CN107947772A - A kind of steering engine electrification circuit and robot - Google Patents
A kind of steering engine electrification circuit and robot Download PDFInfo
- Publication number
- CN107947772A CN107947772A CN201711486254.9A CN201711486254A CN107947772A CN 107947772 A CN107947772 A CN 107947772A CN 201711486254 A CN201711486254 A CN 201711486254A CN 107947772 A CN107947772 A CN 107947772A
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- China
- Prior art keywords
- switch
- steering engine
- module
- signal
- capacitance
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/08—Modifications for protecting switching circuit against overcurrent or overvoltage
- H03K17/081—Modifications for protecting switching circuit against overcurrent or overvoltage without feedback from the output circuit to the control circuit
- H03K17/0812—Modifications for protecting switching circuit against overcurrent or overvoltage without feedback from the output circuit to the control circuit by measures taken in the control circuit
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
- H03K2217/0081—Power supply means, e.g. to the switch driver
Abstract
The invention belongs to electronic circuit technology field, discloses a kind of steering engine electrification circuit and robot, and the steering engine electrification circuit is connected between DC power supply and steering engine, including：For receiving switch controlling signal and the switch module of first switch signal being exported according to the switch controlling signal；For accessing the power module of the DC power supply；It is connected with the power module and the steering engine, for receiving the first switch signal and output drive signal so that the drive module of steering engine unlatching/closing；And it is connected with the switch module, the power module and the drive module, the adjustment module that the magnitude of voltage for being adjusted such that the drive signal to the first switch signal smoothly rises when the steering engine is opened.The present invention solves the problems, such as that powered on moment electric current is excessive existing for steering engine electrification circuit, avoids the problem of high current of powered on moment causes servo driving voltage to be pulled low, and reduces component in steering engine electrification circuit and is risk of damage to.
Description
Technical field
The invention belongs to electronic circuit technology field, more particularly to a kind of steering engine electrification circuit and robot.
Background technology
Steering engine is a kind of driver of position (angle) servo, needs angle constantly to change and can keep suitable for those
Control system.Steering engine is widely used in all kinds of joint motions of robot.
However, traditional steering engine electrification circuit is excessive in the electric current of powered on moment, the high current that moment occurs can cause rudder
The output voltage of machine electrification circuit is pulled low, and the component increased in steering engine electrification circuit is risk of damage to.
Therefore, traditional steering engine electrification circuit there are powered on moment electric current it is excessive the problem of.
The content of the invention
It is an object of the invention to provide a kind of steering engine electrification circuit, it is intended to solves existing for traditional steering engine electrification circuit
The problem of powered on moment electric current is excessive.
The first aspect of the present invention provides a kind of steering engine electrification circuit, is connected between DC power supply and steering engine, including：
For receiving switch controlling signal and the switch module of first switch signal being exported according to the switch controlling signal；For accessing
The power module of the DC power supply；It is connected with the power module and the steering engine, for receiving the first switch signal
And output drive signal is so that the drive module of steering engine unlatching/closing；And with the switch module, the power module
Connected with the drive module, for being adjusted such that the magnitude of voltage of the drive signal in institute to the first switch signal
State the adjustment module smoothly risen when steering engine is opened.
In a kind of optional mode, the drive signal is voltage drive signals.
In a kind of optional mode, the switch module includes：First resistor, second resistance, the first capacitance and first
Switching tube；The first end of the first resistor is used to receive the switch controlling signal, the second end of the first resistor and institute
The control terminal connection of first switch pipe is stated, the second resistance and first capacitance are connected in parallel on the control of the first switch pipe
Between end and ground, the input terminal of the first switch pipe exports the first switch signal, the output terminal of the first switch pipe
Ground connection.
In a kind of optional mode, the first switch pipe is N-channel field-effect tube, the N-channel field-effect tube
Grid, drain electrode and source electrode correspond to control terminal, input terminal and the output terminal of the first switch pipe respectively.
In a kind of optional mode, the power module includes the second capacitance, the first end of second capacitance and institute
State DC power supply connection, the second end ground connection of second capacitance.
In a kind of optional mode, the drive module includes second switch pipe, the control terminal of the second switch pipe
The first switch signal is received, the input terminal of the second switch pipe is connected with the power module, the second switch pipe
Output terminal be connected with the steering engine.
In a kind of optional mode, the second switch pipe is P-channel field-effect transistor (PEFT) pipe, the P-channel field-effect transistor (PEFT) pipe
Grid, drain electrode and source electrode correspond to control terminal, input terminal and the output terminal of the second switch pipe respectively.
In a kind of optional mode, the adjustment module includes：3rd resistor, the 4th resistance and the 3rd capacitance；It is described
The first end of 3rd resistor is connected with the switch module, and the second end of the 3rd resistor is connected with the drive module, institute
State the 4th resistance and the 3rd capacitance is connected in parallel between the second end of the 3rd resistor and the power module.
In a kind of optional mode, the capacitance of the 3rd capacitance is 1.8~3.0 μ F.
The second aspect of the present invention provides a kind of robot, and the robot includes steering engine and above-mentioned steering engine powers on
Circuit.
Above-mentioned steering engine electrification circuit, switch module receive steering engine switch controlling signal and export first switch signal, drive
Dynamic model block receives first switch signal and output drive signal is to drive steering engine to be turned on and off, and adjustment module believes first switch
Number it is adjusted such that the magnitude of voltage of drive signal smoothly rises when steering engine is opened, so as to optimize the smoothness of power supply electrifying.
Solve the problems, such as that powered on moment electric current is excessive existing for steering engine electrification circuit, avoids rudder caused by the high current of powered on moment
The problem of machine driving voltage is pulled low, reduces switch element in steering engine electrification circuit and is risk of damage to.
Brief description of the drawings
Fig. 1 is a kind of circuit module schematic diagram of steering engine electrification circuit of the present invention.
Fig. 2 is a kind of exemplary circuit schematic diagram of steering engine electrification circuit shown in Fig. 1.
Fig. 3 is the schematic diagram that a kind of magnitude of voltage of the drive signal of steering engine electrification circuit shown in Fig. 2 changes over time.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, steering engine electrification circuit in presently preferred embodiments of the present invention, is connected between DC power supply and steering engine,
Including switch module 11, power module 12, adjustment module 13 and drive module 14.
Switch module 11 is used to receive switch controlling signal and exports first switch signal according to switch controlling signal；Power supply
Module 12 is used to access DC power supply；Drive module 13 is connected with power module 12 and steering engine, for receiving first switch signal
And output drive signal is so that steering engine unlatching/closing；Adjustment module 14 and switch module 11, power module 12 and drive module 13
Connection, the magnitude of voltage for being adjusted such that drive signal to first switch signal smoothly rise when steering engine is opened.
Above-mentioned steering engine electrification circuit, switch module 11 receive steering engine switch controlling signal and export first switch signal,
Drive module 13 receives first switch signal and output drive signal is to drive steering engine to be turned on and off, and adjustment module is opened first
OFF signal is adjusted such that the magnitude of voltage of drive signal smoothly rises when steering engine is opened, so as to optimize the smooth of power supply electrifying
Degree.Solve the problems, such as that powered on moment electric current is excessive existing for steering engine electrification circuit, avoiding the high current of powered on moment causes
Servo driving voltage the problem of being pulled low, reduce switch element in steering engine electrification circuit and be risk of damage to.
In the present embodiment, single-chip microcomputer output switch control signal, the switch controlling signal of switch module 11 and microcontroller
End connection, for receiving switch controlling signal.
In the present embodiment, drive signal is voltage drive signals.The drive signal that drive module 13 exports is steering engine electricity
Pressure, when the magnitude of voltage of drive signal is more than the startup voltage of steering engine, steering engine starts.
Referring to Fig. 2, switch module 11 includes：First resistor R1, second resistance R2, the first capacitance C1 and first switch pipe
Q1；The first end of first resistor R1 is connected with switch controlling signal end FOOT_ON, for receiving switch controlling signal, the first electricity
The second end of resistance R1 is connected with the control terminal of first switch pipe Q1, and second resistance R2 and the first capacitance C1 are connected in parallel on first switch pipe
Between the control terminal and ground of Q1, the input terminal output first switch signal of first switch pipe Q1, the output terminal of first switch pipe Q1
Ground connection.
In the present embodiment, first switch pipe Q1 is N-channel field-effect tube, and specifically, the grid of N-channel field-effect tube leads to
Cross first resistor R1 to be connected with switch controlling signal end FOOT_ON, the source electrode ground connection of N-channel field-effect tube, N-channel field-effect tube
Drain electrode output first switch signal.When switch controlling signal is high level, N-channel field-effect tube turns on, at this time N-channel field
The drain voltage of effect pipe is pulled low, and first switch signal is low level, when switch controlling signal is low level, N-channel field
Effect pipe ends, and at this time, first switch signal is high level, and second resistance R2 and the first capacitance C1 form RC delay circuits, the
The first end of one capacitance C1 is connected with the control terminal of first switch pipe Q1, the second end ground connection of the first capacitance C1, when switch controls
When signal is high level, first charge to the first capacitance C1, the voltage rise of the second end of the first capacitance C1, when the first capacitance C1's
When the magnitude of voltage of second end reaches the conducting voltage of first switch pipe Q1, first switch pipe Q1 conductings.In other embodiments,
When first switch pipe Q1 is P-channel field-effect transistor (PEFT) pipe, then when switch controlling signal is high level, the cut-off of P-channel field-effect transistor (PEFT) pipe, this
When first switch signal be high level, when switch controlling signal is low level, P-channel field-effect transistor (PEFT) pipe conducting, at this time, first opens
OFF signal is low level.Wherein, first switch pipe Q1 is alternatively other kinds of switching device, such as igbt,
As long as it can realize the function identical with the present invention.
Power module 12 includes the second capacitance C2, and the first end of the second capacitance C2 is connected with DC power supply, the second capacitance C2
Second end ground connection.
In the present embodiment, DC power supply is the direct current of 7.4V, and the second capacitance C2 is used for the electric energy for storing direct current.
Drive module 13 includes second switch pipe Q2, and the control terminal of second switch pipe Q2 receives first switch signal, and second
The input terminal of switching tube Q2 is connected with power module 12, and the output terminal of second switch pipe Q2 is connected with steering engine.
In the present embodiment, second switch pipe Q2 is P-channel field-effect transistor (PEFT) pipe, specifically, the grid of P-channel field-effect transistor (PEFT) pipe with
The second end connection of 3rd resistor R3, for receiving first switch signal, drain electrode and the DC power supply of P-channel field-effect transistor (PEFT) pipe connect
Connect, the source electrode of P-channel field-effect transistor (PEFT) pipe is connected with steering engine.When first switch signal is low level, the conducting of P-channel field-effect transistor (PEFT) pipe,
Drive module 13 exports the drive signal VCC_FOOT of high level at this time, and control steering engine is opened, when first switch signal is high electricity
Usually, P-channel field-effect transistor (PEFT) pipe ends, and drive module 13 exports low level drive signal VCC_FOOT, control flaps organ at this time
Close.In other embodiments, when second switch pipe Q2 is N-channel field-effect tube, then when first switch signal is low level,
N-channel field-effect tube is ended, and drive module 13 exports low level drive signal VCC_FOOT at this time, and control flaps organ closes, when
When first switch signal is high level, the conducting of N-channel field-effect tube, the drive signal of the high level of the output of drive module 13 at this time
VCC_FOOT, control steering engine are opened.Wherein, second switch pipe Q2 is alternatively other kinds of switching device, such as insulated gate bipolar
Transistor, as long as the function identical with the present invention can be realized.
Adjustment module 14 includes：3rd resistor R3, the 4th resistance R4 and the 3rd capacitance C3；The first end of 3rd resistor R3 with
Switch module 11 connects, and for receiving first switch signal, the second end of 3rd resistor R3 is connected with drive module 13, specifically
Ground, the second end of 3rd resistor R2 are connected with the control terminal of second switch pipe Q2, and the 4th resistance R4 and the 3rd capacitance C3 are connected in parallel on
Between the second end and power module 12 of 3rd resistor R3.
In the present embodiment, 3rd resistor R3 and the 4th resistance R4 compositions bleeder circuit, 3rd resistor R3 and the 4th resistance
The resistance value of R4 determines partial pressure by Ohm's law, for ensuring that second switch pipe is in fully open state, wherein, 3rd resistor
The resistance value of R3 is that the resistance value of 10K Ω, the 4th resistance R4 are that 100K Ω, 3rd resistor R3 and the 3rd capacitance C3 form RC electric discharge electricity
Road, the first end of the 3rd capacitance C3 are connected with power module 11, the second end of the 3rd capacitance C3 and the control of second switch pipe Q2
End connection, and the second end of the 3rd capacitance C3 is connected by 3rd resistor with the input terminal of first switch pipe Q1, the 3rd capacitance C3
The too small powered on moment that can cause steering engine electrification circuit of capacitance electric current it is excessive, and the capacitance of the 3rd capacitance C3 is excessive, can lead
Cause the available machine time of steering engine elongated and influence the use of steering gear system, the capacitance of the 3rd capacitance C3 is the μ F of 1.8 μ F~3.0, preferably
Ground, the capacitance of the 3rd capacitance C3 are 2.2 μ F, and adjustment module 14 is used for the slow unlatching for controlling second switch pipe Q2, avoid because
The quick opening of second switch pipe Q2, the high current that moment occurs drag down output voltage, reduce second switch pipe Q2 due to wink
Between the high current that occurs and be risk of damage to.
Referring to Fig. 3, when switch controlling signal is high level, drive module 13 exports the drive signal VCC_ of high level
FOOT, so as to drive steering engine to open, the magnitude of voltage uphill process of drive signal VCC_FOOT is smooth, and the rise time is about 34ms.
Illustrate the operation principle of steering engine electrification circuit of the embodiment of the present invention with reference to Fig. 1 and Fig. 3：
When switch controlling signal is high level, the first capacitance C1 chargings, when the magnitude of voltage of the second end of the first capacitance C1
When reaching the conducting voltage of first switch pipe Q1 (N-channel field-effect tube), first switch pipe Q1 (N-channel field-effect tube) conductings,
The input terminal voltage (drain voltage) of first switch pipe (N-channel field-effect tube) is pulled low, and switch module 11 exports first switch
Signal, first switch signal are low level, and at this time, the 3rd capacitance C3 starts to discharge, discharge time and the capacitance of the 3rd capacitance C3
Size is related, it is preferable that the capacitance of the 3rd capacitance is 2.2 μ F, and the magnitude of voltage of the second end of the 3rd capacitance C3 is with discharge process
Generation and gradually reduce, when discharge process terminates, then the second end of the 3rd capacitance C3 exports low level to second switch pipe Q2
The control terminal (grid) of (P-channel field-effect transistor (PEFT) pipe) so that the second switch pipe Q2 of connection power module 11 and steering engine is slowly opened,
Drive module 13 exports the drive signal VCC_FOOT of high level, and the magnitude of voltage uphill process of drive signal VCC_FOOT is smooth,
Drive signal VCC_FOOT driving steering engines are opened.
The invention also discloses a kind of robot, robot includes steering engine and above-mentioned steering engine electrification circuit.
Above-mentioned steering engine electrification circuit, switch module 11 receive steering engine switch controlling signal and export first switch signal,
Drive module 13 receives first switch signal and output drive signal is to drive steering engine to be turned on and off, and adjustment module 14 is to first
Switching signal is adjusted such that the magnitude of voltage of drive signal smoothly rises when steering engine is opened, so as to optimize the flat of power supply electrifying
Slippery.The present invention solves the problems, such as that powered on moment electric current is excessive existing for steering engine electrification circuit, avoids the big of powered on moment
The problem of servo driving voltage is pulled low caused by electric current, reduces switch element in steering engine electrification circuit and is risk of damage to.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of steering engine electrification circuit, is connected between DC power supply and steering engine, it is characterised in that including：
For receiving switch controlling signal and the switch module of first switch signal being exported according to the switch controlling signal；
For accessing the power module of the DC power supply；
It is connected with the power module and the steering engine, for receiving the first switch signal and output drive signal so that institute
State the drive module of steering engine unlatching/closing；And
It is connected with the switch module, the power module and the drive module, for being carried out to the first switch signal
Adjust so that the adjustment module that the magnitude of voltage of the drive signal smoothly rises when the steering engine is opened.
2. steering engine electrification circuit as claimed in claim 1, it is characterised in that the drive signal is voltage drive signals.
3. steering engine electrification circuit as claimed in claim 1, it is characterised in that the switch module includes：First resistor, second
Resistance, the first capacitance and first switch pipe；
The first end of the first resistor is used to receive the switch controlling signal, the second end of the first resistor and described the
The control terminal connection of one switching tube, the second resistance and first capacitance be connected in parallel on the control terminal of the first switch pipe with
Between ground, the input terminal of the first switch pipe exports the first switch signal, the output head grounding of the first switch pipe.
4. steering engine electrification circuit as claimed in claim 3, it is characterised in that the first switch pipe is N-channel field-effect tube,
Grid, drain electrode and the source electrode of the N-channel field-effect tube correspond to the control terminal of the first switch pipe, input terminal and defeated respectively
Outlet.
5. steering engine electrification circuit as claimed in claim 1, it is characterised in that the power module includes the second capacitance, described
The first end of second capacitance is connected with the DC power supply, the second end ground connection of second capacitance.
6. steering engine electrification circuit as claimed in claim 1, it is characterised in that the drive module includes second switch pipe, institute
The control terminal for stating second switch pipe receives the first switch signal, input terminal and the power module of the second switch pipe
Connection, the output terminal of the second switch pipe are connected with the steering engine.
7. steering engine electrification circuit as claimed in claim 6, it is characterised in that the second switch pipe is P-channel field-effect transistor (PEFT) pipe,
Grid, drain electrode and the source electrode of the P-channel field-effect transistor (PEFT) pipe correspond to the control terminal of the second switch pipe, input terminal and defeated respectively
Outlet.
8. steering engine electrification circuit as claimed in claim 1, it is characterised in that the adjustment module includes：3rd resistor, the 4th
Resistance and the 3rd capacitance；
The first end of the 3rd resistor is connected with the switch module, the second end of the 3rd resistor and the drive module
Connection, the 4th resistance and the 3rd capacitance are connected in parallel between the second end of the 3rd resistor and the power module.
9. steering engine electrification circuit as claimed in claim 8, it is characterised in that the capacitance of the 3rd capacitance is 1.8~3.0 μ
F。
10. a kind of robot, it is characterised in that the robot includes steering engine and claim 1~9 any one of them rudder
Machine electrification circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486254.9A CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486254.9A CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107947772A true CN107947772A (en) | 2018-04-20 |
| CN107947772B CN107947772B (en) | 2023-07-14 |
Family
ID=61937099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711486254.9A Active CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107947772B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026215A (en) * | 2019-12-04 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Power-on control circuit and power-on control system of steering engine |
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| Publication number | Publication date |
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| CN107947772B (en) | 2023-07-14 |
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