CN204569263U - A kind of hoisting machine robot system - Google Patents
A kind of hoisting machine robot system Download PDFInfo
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- CN204569263U CN204569263U CN201420864415.9U CN201420864415U CN204569263U CN 204569263 U CN204569263 U CN 204569263U CN 201420864415 U CN201420864415 U CN 201420864415U CN 204569263 U CN204569263 U CN 204569263U
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- hoisting machine
- band
- robot system
- type brake
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Abstract
The utility model relates to a kind of hoisting machine people control technology field, specifically, relates to a kind of hoisting machine robot system.The utility model comprises: for rope of creeping motor, for control motor removing driving circuit, for the band-type brake of locked rotor, for controlling the band-type brake circuit of band-type brake work, power-switching circuit and control circuit; Power-switching circuit is to band-type brake circuit, control circuit, drive circuitry, and power supply is by driving circuit to feeding electric motors, and control circuit is connected with band-type brake circuit, driving circuit signal respectively.The utility model provides a kind of hoisting machine robot system, is controlled the anglec of rotation of motor, reach and accurately carry object, arrange band-type brake and locking system simultaneously, can suspend at any time by control circuit, easy to operate.
Description
Technical field
The utility model relates to a kind of hoisting machine people control technology field, specifically, relates to a kind of hoisting machine robot system.
Background technology
Along with the development of society, the height of building is more and more higher, once there are abnormal condition in building, fire alarm, criminal policeman etc. need to be on the scene in the quick very first time, in order to reach on-the-spot fast, generally adopt toward transferring rope from the balcony of building, but this mode needs slowly to put rope, speed is slow, is unfavorable for fast processing event.
Utility model content
The purpose of this utility model is to solve the deficiencies in the prior art, and provide a kind of hoisting machine robot system, personnel's fast speed is delivered to desired location by this system lifting controllable robot.
The utility model for achieving the above object and adopt technical scheme be;
A kind of hoisting machine robot system, comprising:
For the motor of rope of creeping;
For controlling the driving circuit of motor removing;
For the band-type brake of locked rotor;
For controlling the band-type brake circuit of band-type brake work;
Power-switching circuit;
Control circuit;
Power-switching circuit is to band-type brake circuit, control circuit, drive circuitry, and driving circuit controls power supply to feeding electric motors, and control circuit is connected with band-type brake circuit, driving circuit signal respectively.
The technical program is when implementing, and motor is wound around rope by rotor or is put rope and carries out lifting and creep, and control circuit controls by the rotating cycle of driving circuit drive motor or angle the distance that hoisting machine people creeps, thus realizes fast speed lifting; When being in an emergency, needing temporary suspends, can control band-type brake by controlling band-type brake circuit, the locked rotor of band-type brake, and then hoisting machine people is controlled in road.Simple, convenient and practical.In use, its power acquisition dry storage battery, needs to be changed, therefore arranges power-switching circuit, Power convert is become required voltage hoisting machine people.
Further, described motor is provided with the hall sensing circuit for detecting the rotor anglec of rotation, hall sensing circuit is connected with control circuit signal, described driving circuit comprises 3 single-phase driving circuits, 3 single-phase driving circuits are connected with motor respectively, and described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Hall sensing circuit is provided with 3 feedback ends matched with 3 single-phase driving circuits, the motor rotor position information detected is sent to control circuit by 3 feedback ends, control circuit judges the turn-on sequence of 3 single-phase driving circuits, and controls 3 single-phase driving circuit work.
Current motor adopts three phase supply pattern, is powered to motor by 3 single-phase driving circuits.
Further, described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Described single-phase switch pipe circuit comprises mos pipe Q1, mos pipe Q12, high flat input end, low flat input end and mouth; The source electrode of mos pipe Q1 is connected with positive source, the drain electrode of mos pipe Q1 is connected with the source electrode of mos pipe Q12, mouth respectively, the source ground of mos pipe Q12, high flat input end is connected with the grid of mos pipe Q1 by resistance R3, and low flat input end is connected with the grid of mos pipe Q12 by resistance R25; Switch driving circuit comprises actuator U12, described system also comprises chip U13, control circuit transmits control signal to the input end of U13, U13 sends actuation signal to corresponding actuator U12, actuator U12 exports high level and low level to the flat input end of height of corresponding single-phase switch pipe circuit, low flat input end, make the mos pipe Q1 conducting of this single-phase switch pipe circuit, mos pipe Q12 ends, and to feeding electric motors.
Further, actuator U12 is connected with booster circuit, is connected with electric capacity C15 between the HB end of actuator U12 and VS hold, and the VCC end of actuator U12 holds connection by diode D46, electric capacity C15 and VS successively, and VS end is also connected with the drain electrode of mos pipe Q1.
Because mos pipe Q1 conducting needs to make its grid higher than power line voltage 4 to 15V, therefore need the voltage promoting grid, i.e. the high level voltage of actuator U12 output.After booster circuit is set, high-level output voltage can be improved.When chip U13 exports PWM low level to actuator U12, U12 is to the flat input end output low level of height of single-phase switch pipe, and mos pipe Q1 is cut off, and the VS end of actuator U12 is low level, and the power end of U12 charges to electric capacity C15; When chip U13 exports PWM high level to actuator U12, U12 exports high level, mos pipe Q1 conducting to the flat input end of height of single-phase switch pipe, and VS end is connected with power supply by mos pipe Q1, and voltage is VCC; Now diode D46 ends, and because C15 is charged, therefore HB end obtains the voltage that VCC adds electric capacity C15, so just can export higher high level to the grid of mos pipe, make mos pipe Q1 to maintain conducting.
Further, be provided with zener diode D13 between the high frequency input terminal of single-phase switch pipe circuit and mouth, the positive pole of zener diode D13 is connected with mouth.
Further, low frequency input terminal passes through zener diode D35 ground connection, the positive ground of zener diode D35.
Further, described resistance R3 is parallel with diode D1, and the negative pole of diode D1 is connected with high frequency input terminal; Resistance R12 is provided with between the positive pole of diode D1 and mouth.
Further, described resistance R25 is parallel with diode D24, and the negative pole of diode D24 is connected with low frequency input terminal; The positive pole of diode D24 is by resistance R48 ground connection.
Further, control circuit is also connected with wireless communication module.
Wireless communication module can be 3G module, bluetooth module etc., and after arranging wireless communication module, control circuit can carry out communication by wireless communication module and the external world, and effector can remote control.
Further, voltage detecting circuit and current detection circuit is also comprised; Voltage detecting circuit and current detection circuit are connected with control circuit signal respectively.
Power sense circuit and current detection circuit are set, for detecting battery electric quantity.Next plays protection robot, prevents overcurrent.
The beneficial effects of the utility model are: the utility model provides a kind of hoisting machine robot system, controlled the anglec of rotation of motor, reach and accurately carry object, arrange band-type brake and locking system simultaneously, can suspend at any time by control circuit, easy to operate.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is switch driving circuit schematic diagram of the present utility model.
Fig. 3 is 3 phase regulating circuit schematic diagrams of the present utility model.
Fig. 4 is the schematic diagram of hall sensing circuit of the present utility model.
Fig. 5 is single-phase switch pipe circuit of the present utility model.
Fig. 6 is voltage detecting circuit of the present utility model.
Fig. 7 is current detection circuit of the present utility model.
Fig. 8 is control circuit of the present utility model.
Fig. 9 is power-switching circuit.
Figure 10 is band-type brake circuit.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
Embodiment 1: see Fig. 1 to Figure 10.
A kind of hoisting machine robot system, comprising:
For the motor of rope of creeping;
For controlling the driving circuit of motor removing;
For the band-type brake of locked rotor;
For controlling the band-type brake circuit of band-type brake work;
Power-switching circuit;
Control circuit;
Power-switching circuit is to band-type brake circuit, control circuit, drive circuitry, and power supply is by driving circuit to feeding electric motors, and control circuit is connected with band-type brake circuit, driving circuit signal respectively.
The technical program is when implementing, and motor is wound around rope by rotor or is put rope and carries out lifting and creep, and control circuit controls by the rotating cycle of driving circuit drive motor or angle the distance that hoisting machine people creeps, thus realizes fast speed lifting; When being in an emergency, needing temporary suspends, can control band-type brake by controlling band-type brake circuit, the locked rotor of band-type brake, and then hoisting machine people is controlled in road.Simple, convenient and practical.In use, its power acquisition dry storage battery, needs to be changed, therefore arranges power-switching circuit, Power convert is become required voltage hoisting machine people.
Power-switching circuit is see Fig. 9, and its principle of work is as follows:
1. the cell pressure 48V of power supply the 3rd pin that wherein a road flows to U5 after VIN+ is powered to late-class circuit, one tunnel forces the voltage of U5 crus secunda SD between 0 ~ 5V after R112 and D4, the switch of other road co-controlling aerotron Q6 after R110, D8, R111 is (as the 22V of cell pressure lower than D8, cell pressure is carried on D8 entirely, cause the 1 pin voltage of Q6 to be that 0V is lower than 2 pin thus Q6 conducting makes the 2nd pin SD voltage of U5 be low, U5 closes output and enters low power consumpting state; When cell pressure is higher than 22V, the voltage exceeded is added on 1 pin of Q6 after R110 and R111 divides equally, make 1 pin voltage ratio 2 pin of Q6 high thus Q6 close the 2nd pin SD voltage of U5 is raised gradually, after SD voltage is raised to 1.225V ~ 5V, U5 opens output.So can avoid battery over discharge and cell pressure voltage low be that metal-oxide-semiconductor predrive is unstable).The rear U5 of U5 unlatching passes through and L2, C74, R89 shake jointly and D68 carries out afterflow output, and the 6th pin by U5 after R85 and R87 dividing potential drop feeds back U5, makes the position stability of+15V export 12.41V for late-class circuit.
2. in like manner; the voltage of the 12.41V 1. enters into the 2nd pin of U9 and the 7th pin of the enable U9 of R123 by+15V; make U9, L4, C59 carry out concussion to export; the 5th pin of U9 is fed back to after R126 and R125 dividing potential drop; + 5V is stablized and exports the modules of 4.88V for rear class, D29 plays protection+5V position output voltage high pressure 5V.
3. in like manner, 2. in 4.88V enter into voltage stabilizing LDO by+5V and U10 voltage stabilizing is that 3.3V is for control circuit.
4. in like manner, 2. in 4.88V pass through+5V export 4.28V for wireless communication module after diode D63 and D64 dividing potential drop.Power-switching circuit also can adopt existing circuit layout.
Band-type brake circuit is see Figure 10, and cell pressure 48V the 3rd pin that wherein a road flows to U7 after VIN+ is powered to late-class circuit, and U7 crus secunda SD through R68 conducting Q9, makes the voltage of U7 SD pin be that 0V, U7 close and export by the 5uA pull-up current of inside.When controller needs control to move, by SPEED and R73 output low level, Q9 ends, and the SD pin voltage of U7 is risen to is greater than 1.225V, and U7 opens and powers to band-type brake to+24V position output 16.1V, and band-type brake is opened, and motor is operated.The voltage that D30 makes U7 open and stablizes the output of+24V position when exporting does not carry out afterflow protection U7 higher than after 24V, U7 closedown to band-type brake coil.
Further, described motor is provided with the hall sensing circuit for detecting the rotor anglec of rotation, hall sensing circuit is connected with control circuit signal, described driving circuit comprises 3 single-phase driving circuits, 3 single-phase driving circuits are connected with motor respectively, and described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Hall sensing circuit is provided with 3 feedback ends matched with 3 single-phase driving circuits, the motor rotor position information detected is sent to control circuit by 3 feedback ends, control circuit judges the turn-on sequence of 3 single-phase driving circuits, and controls 3 single-phase driving circuit work.
As shown in Figure 4, P7 is hall sensing circuit to hall sensing circuit, gathers the rotating speed of motor; Current motor adopts three phase supply pattern, is powered to motor by 3 single-phase driving circuits.
Further, described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Described single-phase switch pipe circuit comprises mos pipe Q1, mos pipe Q12, high flat input end, low flat input end and mouth; The source electrode of mos pipe Q1 is connected with positive source, the drain electrode of mos pipe Q1 is connected with the source electrode of mos pipe Q12, mouth respectively, the source ground of mos pipe Q12, high flat input end is connected with the grid of mos pipe Q1 by resistance R3, and low flat input end is connected with the grid of mos pipe Q12 by resistance R25; Switch driving circuit comprises actuator U12, described system also comprises chip U13, control circuit transmits control signal to the input end of U13, U13 sends actuation signal to corresponding actuator U12, actuator U12 exports high level and low level to the flat input end of height of corresponding single-phase switch pipe circuit, low flat input end, make the mos pipe Q1 conducting of this single-phase switch pipe circuit, mos pipe Q12 ends, and to feeding electric motors.
Further, actuator U12 is connected with booster circuit, is connected with electric capacity C15 between the HB end of actuator U12 and VS hold, and the VCC end of actuator U12 holds connection by diode D46, electric capacity C15 and VS successively, and VS end is also connected with the drain electrode of mos pipe Q1.
Three phase supply is respectively the power supply of A, B, C phase electricity; Fig. 2, Fig. 5 are the A phase driving circuit in driving circuit; other two-phase-region casting circuits are identical with A phase; after robot is risen or is declined order; control circuit first to the 1st pin output low level of U13 in Fig. 3 to open the protection of other pin of U13, then detect that motor rotor position is to judge the low and high level turn-on sequence of motor ABC three-phase from the Hall element of electric machine built-in by HALLA, HALLB, HALLC.As when A phase needs high level, control circuit is to the PWM_LA input low level of U13 simultaneously to the pwm signal of the PWM_HA input 3.3V corresponding with the speed that effector inputs, and now the LI_A output low level of U13 and HI_A export the pwm signal of corresponding 5V.2nd pin of metal-oxide-semiconductor prime predrive U12 obtains the 4th pin output low level after low level, and this low level controls power MOS pipe Q12 and closes after resistance R25; When high level in the middle of PWM flows to the 1st pin of U12, the 7th pin of U12 exports high level makes Q1 conducting after R3, and the A phase of motor obtains high level.But when after Q1 conducting, the source electrode (2 pin) of Q1 is identical with drain electrode (3 pin) voltage, if now also want to maintain Q1 conducting, the grid (1 pin) of Q1 must higher than power line voltage 4 to 15V, so introduce booster circuit: as U12, C15 and D46 composition in Fig. 2, when passing through the 7th pin output low level after the low level input U12 in PWM, Q1 ends, the 6th pin VSA of U12 is low level, and power supply is electric to C15 punching by D46; When exporting high level by the 7th pin, Q1 conducting after the high level input U12 in PWM, VSA is VCC, D46 cut-off, but the electricity that C15 fills also exists, so the 8th pin of U12 obtains the voltage that VCC adds electric capacity C15, the circulation of PWM like this makes Q1 be maintained conducting.
Further, be provided with zener diode D13 between the high frequency input terminal of single-phase switch pipe circuit and mouth, the positive pole of zener diode D13 is connected with mouth, and low frequency input terminal passes through zener diode D35 ground connection, the positive ground of zener diode D35.
Further, described resistance R3 is parallel with diode D1, and the negative pole of diode D1 is connected with high frequency input terminal; Resistance R12 is provided with between the positive pole of diode D1 and mouth.
Further, described resistance R25 is parallel with diode D24, and the negative pole of diode D24 is connected with low frequency input terminal; The positive pole of diode D24 is by resistance R48 ground connection.
D13 and D35 in Fig. 5 prevents the input of the grid voltage of MOS from puncturing metal-oxide-semiconductor more than 15V; D1, R12 and D24, R48 play the closedown delay time of offsetting when MOS closes and causing because MOS inside exists parasitic capacitance, make the opening and closing of MOS quicker, thus reduce the switching loss of MOS.
Further, control circuit is also connected with wireless communication module.
Wireless communication module can be 3G module, bluetooth module etc., and after arranging wireless communication module, control circuit can carry out communication by wireless communication module and the external world, and effector can remote control.
Further, voltage detecting circuit and current detection circuit is also comprised; Voltage detecting circuit and current detection circuit are connected with control circuit signal respectively.
Power sense circuit and current detection circuit are set, for detecting battery electric quantity.Next plays protection robot, prevents overcurrent.
The utility model has been done to explain, and those of ordinary skill in the art should be appreciated that and can modify to the technical solution of the utility model or equivalent replacement, and does not depart from essence and the scope of technical solutions of the utility model.
Claims (10)
1. a hoisting machine robot system, is characterized in that: comprising:
For the motor of rope of creeping;
For controlling the driving circuit of motor removing;
For the band-type brake of locked rotor;
For controlling the band-type brake circuit of band-type brake work;
Power-switching circuit;
Control circuit;
Power-switching circuit is to band-type brake circuit, control circuit, drive circuitry, and driving circuit controls power supply to feeding electric motors, and control circuit is connected with band-type brake circuit, driving circuit signal respectively.
2. a kind of hoisting machine robot system according to claim 1, it is characterized in that: described motor is provided with the hall sensing circuit for detecting the rotor anglec of rotation, hall sensing circuit is connected with control circuit signal, described driving circuit comprises 3 single-phase driving circuits, 3 single-phase driving circuits are connected with motor respectively, and described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Hall sensing circuit is provided with 3 feedback ends matched with 3 single-phase driving circuits, the motor rotor position information detected is sent to control circuit by 3 feedback ends, control circuit judges the turn-on sequence of 3 single-phase driving circuits, and controls 3 single-phase driving circuit work.
3. a kind of hoisting machine robot system according to claim 2, is characterized in that: described single-phase driving circuit comprises single-phase switch pipe circuit and switch driving circuit; Described single-phase switch pipe circuit comprises mos pipe Q1, mos pipe Q12, high flat input end, low flat input end and mouth; The source electrode of mos pipe Q1 is connected with positive source, the drain electrode of mos pipe Q1 is connected with the source electrode of mos pipe Q12, mouth respectively, the source ground of mos pipe Q12, high flat input end is connected with the grid of mos pipe Q1 by resistance R3, and low flat input end is connected with the grid of mos pipe Q12 by resistance R25; Switch driving circuit comprises actuator U12, described system also comprises chip U13, control circuit transmits control signal to the input end of U13, U13 sends actuation signal to corresponding actuator U12, actuator U12 exports high level and low level to the flat input end of height of corresponding single-phase switch pipe circuit, low flat input end, make the mos pipe Q1 conducting of this single-phase switch pipe circuit, mos pipe Q12 ends, and to feeding electric motors.
4. a kind of hoisting machine robot system according to claim 3, it is characterized in that: actuator U12 is connected with booster circuit, electric capacity C15 is connected with between the HB end of actuator U12 and VS hold, the VCC end of actuator U12 holds connection by diode D46, electric capacity C15 and VS successively, and VS end is also connected with the drain electrode of mos pipe Q1.
5. a kind of hoisting machine robot system according to claim 3, is characterized in that: be provided with zener diode D13 between the high frequency input terminal of single-phase switch pipe circuit and mouth, the positive pole of zener diode D13 is connected with mouth.
6. a kind of hoisting machine robot system according to claim 3, is characterized in that: low frequency input terminal passes through zener diode D35 ground connection, the positive ground of zener diode D35.
7. a kind of hoisting machine robot system according to claim 3, it is characterized in that: described resistance R3 is parallel with diode D1, the negative pole of diode D1 is connected with high frequency input terminal; Resistance R12 is provided with between the positive pole of diode D1 and mouth.
8. a kind of hoisting machine robot system according to claim 3, it is characterized in that: described resistance R25 is parallel with diode D24, the negative pole of diode D24 is connected with low frequency input terminal; The positive pole of diode D24 is by resistance R48 ground connection.
9. a kind of hoisting machine robot system according to claim 1, is characterized in that: control circuit is also connected with wireless communication module.
10. a kind of hoisting machine robot system according to claim 1, is characterized in that: also comprise voltage detecting circuit and current detection circuit; Voltage detecting circuit and current detection circuit are connected with control circuit signal respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420864415.9U CN204569263U (en) | 2014-12-31 | 2014-12-31 | A kind of hoisting machine robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420864415.9U CN204569263U (en) | 2014-12-31 | 2014-12-31 | A kind of hoisting machine robot system |
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| Publication Number | Publication Date |
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| CN204569263U true CN204569263U (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420864415.9U Expired - Fee Related CN204569263U (en) | 2014-12-31 | 2014-12-31 | A kind of hoisting machine robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104528568A (en) * | 2014-12-31 | 2015-04-22 | 东莞市天楠光电科技有限公司 | Lifting robot system |
-
2014
- 2014-12-31 CN CN201420864415.9U patent/CN204569263U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104528568A (en) * | 2014-12-31 | 2015-04-22 | 东莞市天楠光电科技有限公司 | Lifting robot system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 523000, No. two, No. 17, Songshan hi tech Industrial Development Zone, Guangdong, Dongguan, A207 Patentee after: Guangdong Tian Hao Technology Co., Ltd. Address before: 523200, No. two, No. 17, Songshan hi tech Industrial Development Zone, Guangdong, Dongguan, A207 Patentee before: Dongguan TianNan Optical Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20191231 |
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| CF01 | Termination of patent right due to non-payment of annual fee |