, B15, C15, A16, B16, C16 connection VIN_24V_NP.
4. a kind of power module of industrial robot according to claim 1, it is characterised in that：Adjustable voltage stabilizer U1, can
The model for adjusting voltage-stablizer U2 and adjustable voltage stabilizer U3 is LM2576HV-ADJ；Voltage-stablizer U4 models are LM2576HV-15；Power supply mould
Block U5 models XR10/24S3V3；Power module U6 models XR10/24S05.
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| CN107450378A (en) * | 2017-09-14 | 2017-12-08 | 浙江国自机器人技术有限公司 | A kind of controller and robot |
| CN109067172A (en) * | 2018-09-12 | 2018-12-21 | 湖南宝德机电设备有限公司 | A kind of plate card type adaptive power supply system |
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Effective date of registration: 20210324 Address after: 100043 room 9188, building 3, 3 Xijing Road, Badachu hi tech park, Shijingshan District, Beijing Patentee after: BEIJING GXK CNC EQUIPMENT Co.,Ltd. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |