CN111038279B - Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot - Google Patents
Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot Download PDFInfo
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- CN111038279B CN111038279B CN201911317915.4A CN201911317915A CN111038279B CN 111038279 B CN111038279 B CN 111038279B CN 201911317915 A CN201911317915 A CN 201911317915A CN 111038279 B CN111038279 B CN 111038279B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model belongs to the technical field of motor control, a prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine the robot, receive the control signal that main control unit provided through on-off control circuit, and generate relay switching signal according to this control signal and control brake relay circuit, thereby control electromagnetic brake's control power, avoid starting in the twinkling of an eye the phenomenon that the motor band-type brake loosens and leads to swift current car, solved because robot self weight is great, during operation in the great road of slope, there is the problem of swift current car in the twinkling of an eye at the start.
Description
Technical Field
The application belongs to the technical field of motor control, in particular to a prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine the robot.
Background
The outdoor inspection robot works outdoors and can cope with various complex environments. For example, in a road with a large gradient, the inspection robot needs to be stopped or started at any time according to the working environment.
However, since the robot has a large weight, when the robot works on a road with a large gradient, the robot has a problem of vehicle sliding at the moment of starting.
Disclosure of Invention
An object of the application is to provide a prevent swift current car control circuit, aim at solving current prevent swift current car control circuit and need software control or rely on the bus to pull up the pull-down resistance and drive, have the loaded down with trivial details problem of switching process.
In order to solve the above problem, the present application provides a prevent swift current car control circuit, is connected with working power supply, electromagnetic braking ware and main control unit respectively, prevent swift current car control circuit includes:
the brake relay circuit is arranged between the working power supply and the electromagnetic brake and is used for controlling the power-on state of the electromagnetic brake;
the switch control circuit is respectively connected with the main controller and the brake relay circuit and used for receiving the control signal provided by the main controller and generating a relay switch signal according to the control signal;
the relay switch signal is used for controlling the conduction state of the brake relay circuit.
Optionally, the anti-rolling control circuit further comprises:
and the display circuit is arranged between the working power supply and the switch control circuit and is used for displaying the conduction state of the switch control circuit.
Optionally, the anti-rolling control circuit further comprises:
and the discharging loop is arranged between the working power supply and the switch control circuit and is used for eliminating the back electromotive force generated by the brake relay circuit.
Optionally, the anti-rolling control circuit further comprises:
and the filter circuit is connected with the working power supply and is used for filtering the working voltage signal provided by the working power supply.
Optionally, the anti-rolling control circuit further comprises:
and the voltage division circuit is arranged between the main controller and the switch control circuit and is used for carrying out voltage division processing on the control signal and sending a voltage division signal to the switch control circuit so as to control the conduction state of the switch control circuit.
Optionally, the switch control circuit is a switch tube;
the current input end of the switch tube is connected with the brake relay circuit, the control end of the switch tube is connected with the main controller, and the current output end of the switch tube is grounded.
Optionally, the switching tube is an NPN-type triode or an N-type MOS tube.
The embodiment of the application further provides a vehicle sliding prevention control device, which comprises:
a working power supply port;
a motor;
a main controller;
the motor driver is respectively connected with the motor and the main controller, and is used for driving the motor to rotate and sending the rotating speed information of the motor to the main controller;
an electromagnetic brake; and
the anti-rolling control circuit is connected with the electromagnetic brake;
the main controller generates a control signal according to the rotating speed information, and the anti-slipping control circuit controls the control power supply of the electromagnetic brake according to the control signal.
Optionally, the anti-rolling control device further comprises:
and the emergency stop button is connected with the electromagnetic brake and is used for controlling a control power supply of the electromagnetic brake.
The embodiment of the application also provides an inspection robot, which comprises a chassis control panel and the anti-sliding control circuit; the anti-sliding control circuit is connected with the chassis control panel.
The application provides a prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine the robot, receive the control signal that main control unit provided through on-off control circuit, and generate relay switching signal according to this control signal and control brake relay circuit, thereby control electromagnetic braking ware's control power supply, avoid starting the phenomenon that the motor band-type brake loosens and leads to swift current car in the twinkling of an eye, solved because robot self weight is great, during operation in the great road of slope, there is the problem of swift current car in the twinkling of an eye in the start.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an anti-roll control circuit according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an anti-roll control circuit according to another embodiment of the present application.
Fig. 3 is a schematic structural diagram of an anti-roll control circuit according to another embodiment of the present application.
Fig. 4 is a schematic structural diagram of an anti-roll control circuit according to another embodiment of the present application.
Fig. 5 is a schematic structural diagram of an anti-roll control circuit according to another embodiment of the present application.
FIG. 6 is a schematic structural diagram of an anti-roll control circuit according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of an inspection robot according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.
The present application will now be described in detail with reference to the drawings and specific examples.
In order to solve the above problems, the present application provides an anti-rolling control circuit, which is connected to the working power supply 11, the electromagnetic brake 12 and the main controller 13, respectively, as shown in fig. 1. Prevent swift current car control circuit includes: a brake relay circuit 21 and a switch control circuit 22; the brake relay circuit 21 is disposed between the working power supply 11 and the electromagnetic brake 12, and is configured to control a power-on state of the electromagnetic brake, and the switch control circuit 22 is connected to the main controller 13 and the brake relay circuit 21, and is configured to receive a control signal provided by the main controller 13, and generate a relay switch signal according to the control signal.
In the present embodiment, the electromagnetic brake 12 is used for controlling the state of the motor, for example, when the electromagnetic brake 12 is a power-off electromagnetic brake, when the control power supply of the electromagnetic brake 12 is turned off (i.e. the voltage of the control power supply is 0V), the motor maintains a brake state, the friction plate for controlling the motor is pressed, and the power shaft of the motor is braked and fixed; when the control power supply of the electromagnetic brake 12 is electrified, the friction plates are separated, and the power shaft of the motor can rotate freely. The brake relay circuit 21 is provided between the operating power supply 11 and the electromagnetic brake 12 to control the control power supply of the electromagnetic brake 12, and the on-off control circuit 22 generates a relay switch signal based on the control signal to control the on-off state of the brake relay circuit 21.
In one application, because the robot has a large self weight, the starting time of a motor driver is between several hundred milliseconds and several seconds, and in the period of time, because a motor is not controlled by the motor driver, the robot can slide in a short distance at the moment of starting and starting. Through setting up brake relay circuit 21 between working power supply 11 and electromagnetic braking ware 12, even motor drive starts, brake relay circuit 21 is in normally open state, and electromagnetic braking ware's control power still does not have the circular telegram, and only when switch control circuit 22 switched on, brake relay circuit 21 was in the closure state, and at this moment, when electromagnetic braking ware 12's control power circular telegram, the friction disc was thrown off, and motor power shaft can freely rotate.
Further, in an embodiment, after the motor driver is started, when the motor driver operates in the speed mode, the motor driver controls the motor to output a smaller torque because the received speed signal is zero, and the robot still slowly rolls when the weight of the robot exceeds the torque. In this embodiment, the rotation speed information of the motor can be further acquired through the main controller 13, and the rotation speed of the motor is compared with a preset rotation speed threshold value, when the rotation speed of the motor reaches the preset rotation speed threshold value, the main controller 13 sends a corresponding control signal to the switch control circuit 22, so that the switch control circuit 22 is switched on, at this time, the brake relay circuit 21 is in a closed state, the working power supply 11 and the electromagnetic brake 12 are switched on, the control power supply of the electromagnetic brake 12 is powered on, the friction plate is disconnected, the motor power shaft can rotate freely, the torque of the motor at this moment is large, the problem that the robot slides is avoided, and the safety of the robot in outdoor work is ensured.
In one embodiment, referring to fig. 2, the anti-rolling control circuit further includes a display circuit 23, where the display circuit 23 is disposed between the working power supply 11 and the switch control circuit 22, and is used for displaying the conducting state of the switch control circuit 22.
In the present embodiment, the display circuit 23 is connected in series with the switch control circuit 22. When the switch control circuit 22 is switched on, the brake relay circuit 21 is in a closed state, the working power supply 11 and the electromagnetic brake 12 are switched on, the control power supply of the electromagnetic brake is switched on, the friction plate is disconnected, the power shaft of the motor can rotate freely, at the moment, the display circuit 23 is also in a switched-on state, and the light emitting diode or the display screen in the display circuit 23 is switched on to light up, so that the display circuit 23 prompts that the brake relay circuit 21 is in a closed state. When the switch control circuit 22 is turned off, the brake relay circuit 21 is in an off state, the control power supply of the electromagnetic brake 12 is not electrified, the motor is in a contracting brake state at the moment, the power shaft of the motor is braked and fixed, and the display circuit 23 is also in an off state at the moment to prompt that the brake relay circuit 21 is in an off state.
In one embodiment, referring to fig. 3, the anti-roll control circuit further includes a discharging circuit 24, and the discharging circuit 24 is disposed between the operating power supply 11 and the switch control circuit 22 for eliminating the back electromotive force generated by the brake relay circuit.
In the present embodiment, by connecting the discharge circuit 24 to the output terminal of the operating power supply 11, it is possible to prevent the counter electromotive force generated when the relay is opened from affecting the circuit or damaging the relay.
In one embodiment, referring to fig. 4, the anti-rolling control circuit further includes a filter circuit 25, and the filter circuit 25 is connected to the operating power supply 11 and is configured to filter the operating voltage signal provided by the operating power supply 11.
In this embodiment, the filtering circuit 25 is connected to the output terminal of the working power supply 11, so that the noise in the working voltage signal provided by the working power supply 11 can be filtered, the working voltage signal input to the brake relay circuit 21 is referred to as a relatively smooth dc voltage signal, and the noise in the working voltage signal is prevented from affecting the working stability of the brake relay circuit 21.
In one embodiment, referring to fig. 5, the anti-rolling control circuit further includes a voltage dividing circuit 26, disposed between the main controller 13 and the switch control circuit 22, for dividing the voltage of the control signal and sending the divided voltage to the switch control circuit 22 to control the conducting state of the switch control circuit 22.
In this embodiment, the voltage dividing circuit 26 is disposed between the main controller 13 and the switch control circuit 22, and divides the voltage of the control terminal in the switch control circuit 22 by dividing the control signal provided by the main controller 13, and further, the current limiting circuit 26 may limit the current of the control terminal in the switch control circuit 22, so that the switch control circuit 22 can be switched in the normal operating current range.
In one embodiment, the switch control circuit 22 is a switch tube; the current input end of the switch tube is connected with the brake relay circuit 21, the control end of the switch tube is connected with the main controller 13, and the current output end of the switch tube is grounded.
In one embodiment, the switch tube is an NPN-type triode or an N-type MOS tube. In this embodiment, if the switching tube is an NPN-type triode, a base of the NPN-type triode is a control terminal of the switching tube, a collector of the NPN-type triode is a current input terminal of the switching tube, and an emitter of the NPN-type triode is a current output terminal of the switching tube; if the switch tube is an N-type MOS tube, the grid electrode of the N-type MOS tube is the control end of the switch tube, the drain electrode of the N-type MOS tube is the current input end of the switch tube, and the source electrode of the N-type MOS tube is the current output end of the switch tube.
For example, in one embodiment, referring to fig. 6, the switch control circuit 22 includes a first switch Q1, a current input terminal of the first switch Q1 is connected to the brake relay circuit 21, a control terminal of the first switch Q1 is connected to the main controller 13, and a current output terminal of the first switch Q1 is connected to ground.
In one embodiment, referring to fig. 6, the filter circuit 25 includes a first capacitor C1 and a second capacitor C2, wherein a first terminal of the first capacitor C1 and a first terminal of the second capacitor C2 are commonly connected to the operating power source 11, and a second terminal of the first capacitor C1 and a second terminal of the second capacitor C2 are commonly connected to ground.
In one embodiment, referring to fig. 6, the display circuit 23 includes a first resistor R1 and a light emitting diode LED, a first end of the first resistor R1 is connected to the operating power supply 11, a second end of the first resistor R1 is connected to an anode of the light emitting diode LED, and a cathode of the light emitting diode LED is connected to the switch control circuit 22.
In one embodiment, referring to fig. 6, the discharge circuit 24 includes a first diode D1, wherein a cathode of the first diode D1 is connected to the operating power source 11, and a second terminal of the first diode D1 is connected to the switch control circuit 22.
In one embodiment, the first diode D1 may be a freewheeling diode that is used to prevent the back emf generated when the relay is open from affecting the circuit or damaging the relay, and a discharge loop may be provided for the back emf through the anti-parallel diode.
In one embodiment, referring to fig. 6, the brake relay circuit 21 may be a relay chip IC1, wherein the first driving terminal N1 of the relay chip IC1 is connected to the operating power source 11, the second driving terminal N2 of the relay chip IC1 is connected to the switch control circuit 22, and the two output terminals COM1 and CON1 of the relay chip IC1 are both connected to the electromagnetic brake 12.
In this embodiment, when the switch control circuit 22 is turned on, the second driving terminal N2 of the relay chip IC1 is grounded, and the two output terminals COM1 and CON1 of the relay chip IC1 are turned on, so as to control the electromagnetic brake 12 to be powered on, release the motor brake, and drive the motor to rotate by the motor driver; when the switch control circuit 22 is turned off, the second driving end N2 of the relay chip IC1 is not conducted, and the two output ends COM1 and CON1 of the relay chip IC1 are not conducted, so that the electromagnetic brake 12 is controlled to be powered off, the motor brake is kept, the motor brake is ensured, and the inspection robot does not slide.
In one embodiment, the relay chip IC1 may be model G6J-2P-Y.
The embodiment of the application further provides a vehicle sliding prevention control device, which comprises: the anti-slipping control circuit comprises a working power supply port, a motor, a main controller, a motor driver, an electromagnetic brake and an anti-slipping control circuit, wherein the anti-slipping control circuit can be the anti-slipping control circuit in any one of the embodiments. In this embodiment, motor driver respectively with the motor with main control unit 13 connects, and motor driver is used for driving motor to rotate, and will the rotational speed information of motor send to main control unit, whether electromagnetic brake 12 is electrified according to control source and is controlled the motor band-type brake, and electromagnetic brake 12 is in the normally closed state, if electromagnetic brake 12's control source is electrified, the motor band-type brake loosens this moment, and the motor is in the free rotation state, prevents swift current car control circuit and is used for controlling electromagnetic brake 12's control source, and is concrete, main control unit 13 basis rotational speed information generates control signal, prevent swift current car control circuit basis control signal is right electromagnetic brake 12's control source controls.
In this embodiment, the main controller may further compare the rotation speed of the motor with a preset rotation speed threshold, and output a corresponding control signal according to the comparison result. For example, the control signal may include a power-on control signal and a power-off control signal, the power-on control signal is sent to the anti-rolling control circuit if the rotation speed of the motor reaches a preset rotation speed threshold, the power-on control signal is used for controlling the power-on of the control power supply of the electromagnetic brake, so that the internal contracting brake of the motor is opened, and the motor is in a free rotation state, and the power-off control signal is sent to the anti-rolling control circuit if the rotation speed of the motor is less than the preset rotation speed threshold, so that the control power supply of the electromagnetic brake 12 is powered off, and the motor is in a braking state.
Further, the main controller 13 may further obtain an inclination angle of the device, and adjust the preset rotation speed threshold based on the inclination angle and rotation speed threshold relation table, for example, the inclination angle and rotation speed threshold relation table may include: the inclination angle is in direct proportion to the rotating speed threshold value, and when the inclination angle is larger, the rotating speed threshold value is larger.
In one embodiment, the anti-rolling control device further comprises an emergency stop button, and the emergency stop button is connected with the electromagnetic brake 12 and used for controlling a control power supply of the electromagnetic brake 12.
In this embodiment, an emergency stop control line is connected to the emergency stop button through two output ends of the brake relay circuit 21, and the control power supply of the electromagnetic brake 12 is controlled through the emergency stop button, for example, when the emergency stop button is pressed, the control power supply of the electromagnetic brake 12 is grounded, at this time, the control power supply of the electromagnetic brake 12 is powered off, and the motor is in an internal contracting brake state, so that the motor is ensured to brake, and the inspection robot does not slip.
In one embodiment, the embodiment also provides an inspection robot, which comprises a chassis control board and the anti-rolling control circuit as described in any one of the above items; the anti-sliding control circuit is connected with the chassis control panel.
Fig. 7 is a schematic structural diagram of the inspection robot according to an embodiment of the present application, and referring to fig. 7, a chassis control panel 63 is disposed inside an electric cabinet 62, the electric cabinet 62 is disposed on a driving mechanism 61, an emergency stop button 64 is disposed on the inspection robot, a main controller 13 is disposed on the chassis control panel 63, and the driving mechanism 61 is controlled by an anti-rolling control circuit in the above embodiment, so as to prevent the driving mechanism from rolling instantly when being started.
In this embodiment, when the inspection robot is started and needs to move, the upper control board sends speed information to the chassis control board and the motor driver, the chassis control board generates a control signal according to the speed information and sends the control signal to the anti-slipping control circuit, at this time, the switch control circuit 22 is turned on, the driving electrode in the brake relay circuit 21 is turned on, the control power supply of the electromagnetic brake 12 is powered on, the motor internal contracting brake is released, and the motor driver drives the motor to rotate according to the speed information. Similarly, when the inspection robot stops from moving, the upper control panel sends speed information to the chassis control panel and the motor driver, the chassis control panel sends a control signal to the anti-sliding control circuit according to the speed information, at the moment, the switch control circuit 22 is switched off, the control power supply of the electromagnetic brake 12 is powered off, the motor is clamped tightly, and the motor brakes.
In one embodiment, the chassis control board includes main controller 13, and at this moment, the chassis control board sets up the rotational speed threshold value based on the speed information that upper control board was issued and the inclination of patrolling and examining the robot, and when motor speed was less than the rotational speed threshold value, the lower control board still sent down electrical control signal and made electromagnetic brake 12's control power supply down, impeld the motor band-type brake, avoided patrolling and examining the robot and owing to lead to the motor not hard up the swift current phenomenon of appearance on slope. For example, the inclination angle of the inspection robot is small, which means that the slope where the inspection robot is located is small, the rotating speed threshold value can be 10 rpm, and when the rotating speed of the motor is lower than 10 rpm, the bottom control board still sends a power-off control signal to power off the control power supply of the electromagnetic brake 12, so as to enable the motor to brake; if the inspection robot is located on the flat ground, the inclination angle of the inspection robot is 0, the rotating speed threshold value can be 0 or 0.1 r/min, and when the rotating speed of the motor is lower than the rotating speed threshold value, the bottom control board still sends a power-off control signal to power off the control power supply of the electromagnetic brake 12, so that the motor is braked, and the inspection robot is ensured not to slide.
The application provides a prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine the robot, receive the control signal that main control unit provided through on-off control circuit, and generate relay switching signal according to this control signal and control brake relay circuit, thereby control electromagnetic braking ware's control power supply, avoid starting the phenomenon that the motor band-type brake loosens and leads to swift current car in the twinkling of an eye, solved because robot self weight is great, during operation in the great road of slope, there is the problem of swift current car in the twinkling of an eye in the start.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. The utility model provides a prevent swift current car control circuit, is connected with working power supply, electromagnetic braking ware and main control unit respectively which characterized in that, prevent swift current car control circuit includes:
the brake relay circuit is arranged between the working power supply and the electromagnetic brake and is used for controlling the power-on state of the electromagnetic brake;
the switch control circuit is respectively connected with the main controller and the brake relay circuit and used for receiving the control signal provided by the main controller and generating a relay switch signal according to the control signal;
the relay switch signal is used for controlling the conducting state of the brake relay circuit;
the electromagnetic brake is used for controlling the state of the motor, when the electromagnetic brake is disconnected with the working power supply, the motor keeps a brake state, and when the electromagnetic brake is connected with the working power supply, a power shaft of the motor can rotate freely;
the main controller is further used for obtaining a rotating speed signal of the motor, comparing the rotating speed of the motor with a preset rotating speed threshold value, and when the rotating speed of the motor reaches the preset rotating speed threshold value, the main controller sends a corresponding control signal to the switch control circuit to enable the switch control circuit to be conducted, and the electromagnetic brake is electrified.
2. The anti-roll control circuit of claim 1, further comprising:
and the display circuit is arranged between the working power supply and the switch control circuit and is used for displaying the conduction state of the switch control circuit.
3. The anti-roll control circuit of claim 1, further comprising:
and the discharging loop is arranged between the working power supply and the switch control circuit and is used for eliminating the back electromotive force generated by the brake relay circuit.
4. The anti-roll control circuit of claim 1, further comprising:
and the filter circuit is connected with the working power supply and is used for filtering the working voltage signal provided by the working power supply.
5. The anti-roll control circuit of claim 1, further comprising:
and the voltage division circuit is arranged between the main controller and the switch control circuit and is used for carrying out voltage division processing on the control signal and sending a voltage division signal to the switch control circuit so as to control the conduction state of the switch control circuit.
6. The anti-roll control circuit of claim 1, wherein the switch control circuit is a switch tube;
the current input end of the switch tube is connected with the brake relay circuit, the control end of the switch tube is connected with the main controller, and the current output end of the switch tube is grounded.
7. The anti-rolling control circuit according to claim 6, wherein the switching tube is an NPN type triode or an N type MOS tube.
8. The utility model provides an anti-rolling control device which characterized in that includes:
a working power supply port;
a motor;
a main controller;
the motor driver is respectively connected with the motor and the main controller, and is used for driving the motor to rotate and sending the rotating speed information of the motor to the main controller;
an electromagnetic brake; and
the anti-roll control circuit of any one of claims 1-7, connected to the electromagnetic brake;
the main controller generates a control signal according to the rotating speed information, and the anti-slipping control circuit controls the control power supply of the electromagnetic brake according to the control signal.
9. The anti-skid vehicle control device as set forth in claim 8, further comprising:
and the emergency stop button is connected with the electromagnetic brake and is used for controlling a control power supply of the electromagnetic brake.
10. An inspection robot, comprising a chassis control board and an anti-roll control circuit according to any one of claims 1 to 7; the anti-sliding control circuit is connected with the chassis control panel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911317915.4A CN111038279B (en) | 2019-12-19 | 2019-12-19 | Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911317915.4A CN111038279B (en) | 2019-12-19 | 2019-12-19 | Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot |
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| CN111038279A CN111038279A (en) | 2020-04-21 |
| CN111038279B true CN111038279B (en) | 2021-06-04 |
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| CN113889974B (en) * | 2021-09-24 | 2022-06-28 | 华南农业大学 | Protection device based on mechanical centrifugal switch and relay and control method |
| CN115384463A (en) * | 2022-09-29 | 2022-11-25 | 上海擎朗智能科技有限公司 | Robot motion control method, device, equipment and medium |
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| JP6048154B2 (en) * | 2013-01-11 | 2016-12-21 | トヨタ自動車株式会社 | Power transmission device and hybrid system for hybrid vehicle |
| CN103213516B (en) * | 2013-04-12 | 2015-05-20 | 苏州汇川技术有限公司 | Drive controller, drive control system and drive control method for sliding prevention of electric vehicle |
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