CN106100463B - A kind of six axis Serve Motor Control circuit systems - Google Patents
A kind of six axis Serve Motor Control circuit systems Download PDFInfo
- Publication number
- CN106100463B CN106100463B CN201610668457.9A CN201610668457A CN106100463B CN 106100463 B CN106100463 B CN 106100463B CN 201610668457 A CN201610668457 A CN 201610668457A CN 106100463 B CN106100463 B CN 106100463B
- Authority
- CN
- China
- Prior art keywords
- power supply
- axis
- supply module
- control circuit
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Abstract
The present invention discloses a kind of six axis Serve Motor Control circuit systems, it is characterised in that: including single-chip microcontroller, power supply module, six axis optocoupler control circuits, first interface and six axis motors；Six axis optocoupler control circuits include optic coupling element and n-channel field pipe, and the control signal output from single-chip microcontroller connects by first interface after the isolation of six axis optocoupler control circuits and drives six axis motors；Power supply module includes the first power supply module and the second power supply module, wherein the first power supply module is used to be converted into input voltage to meet the voltage of six axis optocoupler control circuits power supply, and the second power supply module meets the voltage of single-chip microcontroller power supply for being further converted into the first power supply module.
Description
Technical field
The present invention relates to a kind of electric machines control technologies, especially six axis Serve Motor Control circuit systems.
Background technique
Some self-help sales terminals, such as unmanned supermarket, unmanned vehicle need to use six axis servo motors and realize correspondence
Function.Existing scheme is separately controlled each axis motor often through multiple single-chip microcontrollers or circuit structure is complicated, can not
It realizes six axis motors or the unification of the associated mechanisms that are connected with six axis motors, cooperates with, is precisely controlled.
Summary of the invention
The main object of the present invention is to provide a kind of six axis Serve Motor Control circuit systems, it overcomes the prior art not
Foot perhaps provides the system of a kind of new circuit structure scheme six axis motors of realization or the associated mechanisms being connected with six axis motors
One, it cooperates with, be precisely controlled.
To achieve the above object, six axis Serve Motor Control circuit system proposed by the present invention, it is characterised in that: including list
Piece machine, power supply module, six axis optocoupler control circuits, first interface and six axis motors；Six axis optocoupler control circuits include optocoupler member
Part and n-channel field pipe, the control signal output from single-chip microcontroller is after the isolation of six axis optocoupler control circuits, by first interface
It connects and drives six axis motors；Power supply module includes the first power supply module and the second power supply module, wherein the first power supply module is used
In the voltage that input voltage is converted into meeting the power supply of six axis optocoupler control circuits, and the second power supply module is for further by the
One power supply module is converted into meeting the voltage of single-chip microcontroller power supply.
Preferably, the output for further including the first power supply module is 12V voltage；The output of second power supply module is 5V electricity
Pressure.
It preferably, further include feedback sense circuit, for one of acquisition position, temperature, electric current, voltage or one kind
Above parameter simultaneously feeds back to single-chip microcontroller；Single-chip microcontroller detects input change according to feedback and exports to the control signal of motor-end.
Preferably, further include also detection circuit in place, for whether in place to detect the six axis motor.
It preferably, further include ON-OFF control circuit, ON-OFF control circuit includes six axis optocoupler control circuit quantity Matchings
Optic coupling element and n-channel field pipe；ON-OFF control circuit exports control signal by second interface to control and need and six axis electricity
The component of machine synchronous switch control.
Preferably, further include third power supply module, power for single-chip microcontroller and with single-chip simulation circuit part.
Preferably, further include serial communication distance enhancing circuit, to by the serial communication voltage increase of 5V to improve
Serial communication distance.
It preferably, further include crystal oscillator reset circuit for generating clock frequency necessary to single-chip microcontroller and realizing reset function
Energy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings；
Fig. 1 is the structural block diagram of system；
Fig. 2 is the first power supply module electrical block diagram；
Fig. 3 is the second power supply module electrical block diagram；
Fig. 4 is third power supply module structural schematic diagram；
Fig. 5 is single-chip microcontroller wiring schematic diagram；
Fig. 6 is six axis optocoupler control circuit structure schematic diagrames；
Fig. 7 is crystal oscillator reset circuit structural schematic diagram；
Fig. 8 is feedback sense circuit structural schematic diagram；
Fig. 9 is the detection circuit structural schematic diagram of signal in place；
Figure 10 is serial communication distance enhancing electrical block diagram；
Figure 11 is ON-OFF control circuit structural schematic diagram；
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, in the present invention only to be related to technical problem solution structure, composition proposal be described when, for
Well known necessary structure, part and connection relationship, although below do not describe, not equal to being not present in technical solution, more
Insufficient disclosure reason should not be become.
It is the overall mechanism of entire six axis Serve Motor Control circuit system with reference to Fig. 1.In some embodiments, six axis are watched
Take circuit for controlling motor system include single-chip microcontroller, power supply module, crystal oscillator reset circuit, feedback sense circuit, in place detection circuit,
Six axis optocoupler control circuits, first interface, ON-OFF control circuit, second interface, motor etc..Wherein, power supply module includes first
Power supply module, the second power supply module and third power supply module.First power supply module is used to the input of 24V being converted into the defeated of 12V
It powers out for six axis optocoupler control circuits, the second power supply module is used to be converted into from the 12V of the first power supply module input steady
Fixed 5V output forms secondary power supply transformational structure in this way, not only meets the pressure stabilizing power supply of single-chip microcontroller for powering for single-chip microcontroller
Demand improves the control performance of motor also by the output of 12V, can drive more powerful motor, and it is same to solve multi-axis motor
When the insufficient problem of control driving.Third power supply module is used to power for single-chip simulation circuit part.Six axis optocouplers control electricity
Six spindle motors that road needs to control by first interface connection, realize the concentration Collaborative Control to No. six motors.Switch control electricity
Road is used for according to the control to six spindle motors, forms the output synchronously driven machine of need associated with six spindle motors by single-chip microcontroller
The switching signal of structure, and export and execute by ON-OFF control circuit.ON-OFF control circuit, can be according to need by second interface
Connect the various components for needing switch control.Crystal oscillator reset circuit is for generating clock frequency and realization necessary to single-chip microcontroller
Reset function.Detection circuit is used to detect the state-detection in place of motor in place.Feedback detection is used for input position, temperature, electricity
One of stream, voltage sampling or more than one parameter feedback, to realize the intelligent control more complicated to six spindle motors.?
In some embodiments, the multi-channel control circuit system of automatic vending machine also has serial communication distance enhancing circuit, to solve to go here and there
Mouth communication such as RS232 serial communication meets the wiring connection requirement of large-scale automatic vending machine apart from short problem.
With reference to Fig. 2, in certain embodiment, the circuit structure scheme of first the first power supply module of power supply module.U0 is power supply
Conversion IC, it use L78M12,24V voltage successively by F0 insurance be 2A overload protection after, by by inductance L0, capacitor C0
With the input pin for being input to L78M12 after the filter circuit filtering of C1 composition.Inductance L0 both ends parallel connection ZD0 is with protection element, separately
It is outer to connect after two diode D0, D1 in parallel with the one end capacitor C0 to prevent from being reversely connected.24V voltage turns by power supply conversion IC
It is the optocoupler member of this system by exporting stable 12V voltage after connecting the filter circuit with power supply conversion IC output pin after changing
The power supply such as part.
It is the circuit structure of the second power supply module with reference to Fig. 3.U1 is power supply conversion IC, it uses L78M05, from the
The 12V voltage input of one power supply module is respectively connected to input and the grounding pin of U1 after DR1 and DR2 unidirectional protection；U1's
Both ends export stable 5V power supply after the filter circuit that C4, C5, C6, C7 are formed as single-chip microcontroller power supply.In preferred embodiment, U1
The element being separately connected between two inputs and output pin and grounding pin on DZ1, DZ2 protection circuit.In this way, being supplied by first
The conversion of the tapping voltage of electric module and the second power supply module, not only can satisfy single-chip microcontroller 5V power demands, also by the light of 12V
Coupling power supply, improves the control performance of motor, can drive more powerful motor, solves multi-axis motor and controls driving deficiency simultaneously
The problem of.
It is certain embodiment, the circuit structure scheme of third power supply module with reference to Fig. 4.C11 and C12 is simultaneously unified into capacitor pair, so
C11 and C12 and it is unified into capacitor to rear afterwards, series inductance L1 constitutes filter circuit between two capacitors pair, and the power supply of 5V was by should
It powers after filter circuit and capacitor C1 to single-chip simulation circuit part
With reference to Fig. 5, in one embodiment, single-chip microcontroller uses Atmega16, the PA2-PA7 of single-chip microcontroller, PB2-PB7 pin
Six axis optocoupler control circuits are separately connected, form six groups of control outputs, such as wherein PA2 and PB2 forms the control of motor all the way.
5th pin of single-chip microcontroller connects the first power supply module, to obtain the power supply of single-chip microcontroller itself need of work.The AREF of single-chip microcontroller
Pin is for connecting third power supply module as the power supply of single-chip simulation circuit part.The control of PD3- PD7 and PA1 connection switch
Circuit.PC2-PC7 connection feedback sense circuit includes but is not limited to position, temperature, electric current, one in voltage sampling to input
Kind or more than one parameter feedback.And PD0-PD2 pin is separately connected serial communication distance enhancing circuit, to realize RS232
Serial communication.
With reference to Fig. 6, in some embodiment, six axis optocoupler control circuits combined by multiple optic coupling elements and n-channel field pipe and
At in certain embodiments, optic coupling element U24-U35 and n-channel field pipe U18-U23 have 6 respectively.Wherein, single-chip microcontroller
PA2-PA7, PB2-PB7 pin are separately connected six axis optocoupler control circuits, form six groups of control outputs, such as wherein PA2 and PB2 group
At the control etc. of motor all the way.Optic coupling element can choose 817C model, and n-channel field pipe can choose as 9945n model.Optocoupler
One-to-one connection is managed in element and n-channel field.Optic coupling element connect with n-channel field my humble opinion a 27K resistance (such as R86-R97) with
Current limliting simultaneously obtains power supply required for the control of n-channel field is made.The output of n-channel field pipe connects first interface after passing through 5.1K resistance
Pin.Six axis optocoupler control circuit first interfaces output control signal is to control six axis motors.Wherein, as PA2, PB2 are passed through
U34, U35,1,2 pins then through U23, then through first interface J2 can control a spindle motor therein.
It is the crystal oscillator reset circuit organization plan of certain embodiment with reference to Fig. 7.Two capacitor C10 and C9 and crystal oscillator form crystal oscillator
Circuit；The power supply of 5V is by accessing single-chip microcontroller after the reset circuit of resistance and diodes in parallel；The resistance of four 1R forms sampling
Circuit, reset circuit are connect with crystal oscillator circuit and sample circuit in ground terminal jointly by capacitor C8.
It is the feedback sense circuit organization plan of certain embodiment with reference to Fig. 8.Wherein U42-U47 is optocoupler, R122-R133
For resistance, the detection of feedback signal is collectively constituted.
It is the detection circuit organization plan of the motor signal in place of certain embodiment with reference to Fig. 9.It includes optic coupling element U3,
Model 817C.The PC1 pin of the output connection single-chip microcontroller of the detection circuit of signal in place.
With reference to Figure 10, it is the serial communication distance enhancing circuit structure of certain embodiment, passes through the 5V that will be powered to single-chip microcontroller
Voltage is promoted.To solve the problems, such as serial communication such as RS232 serial communication apart from short, satisfaction wiring connection need over long distances
It asks.
It is the detection circuit organization plan of the motor signal in place of certain embodiment with reference to Fig. 9.It includes optic coupling element U3,
Model 817C.The PC1 pin of the output connection single-chip microcontroller of the detection circuit of signal in place.
With reference to Figure 10, it is the serial communication distance enhancing circuit structure of certain embodiment, passes through the 5V that will be powered to single-chip microcontroller
Voltage is promoted.To solve the problems, such as serial communication such as RS232 serial communication apart from short, satisfaction wiring connection need over long distances
It asks.
It is the ON-OFF control circuit organization plan of a certain embodiment with reference to Figure 11.It includes optic coupling element U49-U54, n ditch
Place where Taoist rites are performed pipe U55-U57；Controllable switch K0-K5.Wherein, optic coupling element connect with n-channel field my humble opinion a 27K resistance (such as
R140-R145) with current limliting and obtain n-channel field control make required for power supply.ON-OFF control circuit input terminal connects single-chip microcontroller
PD3- PD7 and PA1 pin, the other end connect second interface J4.Then it is needed and six axis motors by second interface driving
The various components for needing switch control of such as servo-motor of sync response, other driving devices.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in the present invention
Inventive concept under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (8)
1. a kind of six axis Serve Motor Control circuit systems, it is characterised in that: including single-chip microcontroller, power supply module, six axis optocoupler controls
Circuit, first interface and six axis motors processed；Six axis optocoupler control circuits include optic coupling element and n-channel field pipe, come from single-chip microcontroller
Control signal output by six axis optocoupler control circuits isolation after, connected by first interface and drive six axis motors；Power supply
Module includes the first power supply module and the second power supply module, wherein input voltage for being converted into meeting six by the first power supply module
The voltage of axis optocoupler control circuit power supply, and the second power supply module is for further being converted into the first power supply module to meet monolithic
The voltage of machine power supply.
2. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that the output of the first power supply module
For 12V voltage；The output of second power supply module is 5V voltage.
3. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that further include feedback detection electricity
Road, for one or more of acquisition position, temperature, electric current, voltage parameter and feed back to single-chip microcontroller；Single-chip microcontroller is according to feedback
Detection input change exports the control signal of motor-end.
4. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that further include that detection in place is electric
Road, for whether in place to detect the six axis motor.
5. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that further include switch control electricity
Road, ON-OFF control circuit include managing with the optic coupling element of six axis optocoupler control circuit quantity Matchings and n-channel field；Switch control
Circuit exports control signal by second interface to control the component needed with six axis motor synchronous switch controls.
6. six axis Serve Motor Control circuit system as claimed in claim 2, which is characterized in that further include third power supply mould
Block is powered for single-chip simulation circuit part.
7. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that further include serial communication distance
Enhance circuit, the serial communication voltage increase of 5V to be improved to serial communication distance.
8. six axis Serve Motor Control circuit system as described in claim 1, which is characterized in that further include crystal oscillator reset circuit
For generating clock frequency necessary to single-chip microcontroller and realizing reset function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610668457.9A CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610668457.9A CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106100463A CN106100463A (en) | 2016-11-09 |
| CN106100463B true CN106100463B (en) | 2019-03-01 |
Family
ID=57456655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610668457.9A Active CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106100463B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105204394A (en) * | 2015-08-26 | 2015-12-30 | 电子科技大学 | Six-degree-of-freedom chewing robot control system |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN105223960A (en) * | 2015-10-14 | 2016-01-06 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205992867U (en) * | 2016-08-16 | 2017-03-01 | 中山微宇电器科技有限公司 | A kind of six axle Serve Motor Control Circuits System |
-
2016
- 2016-08-16 CN CN201610668457.9A patent/CN106100463B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
| CN105204394A (en) * | 2015-08-26 | 2015-12-30 | 电子科技大学 | Six-degree-of-freedom chewing robot control system |
| CN105223960A (en) * | 2015-10-14 | 2016-01-06 | 上海大学 | A kind of unmanned boat lays retracting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106100463A (en) | 2016-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106300531A (en) | A kind of power supply change-over device based on charging pile | |
| CN105743358B (en) | A kind of uninterrupted variable-frequency power sources of backup type | |
| CN205490260U (en) | Multichannel brushless DC motor drive arrangement based on FPGA | |
| CN103152935B (en) | The driving method of LED decorative lamp controller, LED decorations and LED decorations | |
| CN106100463B (en) | A kind of six axis Serve Motor Control circuit systems | |
| CN205992867U (en) | A kind of six axle Serve Motor Control Circuits System | |
| CN106487165A (en) | Current sensor of motor controller current coefficient calibration system | |
| CN205039718U (en) | Servo power module of wisdom | |
| CN205162774U (en) | Intelligent soybean milk maker | |
| CN203799230U (en) | Intelligent cooling-control system for transformer | |
| CN209218750U (en) | Plant growing box group and its control circuit | |
| CN202930007U (en) | Debugging apparatus for liquid crystal module group backlight system | |
| CN203588912U (en) | High-voltage circuit breaker motor actuator control device based on angular displacement control | |
| CN106702620A (en) | Sewing machine control system | |
| CN207195258U (en) | A kind of bladeless fan | |
| CN202094425U (en) | Power socket capable of setting time and adjusting power | |
| CN201039543Y (en) | Lighting controller | |
| CN205281792U (en) | Independent control bus of multimode coordinates type intelligent transportation semaphore | |
| CN104955253B (en) | A kind of fluorescent lamp drive circuit | |
| CN203690917U (en) | Distribution monitoring device used for AC electrical system | |
| CN110531694A (en) | Many types of special equipment antenna running-in general service desk | |
| CN203164742U (en) | Magnetic-latching control system | |
| CN109818573A (en) | A kind of solar battery simulator | |
| CN219953718U (en) | Control system of AC fan lamp with variable speed capacitor | |
| CN202798649U (en) | Multifunctional pinboard for voltage, current and serial interface conversion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |