CN109698644A - A kind of brushless motor driver module and fruit juice robot peel juicing system - Google Patents
A kind of brushless motor driver module and fruit juice robot peel juicing system Download PDFInfo
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- CN109698644A CN109698644A CN201710990438.2A CN201710990438A CN109698644A CN 109698644 A CN109698644 A CN 109698644A CN 201710990438 A CN201710990438 A CN 201710990438A CN 109698644 A CN109698644 A CN 109698644A
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- 235000015203 fruit juice Nutrition 0.000 title claims abstract description 13
- 239000003990 capacitor Substances 0.000 claims description 37
- 235000013399 edible fruits Nutrition 0.000 claims description 32
- 239000002184 metal Substances 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 8
- 235000011389 fruit/vegetable juice Nutrition 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 102100023941 G-protein-signaling modulator 2 Human genes 0.000 description 17
- 101000904754 Homo sapiens G-protein-signaling modulator 2 Proteins 0.000 description 17
- 239000000470 constituent Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N1/00—Machines or apparatus for extracting juice
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N7/00—Peeling vegetables or fruit
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
-
- 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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
It peels juicing system the invention discloses a kind of brushless motor driver module and fruit juice robot, drive module includes: main control unit, is connected to motor, and with obtaining motor hall signal, and exports three-phase pulse signal and threephase switch signal；Hall power supply unit, for carrying out to the Hall power supply got from motor with reference to setting, so that main control unit obtains more stable motor hall signal；Driving unit is connect with the main control unit and motor, for receiving the threephase switch signal, and the three-phase pulse signal is exported to motor and is worked with driving motor.The present invention can drive brshless DC motor to operate, and whole system is not only easy to operate, and reliable and stable, and save cost and be adapted to various types of brshless DC motors, be with a wide range of applications.
Description
Technical field
It peels juicing the present invention relates to juicing field more particularly to a kind of brushless motor driver module and fruit juice robot
System.
Background technique
Fruit juice robot as a kind of very high product of the degree of automation, can fresh fruit in face of client with
The fruit juice for tasty is squeezed after time peeling short enough.And stream is peeled and squeezed to fruit in the completion of fruit juice robot
Cheng Hou needs to design intelligence, spirit to guarantee that consumer can take a scyhus amount, palatable, clean and delicious fresh juices
Living, effective and high performance juicing system of peeling.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of brushless motor drive
Dynamic model block and fruit juice robot peel juicing system.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of brushless motor driver module, applies
In juice extractor for realizing peel, the motor of juicing function, comprising:
Main control unit is connected to motor, and with motor hall signal is obtained, and exports three-phase pulse signal and threephase switch
Signal；
Hall power supply unit, for carrying out to the Hall power supply got from motor with reference to setting, so that main control unit obtains
Obtain more stable motor hall signal；
Driving unit is connect with the main control unit and motor, for receiving the threephase switch signal, and will be described
Three-phase pulse signal is exported to motor and is worked with driving motor.
In brushless motor driver module of the present invention, the Hall power supply unit includes:
Power supply subelement, for providing reference voltage for motor hall signal；
Hall refers to subelement, connect with the power supply subelement, is used for according to the reference voltage, to getting suddenly
Your power supply is carried out with reference to setting, so that main control module obtains more stable motor hall signal.
In brushless motor driver module of the present invention, the brushless motor driver module further includes and the power supply
The feedback unit of unit connection, for feeding back the working condition of motor.
In brushless motor driver module of the present invention, the power supply subelement includes that 24V power supply turns 5V power supply
The input of voltage conversion chip and inductance, voltage conversion chip terminates 24V power supply, and the output end of voltage conversion chip is via inductance
5V power supply is exported to Hall with reference to subelement.
In brushless motor driver module of the present invention, the Hall includes first switch tube, the with reference to subelement
Two switching tubes, first resistor, second resistance, first capacitor, 3rd resistor, the Hall of the control terminal connection motor of first switch tube
Module, the output end ground connection of first switch tube, the input terminal of first switch tube connect the control of second switch via first resistor
End processed, for the input terminal of first switch tube also via the input terminal of second resistance connection second switch, first capacitor is connected to the
Between the control terminal and input terminal of two switching tubes, the control terminal of second switch connects the Hall mould of motor via 3rd resistor
Block.
In brushless motor driver module of the present invention, the driving unit includes three half-bridge circuits, Mei Gesuo
Stating half-bridge circuit includes switch on the bridge pipe, bridge switch pipe, upper bridge input resistance, lower bridge input resistance, first diode, first
Filter capacitor, the first filter resistance, the second filter capacitor；
Wherein, the input terminal of switch on the bridge pipe connects 24V power supply, the output end ground connection of bridge switch pipe, switch on the bridge pipe
Output end connect with the input terminal of bridge switch pipe with master control subelement with receive the phase pulse in three-phase pulse signal letter
Number, switch on the bridge pipe, bridge switch pipe control terminal respectively via corresponding upper bridge input resistance, lower bridge input resistance connection master
Subelement is controlled to receive the phase switching signal in threephase switch signal, the first filter capacitor, the first filter resistance are all connected to
Between the control terminal and output end of switch on the bridge pipe, the second filter capacitor be connected to bridge switch pipe control terminal and output end it
Between, first diode and the inverse parallel of bridge switch pipe.
In brushless motor driver module of the present invention, the driving unit further includes current-limiting resistance, three half-bridges
The output end of bridge switch pipe in circuit is commonly connected to the first end of the current-limiting resistance, the first end of the current-limiting resistance
It is connect with the master control subelement to receive current limit signal, the second end ground connection of the current-limiting resistance.
In brushless motor driver module of the present invention, the main control unit includes motor driving chip, and motor drives
The Hall module of the three-phase input end connection motor of dynamic chip is to receive motor hall signal, the three-phase output of motor driving chip
End is connect to export the three-phase pulse signal with driving unit and motor, and the enabled pin of motor driving chip and direction are drawn
Foot is connect with host computer, and the threephase switch pin of motor driving chip is connect to export the threephase switch letter with driving unit
Number.
The present invention is also claimed a kind of fruit juice robot and peels juicing system, including sensor unit, master control system, institute
Stating master control system includes host computer, mould group of peeling, juicing mould group, crawl arm movement mould group, the mould group of peeling, the juicing mould
Group includes the brushless motor driver module and brushless motor connecting with the host computer；
Wherein, the sensor unit includes:
Photoinduction sensor is placed in the front end of crawl arm, when for having fruit on detecting the position for placing fruit
Feedback signal is to master control system；
Metal contact sensor is equipped with corresponding metal positioned at the side of crawl arm, and in the inlet of juicing mould group
Block, when crawl arm motional induction position by cooperating feedback signal to master control system with metal block；
Liquid level sensor, for detecting whether the capacity connect in succulent fruits cup reaches requirement, when the liquid level connect in succulent fruits cup arrives
Up to feedback signal when height is arranged to master control system；
Wherein, master control system is used in photoinduction sensor feedback signal, and control crawl arm grabs fruit, and controls and grab
The stepper motor in arm movement mould group is taken to drive crawl arm to move to juicing mould group and control mould group pair of peeling during the motion
Fruit is peeled；It is also used in metal contact sensor feedback signal, controls crawl arm stop motion and controls crawl
Arm discharges fruit, while once being corrected to the motor of stepper motor point, and the driving of control stepper motor is grabbed after calibration
Arm is taken to be back to the position of crawl fruit；It is also used in liquid level sensor feedback signal, it is dynamic that control juicing mould group stops juicing
Make；
Wherein, the stepper motor drive module in crawl arm movement mould group is also used to drive the unit of the stepper motor
Pulse carries out N equal part, to reduce the minimum step angle of stepper motor.
Implement brushless motor driver module and fruit juice robot of the invention to peel juicing system, have below beneficial to effect
Fruit: the present invention can drive brshless DC motor to operate, and whole system is not only easy to operate, and reliable and stable, and save at
This is simultaneously adapted to various types of brshless DC motors, is with a wide range of applications；Juicing system of peeling of the invention, in conjunction with more
Kind of sensor realize fruit detect, grab, removing the peel, a series of controls of squeezing the juice, and the drive scheme of stepper motor is changed
Into reducing the minimum step angle of stepper motor, provide control precision, and run to metal contact sensing each time in motor
When the sensed position of device, the motor point of stepper motor is once corrected, can prevent stepper motor prolonged exercise from being formed
Cumulative errors.
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
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings:
Fig. 1 is the structural schematic diagram in the preferred embodiment of brushless motor driver module of the present invention；
Fig. 2 is the structural schematic diagram of the power supply subelement in preferred embodiment；
Fig. 3 is structural schematic diagram of the Hall in preferred embodiment with reference to subelement；
Fig. 4 is the structural schematic diagram of the main control unit in preferred embodiment；
Fig. 5 is the structural schematic diagram of the driving unit in preferred embodiment；
Fig. 6 is the structural schematic diagram of the feedback unit in preferred embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give exemplary embodiments of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
It should be noted that herein presented " connected " or " connection ", not only includes being connected directly two entities,
It also include being indirectly connected by having other entities beneficial to improvement.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
" first ", " second " used in this specification etc. includes that the term of ordinal number can be used for illustrating various constituent elements,
But these constituent elements are not limited by these terms.It is only that using the purpose of these terms and distinguishes a constituent element
In other constituent elements.For example, first constituent element can be named as under the premise of not departing from interest field of the invention
Two constituent elements, similarly, the second constituent element can also be named as the first constituent element.
The total design of the present invention is: construct a kind of brushless motor driver module, applied to juice extractor for realizing peel,
The motor for function of squeezing the juice, drive module specifically includes that main control unit, is connected to motor, and with obtaining motor hall signal, and exports
Three-phase pulse signal and threephase switch signal；Hall power supply unit, for being joined to the Hall power supply got from motor
Setting is examined, so that main control unit obtains more stable motor hall signal；Driving unit connects with the main control unit and motor
It connects, for receiving the threephase switch signal, and the three-phase pulse signal is exported to motor and is worked with driving motor.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
It states technical solution to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application
The detailed description of technical solution, rather than the restriction to technical scheme, in the absence of conflict, the present invention are implemented
Technical characteristic in example and embodiment can be combined with each other.
With reference to Fig. 1, in preferred embodiment, brushless motor driver module specifically includes that main control unit 200, Hall power supply list
Member 100, driving unit 300, feedback unit 400.Wherein, Hall power supply unit 100 specifically includes power supply subelement 110 and Hall
With reference to subelement 120.
Wherein, power supply subelement 110 is used to provide reference voltage for motor hall signal；Hall refers to subelement 120, with
The power supply subelement 110 connects, for carrying out referring to setting to the Hall power supply got according to the reference voltage, with
Just main control module obtains more stable motor hall signal；Main control unit 200, is connected to motor, with obtain motor hall signal,
And export three-phase pulse signal and threephase switch signal；Driving unit 300 is connect with the main control unit 200 and motor,
For receiving the threephase switch signal, and the three-phase pulse signal is exported to motor and is worked with driving motor；Feedback
Member 400 is for feeding back the working condition of motor.
Specifically, power supply subelement 110 realizes that 24V power supply+VCC24 arrives the conversion of 5V power supply+VCC5.Wherein ,+VCC5V
It is mainly used to provide reference voltage to motor hall signal.With reference to Fig. 2, power supply subelement 110 includes the voltage conversion that 24V turns 5V
Chip PU1, diode PD1, light emitting LED lamp LED1, resistance PR2, resistance PR3, inductance PL1, capacitor PC1-PC6；Voltage conversion
The model of chip PU1 is specially TPS5430.
No. 7 feet of chip PU1 meet+VCC24, and VIN foot is also grounded through capacitor PC1, capacitor PC2 respectively, and No. 4 of chip PU1
Foot is grounded through capacitor PC6, resistance PR3 respectively, 6, No. 9 pin ground connection.1, capacitor PC3 is connected between No. 8 pins, No. 8 pins connect
Connect the cathode of diode PD1 and the first end of inductance PL1, the plus earth of diode PD1, the second end of inductance PL1 via
Capacitor PC4 ground connection, the second end of inductance PL1 are also grounded via polar capacitor PC5, and the second end of inductance PL1 is also via resistance PR1
It is connected to the anode of LED1, the cathode ground connection of LED1, the second end of inductance PL1 is also via No. 4 of resistance PR23 connection chip PU1
Foot, the second end output+VCC5 of inductance PL1.
With reference to Fig. 3, Hall with reference to subelement 120 include the triode Q8 of NPN type, the triode Q7 of positive-negative-positive, resistance R30,
Resistance R29, capacitor C27, resistance R31, the Hall module of the base stage connection motor of triode Q8, the emitter of triode Q8 connect
Ground, the collector of triode Q8 is via the base stage of resistance R30 connecting triode Q7, and the collector of triode Q8 is also via resistance
The emitter of R29 connecting triode Q7, capacitor C27 are connected between the base stage and emitter of triode Q7, the base of triode Q7
Pole via resistance R31 connection motor Hall module.
It is understood that the type and model of triode Q7, Q8 and with no restrictions, can also be replaced with other switching tubes
In generation, such as metal-oxide-semiconductor etc., these are all to belong to simple deformation of the invention.
With reference to Fig. 4, the main control unit 200 includes motor driving chip U1, resistance R2, R4, R5, resistance R7-R14, electricity
Hinder R17-22, capacitor C4, C5, C7, C8, C11, C12, C15, C16, C18, C20, C23, C24.Main control unit 200 directlys adopt
Motor driving chip, belongs to hardware IC, saves MCU, does not need the hall signal that MCU goes processing to get.
Specifically, 32,31,30 pins of the model LV8824 of motor driving chip U1, chip U1 correspond respectively
Connect external power supply via R8, R9, R2,32,31,30,29 pins of chip U1 also respectively correspondingly via R11, R12,
R13, R10 ground connection, capacitor C24 is connected between the 14 of chip U1, No. 15 pins, and capacitor C23 be connected to chip U1 No. 14 are drawn
Between foot and ground, capacitor C20 is connected between the 12 of chip U1, No. 13 pins, and capacitor C15 is connected to No. 9 pins of chip U1
Between ground, capacitor C16 is connected to No. 10 of chip U1 between pin and ground, and capacitor C18 is connected to the 8 of chip U1, No. 11 and draws
Between foot, capacitor C5 is connected between the 2 of chip U1, No. 3 pins, and capacitor C8 is connected between the 4 of chip U1, No. 5 pins, electricity
Hold C12 to be connected between the 6 of chip U1, No. 7 pins, capacitor C9 is connected to No. 1 of chip U1 between pin and ground.Chip U1's
No. 11 pins connect external power supply, No. 11 pins of the chip U1 first end with resistance R18, R19, R20, R21, R22, C18 respectively,
The second end of resistance R18 is grounded via resistance R5, and the second end of resistance R19 is grounded via capacitor C4, the second end warp of resistance R20
Be grounded by capacitor C7, the second end of resistance R21 is grounded via capacitor C11, the second end of resistance R22 respectively correspondingly via
No. 2 feet of resistance R4 connection chip U1, via No. 4 feet of resistance R7 connection chip U1, via the 6 of resistance R14 connection chip U1
Number foot, via No. 8 feet of resistance R17 connection chip U1.
No. 28 pins of chip U1 are connect with receiving direction signal with host computer, and No. 26 pins and host computer of chip U1 connect
It connects to receive enable signal.3,5,7 feet of chip U1 receive motor hall signal, 2,4,6 feet of chip U1 be each motor suddenly
17,20,23 feet of the reference signal of your signal, chip U1 export three-phase pulse signal, 16 and No. 18 pins, 19 and of chip U1
No. 21 pins, 22 and No. 24 pins export threephase switch signal.
With reference to Fig. 5, the driving unit 300 includes three half-bridge circuits 301,302 and 303, current-limiting resistance R28, electricity
R27, capacitor C26 are hindered, each half-bridge circuit includes switch on the bridge pipe Q1/Q3/Q5, bridge switch pipe Q2/Q4/Q6, the input of upper bridge
Resistance R1/R15/R24, lower bridge input resistance R6/R23/R26, diode D1/D2/D3, filter capacitor C2/C13/C21, filtering
Resistance R3/R16/R25, filter capacitor C6/C17/C25, filter capacitor C1/C10/C19.In the present embodiment, switching tube is
MOSFET, and MOSFET selects the N-type transistor of 60V 50A.
Wherein, the drain electrode connection of Q1/Q3/Q5 and is grounded 24V power supply+VCC24 via C1/C10/C19, Q2, Q4 and
The source electrode of Q6 is grounded after linking together by resistance R28, and the first end of R27 is grounded via C26 and is connected to chip U1's
25 feet, to receive current limit signal RF_A, the second end of R27 is connected between the source electrode of resistance R28 and Q2/Q4/Q6.Q1/Q3/Q5's
Source electrode is connect to receive the letter of the phase pulse in three-phase pulse signal with 17/20/23 foot of chip U1 with the drain electrode of Q2/Q4/Q6
Number, 18/21/24 foot of the grid of Q1/Q3/Q5 via corresponding R1/R15/R24 connection chip U1, the grid warp of Q2/Q4/Q6
By 16/19/22 foot of corresponding R6/R23/R26 connection chip U1, the grid difference of the grid of Q1 and Q2, Q3 and Q4, Q5 and Q6
A phase switching signal (each phase switching signal includes double switch signal) in reception threephase switch signal, C2/C13/C21,
R3/R16/R25 is all connected between the grid of Q1/Q3/Q5 and source electrode, and C6/C17/C25 is connected to grid and the source of Q2/Q4/Q6
Between pole, the anode of D1/D2/D3 and Q2/Q4/Q6 inverse parallel, i.e. D1/D2/D3 is connect with the source electrode of Q2/Q4/Q6, D1/D2/D3
Cathode and Q2/Q4/Q6 drain electrode connect.
Wherein, diode D1, D2, D3 is used to prevent from filling and press.Resistance R28 realizes current-limiting function, to protect circuit safety.Its
In, current limliting calculation formula isVRef=0.2V.By above formula, the output of this driving unit 300 can be set most
High-amperage meets the requirement of various motor driven designs with this.
With reference to Fig. 6, feedback unit 400 be mainly used to judge drive module whether work normally and motor status whether just
Often, can occur outside, signal can also be will test and be connected to main control unit 200 extremely to determine whether having by indicator light, to remind
200 driving unit 300 of main control unit or motor occur abnormal comprising resistance R32, resistance R33, LED light LED2, resistance
The anode of the second end connection LED2 of the first end link+VCC5, R32 of R32, resistance R33, the second end of R33 connect LED2
Cathode, the second end of R33 is additionally coupled to 27 feet of chip U1.
To sum up, when the present embodiment works, it is only necessary to by the signal of host computer, i.e. enable signal and direction signal, be connected to master
Brshless DC motor can be driven to operate on control unit 200, this drive scheme is not only easy to operate, and stabilization can
It leans on, and saves cost and be adapted to various types of brshless DC motors, be with a wide range of applications.
Based on the same inventive concept, the present invention is also claimed a kind of fruit juice robot and peels juicing system, the system
Including sensor unit, master control system, the master control system includes host computer, mould group of peeling, juicing mould group, crawl arm movement mould
Group, the mould group of peeling, the juicing mould group include the brushless motor driver module being connect with the host computer and
The brushless motor；
Wherein, the sensor unit includes:
Photoinduction sensor is placed in the front end of crawl arm, when for having fruit on detecting the position for placing fruit
Feedback signal is to master control system；
Metal contact sensor is equipped with corresponding metal positioned at the side of crawl arm, and in the inlet of juicing mould group
Block, when crawl arm motional induction position by cooperating feedback signal to master control system with metal block；
Liquid level sensor, for detecting whether the capacity connect in succulent fruits cup reaches requirement, when the liquid level connect in succulent fruits cup arrives
Up to feedback signal when height is arranged to master control system；
Wherein, master control system is used in photoinduction sensor feedback signal, and control crawl arm grabs fruit, and controls and grab
The stepper motor in arm movement mould group is taken to drive crawl arm to move to juicing mould group and control mould group pair of peeling during the motion
Fruit is peeled；It is also used in metal contact sensor feedback signal, controls crawl arm stop motion and controls crawl
Arm release fruit is so that fruit is just automatically fallen among juicing mould group, while being carried out to the motor of stepper motor point primary
Correction, and control stepper motor driving crawl arm is back to the position of crawl fruit after calibration；It is also used in liquid level sensor
When feedback signal, control juicing mould group stops juicing action；
Wherein, the stepper motor drive module in crawl arm movement mould group is also used to drive the unit of the stepper motor
Pulse carries out N equal part, and N is the positive integer greater than 1, such as N takes 16, to reduce the minimum step angle of stepper motor.
The origin of motor is located at metal contact sensor sensing position in the present invention, and each crawl arm returns to this position
That is origin of recoverable.The process that crawl fruit is returned to after crawl arm discharges fruit to juicing mould group, due to electricity
The angle that machine operates between fruit set-down location and metal contact sensor sensing position is fixed value.Therefore, in this mistake
The movement of Cheng Zhong, crawl arm complete this athletic performance by the number of stepper motor enabling pulse.For example, choosing 0.9 degree
Motor, i.e. 0.9 degree of each pulse step motor movement.For example, by using the drive scheme of 16 subdivisions, then each pulse
The angle of stepper motor movement is 0.9/16 degree.Angle between fruit placement location and metal contact sensor sensing position
Degree is 45 degree, then the umber of pulse N_CLK=45/ (0.9/16) that complete this section of distance needs is a.Just because of this, every hyposynchronization
An origin will be corrected when into motor movement to the position of metal contact inductor, can prevent stepper motor from transporting for a long time
It is dynamic to form cumulative errors.
Further, since brshless DC motor motor has better revolving speed and torque characteristics, higher dynamic response and effect
The advantages that rate, longer service life, noise-less operation, the higher range of speeds and reliable and firm construction, so this
This two parts of peeling and squeeze the juice of invention are using brshless DC motor.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of brushless motor driver module, applied to juice extractor for realizing peel, the motor of juicing function, feature exists
In, comprising:
Main control unit is connected to motor, with obtain motor hall signal, and export three-phase pulse signal and threephase switch letter
Number；
Hall power supply unit, for carrying out to the Hall power supply got from motor with reference to setting, so that main control unit obtains more
Stable motor hall signal；
Driving unit is connect with the main control unit and motor, for receiving the threephase switch signal, and by the three-phase
Output of pulse signal is worked to motor with driving motor.
2. brushless motor driver module according to claim 1, which is characterized in that the Hall power supply unit includes:
Power supply subelement, for providing reference voltage for motor hall signal；
Hall refers to subelement, connect with the power supply subelement, is used for according to the reference voltage, to the Hall electricity got
Source is carried out with reference to setting, so that main control module obtains more stable motor hall signal.
3. brushless motor driver module according to claim 1, which is characterized in that the brushless motor driver module also wraps
The feedback unit connecting with the power supply unit is included, for feeding back the working condition of motor.
4. brushless motor driver module according to claim 2, which is characterized in that the power supply subelement includes 24V electricity
Source turns the voltage conversion chip and inductance of 5V power supply, and the input of voltage conversion chip terminates 24V power supply, voltage conversion chip it is defeated
Outlet exports 5V power supply to Hall with reference to subelement via inductance.
5. brushless motor driver module according to claim 2, which is characterized in that the Hall includes the with reference to subelement
The control terminal of one switching tube, second switch, first resistor, second resistance, first capacitor, 3rd resistor, first switch tube connects
Connect the Hall module of motor, the output end ground connection of first switch tube, the input terminal of first switch tube is via first resistor connection the
The control terminal of two switching tubes, the input terminal of first switch tube also via second resistance connection second switch input terminal, first
For capacitance connection between the control terminal and input terminal of second switch, the control terminal of second switch connects electricity via 3rd resistor
The Hall module of machine.
6. brushless motor driver module according to claim 1, which is characterized in that the driving unit includes three half-bridges
Circuit, each half-bridge circuit include switch on the bridge pipe, bridge switch pipe, upper bridge input resistance, lower bridge input resistance, first
Diode, the first filter capacitor, the first filter resistance, the second filter capacitor；
Wherein, switch on the bridge pipe input terminal connect 24V power supply, bridge switch pipe output end ground connection, switch on the bridge pipe it is defeated
Outlet is connect to receive the phase pulse signal in three-phase pulse signal with the input terminal of bridge switch pipe with master control subelement, on
Bridge switch pipe, the control terminal of bridge switch pipe are sub via corresponding upper bridge input resistance, the connection master control of lower bridge input resistance respectively
For unit to receive the phase switching signal in threephase switch signal, the first filter capacitor, the first filter resistance are all connected to bridge
Between the control terminal and output end of switching tube, the second filter capacitor is connected between the control terminal and output end of bridge switch pipe,
First diode and the inverse parallel of bridge switch pipe.
7. brushless motor driver module according to claim 6, which is characterized in that the driving unit further includes current limliting electricity
It hinders, the output end of the bridge switch pipe in three half-bridge circuits is commonly connected to the first end of the current-limiting resistance, the current limliting
The first end of resistance is connect to receive current limit signal, the second end ground connection of the current-limiting resistance with the master control subelement.
8. brushless motor driver module according to claim 1, which is characterized in that the main control unit includes motor driving
Chip, for the Hall module of the three-phase input end connection motor of motor driving chip to receive motor hall signal, motor drives core
The three-phase output end of piece is connect to export the three-phase pulse signal with driving unit and motor, and motor driving chip enables
Pin and direction pin are connect with host computer, and the threephase switch pin of motor driving chip connect described to export with driving unit
Threephase switch signal.
The juicing system 9. a kind of fruit juice robot peels, which is characterized in that including brushless motor and as claim 1-8 is any
Brushless motor driver module described in.
The juicing system 10. fruit juice robot according to claim 9 peels, which is characterized in that the system comprises sensings
Device unit, master control system, the master control system include host computer, mould group of peeling, juicing mould group, crawl arm movement mould group, it is described
Mould group, the juicing mould group of peeling include the brushless motor driver module connecting with the host computer and described brushless
Motor；
Wherein, the sensor unit includes:
Photoinduction sensor is placed in the front end of crawl arm, feedback when for having fruit on detecting the position for placing fruit
Signal is to master control system；
Metal contact sensor is equipped with corresponding metal block positioned at the side of crawl arm, and in the inlet of juicing mould group, when
By cooperating feedback signal to master control system with metal block when crawl arm motional induction position；
Liquid level sensor, for detecting whether the capacity connect in succulent fruits cup reaches requirement, when the liquid level arrival connect in succulent fruits cup is set
Feedback signal is to master control system when setting height；
Wherein, master control system is used in photoinduction sensor feedback signal, and control crawl arm grabs fruit, and controls crawl arm
Stepper motor in movement mould group drives crawl arm to move and control during the motion to juicing mould group and peels mould group to fruit
It peels；It is also used in metal contact sensor feedback signal, controls crawl arm stop motion and control crawl arm and release
Discharge water fruit, while once being corrected to the motor of stepper motor point, and control stepper motor drives crawl arm after calibration
It is back to the position of crawl fruit；It is also used in liquid level sensor feedback signal, control juicing mould group stops juicing action；
Wherein, the stepper motor drive module in crawl arm movement mould group is also used to drive the unit pulse of the stepper motor
N equal part is carried out, to reduce the minimum step angle of stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710990438.2A CN109698644A (en) | 2017-10-23 | 2017-10-23 | A kind of brushless motor driver module and fruit juice robot peel juicing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710990438.2A CN109698644A (en) | 2017-10-23 | 2017-10-23 | A kind of brushless motor driver module and fruit juice robot peel juicing system |
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| CN109698644A true CN109698644A (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113193635A (en) * | 2021-07-01 | 2021-07-30 | 深之蓝(天津)水下智能科技有限公司 | Equipment power supply control device |
| CN117850434A (en) * | 2024-03-04 | 2024-04-09 | 长春大学 | Intelligent wheelchair real-time path planning and obstacle avoidance control system |
-
2017
- 2017-10-23 CN CN201710990438.2A patent/CN109698644A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113193635A (en) * | 2021-07-01 | 2021-07-30 | 深之蓝(天津)水下智能科技有限公司 | Equipment power supply control device |
| CN117850434A (en) * | 2024-03-04 | 2024-04-09 | 长春大学 | Intelligent wheelchair real-time path planning and obstacle avoidance control system |
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Application publication date: 20190430 |