CN108023510A - It is a kind of to let out energy circuit for servomotor braking - Google Patents
It is a kind of to let out energy circuit for servomotor braking Download PDFInfo
- Publication number
- CN108023510A CN108023510A CN201711453622.XA CN201711453622A CN108023510A CN 108023510 A CN108023510 A CN 108023510A CN 201711453622 A CN201711453622 A CN 201711453622A CN 108023510 A CN108023510 A CN 108023510A
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- China
- Prior art keywords
- amplifier
- resistance
- control signal
- voltage
- output terminal
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Classifications
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- 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details
-
- 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
Abstract
Present invention offer is a kind of to let out energy circuit, including DC voltage real-time sampling comparison module, relay control signal generation module, relay control module for servomotor braking；The output terminal of the DC voltage real-time sampling comparison module is connected with relay control signal generation module, and the output terminal of the relay control signal generation module is connected with relay control module.Circuit of the present invention is small, simple in structure, has not only fully ensured that the stabilization of motor control performance, but also without additionally increasing the volume of robot, be easily installed；Motor servo driver need not be connected, control terminal is used as by robot controller, it is reliable and stable, be effectively ensured with people it is co-melting cooperate robot can safe operation in the operating mode of retarding braking.
Description
Technical field
The present invention relates to servomotor brake control art, and in particular to a kind of to let out energy for servomotor braking
Circuit.
Background technology
Use servomotor to provide power for each joint of mechanical arm with the co-melting robot that cooperates of people, run in robot
Cheng Zhong, the operating mode of certain joint retarding braking are inevitable.When motor is in retarding braking working status, servomotor is operated in
Generating state, the acceleration of deceleration is bigger, and generating voltage is higher, if normal power voltage still acts on servomotor at this time
On, then the DC voltage on motor driver inverter circuit will be equal to the sum of generating voltage and power supply voltage, much
Higher than normal working voltage, by the power device caused in inverter circuit because more than rated operational voltage and caused by damage, finally
Cause motor can not driven.Also, since the DC voltage of motor driver inverter circuit is more than supply voltage, then can
Electric current is caused inversely to pour into power supply, it will to cause power supply to enter self-protection state, seriously then burn power supply.
According to traditional electromagnetic braking mode, i.e., pin the axis of motor by mechanical device, this scheme ease of Use, but
That associated mechanical device is installed to need sufficiently large physical space, will so increase with the volume of the co-melting robot that cooperates of people and
Weight, against the design original intention that the humanoid robot is portable and smart, and can seriously affect the deceleration control performance of servomotor.
The content of the invention
(1) technical problem solved
The present invention in order to overcome above-mentioned servomotor during retarding braking because power generation and caused by harmful effect the defects of
Problem, there is provided it is a kind of to let out energy circuit for servomotor braking, not only fully ensured that the stabilization of motor control performance, but also need not
The volume of extra increase robot, is easily installed；Be effectively ensured with people it is co-melting cooperate robot can safe operation in slow down make
Dynamic operating mode.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：
It is a kind of to let out energy circuit, including DC voltage real-time sampling comparison module, relay for servomotor braking
Control signal generation module, relay control module；The output terminal and relay of the DC voltage real-time sampling comparison module
Device control signal generation module is connected, output terminal and the relay control module phase of the relay control signal generation module
Even.
Further, DC voltage is passed through electric resistance partial pressure, amplifier by the DC voltage real-time sampling comparison module
After burning voltage signal, isolated by linear optical coupling, the voltage signal after isolation is followed again by amplifier, is obtained
DC voltage sampled signal, voltage sampling signal is compared with reference voltage V ref, output control signal Vo.
Further, the DC voltage real-time sampling comparison module includes resistance R1, R2, R3, R4, R5, R6, amplifier
U1, U3, U4, linear optical coupling U2, capacitance C1；+ 48V supply voltages are grounded by resistance R1, R2, and resistance R1, R2 common port pass through
Resistance R3 is connected with the inverting input of amplifier U1, the in-phase input end of amplifier U1 ground connection, the inverting input of amplifier U1 with it is defeated
Outlet is connected；The output terminal of amplifier U1 is connected by resistance R4 with 1 foot of linear optical coupling U2, and 2 feet of linear optical coupling U2 connect+5V electricity
Source, the 2 feet ground connection of linear optical coupling U2,4 feet of linear optical coupling U2 are connected with the output terminal of amplifier U1, and 5 feet of linear optical coupling U2 connect
Ground is simultaneously connected with the in-phase input end of amplifier U3, and 6 feet of linear optical coupling U2 are connected with the inverting input of amplifier U3；Amplifier U3's
Inverting input is connected by resistance R5, capacitance C3 with the output terminal of amplifier U3 respectively, and the output terminal of amplifier U3 is with amplifier U4's
In-phase input end is connected, and the inverting input of amplifier U4 is connected with reference voltage V ref, and+5V power supplys are by resistance R6 and amplifier U4
Output terminal be connected and export signal output control signal Vo.
Further, the amplifier U1 is LM358, and amplifier U3 is LM358, and amplifier U4 is LM339.
Further, the linear optical coupling is HCNR200.
Further, the relay control signal generation module includes output control signal Vo, resistance R7, R8 ,+5V electricity
Source, optocoupler U5, capacitance C2 ,+24V power supplys；+ 5V power supplys are connected by resistance R7 with 2 feet of optocoupler U5,3 feet of optocoupler U5 with it is defeated
Go out control signal Vo to be connected, the 5 feet ground connection of optocoupler U5,8 feet of optocoupler U5 are connected with+24V power supplys, between+24V power supplys and ground connect
It is connected to resistance R8, capacitance C2, resistance R8, the common port output control signal Vo1 of capacitance C2.
Further, the optocoupler U5 is HCPL-3120.
Further, the relay control module include output control signal Vo1, solid-state relay U6, diode D1,
D2, resistance R9 ,+48V power supplys；Solid-state is connected with output control signal Vo1 and ground respectively after the input terminal of U6, solid-state relay U6
An output head grounding, another output terminal of solid-state relay U6 is connected with resistance R9, diode D2 one end, resistance R9, two
The pole pipe D2 other ends are connected by diode D1 with+48V power supplys.
Further, the output terminal of the solid-state relay U6 is connected with the anode of diode D2.
Further, the cathode of the diode D2 is connected with the cathode of diode D1, anode and the+48V of diode D1
Power supply is connected.
(3) beneficial effect
Beneficial effects of the present invention：It is a kind of for servomotor braking let out can circuit, it is small, simple in structure, both filled
Divide the stabilization that ensure that motor control performance, and without additionally increasing the volume of robot, be easily installed；Servo electricity need not be connected
Machine driver, is used as control terminal by robot controller, reliable and stable, and being effectively ensured can with the co-melting robot that cooperates of people
Safe operation is in the operating mode of retarding braking.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is principle of the invention block diagram；
Fig. 2 is DC voltage real-time sampling comparison module circuit diagram；
Fig. 3 is relay control signal generation module circuit diagram；
Fig. 4 is relay control module circuit diagram.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
It is a kind of to let out energy circuit for servomotor braking with reference to Fig. 1, including DC voltage real-time sampling compares mould
Block, relay control signal generation module, relay control module；The output terminal of DC voltage real-time sampling comparison module with
Relay control signal generation module is connected, output terminal and the relay control module phase of relay control signal generation module
Even.
DC voltage real-time sampling comparison module obtains DC voltage by electric resistance partial pressure to be suitable for amplifier work
Voltage signal, after amplifier burning voltage signal, isolated by linear optical coupling, obtained voltage signal after isolation
Followed again by amplifier, obtain final DC voltage sampled signal, voltage sampling signal and reference voltage V ref
It is compared, if more than reference voltage, then output control signal Vo.
With reference to Fig. 2, DC voltage real-time sampling comparison module includes resistance R1, R2, R3, R4, R5, R6, amplifier U1,
U3, U4, linear optical coupling U2, capacitance C1；+ 48V supply voltages are grounded by resistance R1, R2, and resistance R1, R2 common port pass through resistance
R3 is connected with the inverting input of amplifier U1, the in-phase input end ground connection of amplifier U1, the inverting input and output terminal of amplifier U1
It is connected；The output terminal of amplifier U1 is connected by resistance R4 with 1 foot of linear optical coupling U2, and 2 feet of linear optical coupling U2 connect+5V power supplys,
The 2 feet ground connection of linear optical coupling U2,4 feet of linear optical coupling U2 are connected with the output terminal of amplifier U1, and the 5 feet ground connection of linear optical coupling U2 is simultaneously
It is connected with the in-phase input end of amplifier U3,6 feet of linear optical coupling U2 are connected with the inverting input of amplifier U3；Amplifier U3's is anti-phase
Input terminal is connected by resistance R5, capacitance C3 with the output terminal of amplifier U3 respectively, the output terminal of amplifier U3 and the same phase of amplifier U4
Input terminal is connected, and the inverting input of amplifier U4 is connected with reference voltage V ref, and+5V power supplys are defeated by resistance R6 and amplifier U4's
Outlet is connected and exports signal output control signal Vo.Amplifier U1 can be LM358, and amplifier U3 can be LM358, and amplifier U4 can
Think LM339；Linear optical coupling U2 can be HCNR200.
Relay control signal generation module passes through DC voltage real-time sampling comparison module output control signal Vo
After driving light-coupled isolation amplification, the I/O mouths of robot controller are inputted, robot controller is after the signal is identified, output control
Signal Vo1 processed.
With reference to Fig. 3, relay control signal generation module includes output control signal Vo, resistance R7, R8 ,+5V power supplys, light
Coupling U5, capacitance C2 ,+24V power supplys；+ 5V power supplys are connected by resistance R7 with 2 feet of optocoupler U5,3 feet and output control of optocoupler U5
Signal Vo is connected, and the 5 feet ground connection of optocoupler U5,8 feet of optocoupler U5 are connected with+24V power supplys, and electricity is connected between+24V power supplys and ground
Hinder R8, capacitance C2, resistance R8, the common port output control signal Vo1 of capacitance C2.Optocoupler U5 can be HCPL-3120.
With reference to Fig. 4, relay control module includes output control signal Vo1, solid-state relay U6, diode D1, D2, electricity
Hinder R9 ,+48V power supplys；Solid-state is connected with output control signal Vo1 and ground respectively after the input terminal of U6, and the one of solid-state relay U6
A output head grounding, another output terminal of solid-state relay U6 are connected with resistance R9, diode D2 one end, resistance R9, diode
The D2 other ends are connected by diode D1 with+48V power supplys.The output terminal of solid-state relay U6 is connected with the anode of diode D2,
The cathode of diode D2 is connected with the cathode of diode D1, and the anode of diode D1 is connected with+48V power supplys.
Diode D1 is added in the output terminal of+48V power supplys, when normally opened failure occurs in solid-state relay, even if servo
Electric power generation so that DC voltage is higher than supply voltage, electric current will not occurs and pour in down a chimney phenomenon into power supply, so that maximum journey
The normal work of power supply is protected on degree.When solid-state relay works normally, if receiving the control signal of robot controller
Vo1, solid-state relay conducting, then whole control circuit is to be formed to let out energy circuit by braking resistor R9.
During specific works, this circuit is installed between power supply and robot controller, without being driven with the motor in each joint
Dynamic device is connected.
Real-time sampling is carried out to supply voltage first, after the voltage signal adopted is nursed one's health, with reference voltage V ref
Compare, wherein, by calculating the scaling of sampled voltage, by the maximum working voltage of servomotor controller in this ratio
Zoom in and out, obtain actual reference voltage.If measurement voltage is higher than reference voltage, corresponding control signal Vo is exported, should
Signal enters robot controller.
Then logic judgment is carried out to the input signal by robot controller, if being judged as true, one relay of output
The control signal of device is to closing relay.
Relay selected a kind of solid-state relay of higher performance (SOLIDSTATERELAYS, following shorthand into
" SSR "), it is a kind of new noncontacting switch device being all made of solid state electrical components, it (is such as opened using electronic component
Close triode, the semiconductor devices such as bidirectional triode thyristor) switching characteristic, with can reach contactless no-spark make-and-break contact
Purpose, therefore be otherwise known as " noncontacting switch ".Solid-state relay is a kind of four end active devices, and two of which terminal is defeated
Enter control terminal, in addition both ends are its existing amplification driving effect of output-controlled end, and have buffer action, are well suited for driving big work(
Rate switching regulator executing agency, than electromagnetic relay reliability higher, and contactless, long lifespan, speed are fast, to extraneous interference
Also it is small.It is very suitable for letting out energy circuit with the braking of the servomotor of the co-melting robot that cooperates of people.
Finally, energy circuit turn-on is let out by what power supply, braking resistor and relay were in series for one, braking resistor is fast at this time
Speed consumption electric energy, being higher by the electric energy of controller normal working voltage will be discharged by braking resistor, until DC side electricity
Pressure recovers normal working voltage, relay shut-off, and power resistor stops consumption electric energy.
In conclusion the embodiment of the present invention, lets out energy circuit for servomotor braking, passes through real-time sampling DC side electricity
Pressure, then compared with reference voltage, obtained control signal inputs robot controller after optocoupler of overdriving；Machine
People's controller independently carries out logic judgment, the control signal of final output SSR, for control let out can circuit work whether.Root
According to the practice occasion of circuit, the suitable resistance value of braking resistor and power are selected, you can complete servomotor retarding braking
When let out and can work, efficiently solve because motor braking power generation is to harm caused by controller and power supply, and do not influence machine
The working performance of people's controller and motor driver.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each implementation
Technical solution described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical solution.
Claims (10)
1. a kind of let out energy circuit for servomotor braking, it is characterised in that：Compare mould including DC voltage real-time sampling
Block, relay control signal generation module, relay control module；The output of the DC voltage real-time sampling comparison module
End is connected with relay control signal generation module, and output terminal and the relay of the relay control signal generation module control
Module is connected.
2. a kind of as claimed in claim 1 let out energy circuit for servomotor braking, it is characterised in that the DC side electricity
Press real-time sampling comparison module by DC voltage after electric resistance partial pressure, amplifier burning voltage signal, by linear optical coupling into
Row isolation, the voltage signal after isolation are followed again by amplifier, obtain DC voltage sampled signal, voltage sample letter
Number compared with reference voltage V ref, output control signal Vo.
3. a kind of as claimed in claim 2 let out energy circuit for servomotor braking, it is characterised in that the DC side electricity
Pressure real-time sampling comparison module includes resistance R1, R2, R3, R4, R5, R6, amplifier U1, U3, U4, linear optical coupling U2, capacitance C1；+
48V supply voltages are grounded by resistance R1, R2, and resistance R1, R2 common port pass through the inverting input phase of resistance R3 and amplifier U1
Even, the in-phase input end ground connection of amplifier U1, the inverting input of amplifier U1 are connected with output terminal；The output terminal of amplifier U1 passes through electricity
Resistance R4 is connected with 1 foot of linear optical coupling U2, and 2 feet of linear optical coupling U2 connect+5V power supplys, the 2 feet ground connection of linear optical coupling U2, linear light
4 feet of coupling U2 are connected with the output terminal of amplifier U1, and 5 feet of linear optical coupling U2 are grounded and are connected with the in-phase input end of amplifier U3,
6 feet of linear optical coupling U2 are connected with the inverting input of amplifier U3；The inverting input of amplifier U3 passes through resistance R5, capacitance respectively
C3 is connected with the output terminal of amplifier U3, and the output terminal of amplifier U3 is connected with the in-phase input end of amplifier U4, and amplifier U4's is anti-phase defeated
Enter end with reference voltage V ref to be connected ,+5V power supplys are connected with the output terminal of amplifier U4 by resistance R6 and export signal output control
Signal Vo processed.
4. it is as claimed in claim 3 it is a kind of can circuit for letting out for servomotor braking, it is characterised in that the amplifier U1 is
LM358, amplifier U3 are LM358, and amplifier U4 is LM339.
5. a kind of as claimed in claim 3 let out energy circuit for servomotor braking, it is characterised in that the linear optical coupling
For HCNR200.
6. a kind of as claimed in claim 1 let out energy circuit for servomotor braking, it is characterised in that the relay control
Signal generator module processed includes output control signal Vo, resistance R7, R8 ,+5V power supplys, optocoupler U5, capacitance C2 ,+24V power supplys；+5V
Power supply is connected by resistance R7 with 2 feet of optocoupler U5, and 3 feet of optocoupler U5 are connected with output control signal Vo, and 5 feet of optocoupler U5 connect
Ground, 8 feet of optocoupler U5 are connected with+24V power supplys, and resistance R8, capacitance C2, resistance R8, capacitance are connected between+24V power supplys and ground
The common port output control signal Vo1 of C2.
7. it is as claimed in claim 6 it is a kind of can circuit for letting out for servomotor braking, it is characterised in that the optocoupler U5 is
HCPL-3120。
8. a kind of as claimed in claim 1 let out energy circuit for servomotor braking, it is characterised in that the relay control
Molding block includes output control signal Vo1, solid-state relay U6, diode D1, D2, resistance R9 ,+48V power supplys；Solid-state is after U6's
Input terminal is connected with output control signal Vo1 and ground respectively, an output head grounding of solid-state relay U6, solid-state relay U6
Another output terminal be connected with resistance R9, diode D2 one end, resistance R9, the diode D2 other ends pass through diode D1 and+48V
Power supply is connected.
9. a kind of as claimed in claim 8 let out energy circuit for servomotor braking, it is characterised in that the solid-state relay
The output terminal of device U6 is connected with the anode of diode D2.
10. a kind of as claimed in claim 8 let out energy circuit for servomotor braking, it is characterised in that the diode
The cathode of D2 is connected with the cathode of diode D1, and the anode of diode D1 is connected with+48V power supplys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453622.XA CN108023510A (en) | 2017-12-28 | 2017-12-28 | It is a kind of to let out energy circuit for servomotor braking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453622.XA CN108023510A (en) | 2017-12-28 | 2017-12-28 | It is a kind of to let out energy circuit for servomotor braking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108023510A true CN108023510A (en) | 2018-05-11 |
Family
ID=62072154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711453622.XA Pending CN108023510A (en) | 2017-12-28 | 2017-12-28 | It is a kind of to let out energy circuit for servomotor braking |
Country Status (1)
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| CN (1) | CN108023510A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900947A (en) * | 2019-04-11 | 2019-06-18 | 湘潭大学 | A kind of isolation voltage sample circuit for PWM rectifier |
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