CN206135755U - Low -voltage is small -size to have brush motor drive and small power motor - Google Patents
Low -voltage is small -size to have brush motor drive and small power motor Download PDFInfo
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- CN206135755U CN206135755U CN201620938138.0U CN201620938138U CN206135755U CN 206135755 U CN206135755 U CN 206135755U CN 201620938138 U CN201620938138 U CN 201620938138U CN 206135755 U CN206135755 U CN 206135755U
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Abstract
The utility model discloses a low -voltage is small -size to have brush motor drive and small power motor, wherein the low -voltage is small -size has a brush motor drive, include: microcontroller for carry out electric current loop, speed ring, the position loop control of motor from inside to outside in proper order, the motor drive chip for the control motor rotates and slew velocity, the optoelectronic isolation ware is used for keeping apart control signal and drive signal in the driver, photoelectric encoder for it forms closed loop to return motor speed, CAN communication interface for carry out the communication with CAN bus connection, the motor drive chip passes through the optoelectronic isolation ware and is connected with microcontroller, microcontroller and CAN communication interface are connected, photoelectric encoder respectively with the motor with microcontroller connects. The utility model provides a simple perfect electric machine control closed loop system can real -time accurate position loop, speed ring, the electric current loop information of gathering, and accurate control motor motion volume low -voltage is small -size to have brush motor drive.
Description
Technical field
This utility model is related to motor driver field, the more particularly to small-sized brush motor driver of low-voltage and little work(
Rate motor.
Background technology
Motor driver is the controller of controlled motor, is a part for electric system.The development of digital control technology
So that motor driver more digitized of today, networking and intellectuality, become the main flow of motor control at present.And adopt and divide
The analog circuit of vertical element composition makes circuit system complicated in terms of design and debugging motor control, and debugging difficulty is big.
So needing to be developed one kind with special integrated chip, small volume is internally integrated excessively stream, overvoltage protection, debugs
Relatively easily, the high motor driver of stability.
Utility model content
The technical problems to be solved in the utility model is to provide simple perfect motor control closed loop system, can be accurate in real time
Really gather position ring, speed ring, electric current loop information, the small-sized brush motor driver of precise control motor movement volume low-voltage.
Above-mentioned technical problem is solved, this utility model provides a kind of small-sized brush motor driver of low-voltage, including：
Microcontroller, to the electric current loop, speed ring, the position ring control that carry out motor successively from inside to outside；
Motor drive ic, rotates and velocity of rotation to controlled motor；
Photoisolator, to isolate the driver in control signal and drive signal；
Photoelectric code disk, to return motor speed closed loop is formed；
CAN communication interface, is communicated to be connected with CAN；
The motor drive ic is connected by photoisolator with microcontroller, and the microcontroller connects with CAN communication
Mouth connection, the photoelectric code disk is connected respectively with motor and the microcontroller.
Further, the microcontroller, including microcontroller chip, clock circuit, reset circuit and power circuit
The minimum system circuit of composition, by the minimum system circuit, to output control motor control signal and/or communication letter
Number.
Further, the microcontroller is also reserved with hand-reset button, realizes to minimum to carry out manual reset
Circuit system is restarted.
Further, it is connected with outside CAN using CAN transceiver in the CAN communication interface, output difference
Signal is using defeated.
Further, a serial ports is reserved with the CAN transceiver, to by serial port protocol or instruction
The parameter gone in controlled motor.
Further, the photoelectric code disk, including photoelectric code disk and code-disc process circuit,
The code-disc process circuit is made up of light emitting diode and photosensitive reception audion, and is attached separately to the two of disc
Side；
The photoelectric code disk is arranged on motor terminal shaft, sets up in the photoelectric code disk and offers grating, in the photoelectricity
When code-disc is rotated, if having blocked the light that luminous tube sends, high level signal is exported；If photoelectric code disk goes to the gap on grating
Position, then export low level signal.
Further, the speed ring control is defeated using 90 degree of signal of A, B phase two-way phase by photoelectric code disk
Go out, if advanced 90 degree of the B phases of A phases, now motor is rotated forward；If conversely, advanced 90 degree of the A phase of B phases, now motor reversal.
Further, the position ring adopts position Hall element, the position Hall element to include：Magnet steel and
Hall element is constituted,
When the magnet steel is near Hall element, Hall element output remains low level；
When the magnet steel is away from Hall element, output remains high level；
The microcontroller can be detected and judge whether motor reaches currently by the low and high level value of detection output signal
Desired position.
Further, driver also includes 24V driving voltages, to be adjusted driving less according to practical situation
In the direct current generator of 24V.
This utility model additionally provides a kind of low-power machine, including the small-sized brush motor driver of described low-voltage.
The beneficial effects of the utility model：
1) this utility model is directed to prior art defect, there is provided simple perfect motor control closed loop system, can be accurate in real time
Really gather position ring, speed ring, electric current loop information, precise control motor movement.
2) this utility model carries out signal isolation using photoelectric device, it is to avoid the interference that motor signal is caused, and provides
General CAN communication interface, facilitates secondary development to use.
3) microcontroller in this utility model also has excessively stream, the under-voltage and too high automatic protection of temperature, and failure shape
State prompt facility.
Description of the drawings
Fig. 1 is the small-sized brush motor activation configuration schematic diagram of low-voltage in the embodiment of this utility model one.
Fig. 2 is the structural representation of the motor drive ic in Fig. 1.
Fig. 3 is the truth table of motor drive ic in Fig. 2.
Fig. 4 (a)-Fig. 4 (b) is the motor steering schematic diagram in Fig. 2.
Fig. 5 is that position ring of the present utility model adopts position Hall element schematic diagram.
Fig. 6 is the output signal diagram of Hall element.
Fig. 7 is A, B phase two paths of signals output schematic diagram in Fig. 5.
Fig. 8 is 24V driving voltages structural representation in Fig. 1.
Fig. 9 is the structural representation of the microcontroller in Fig. 1.
Figure 10 is the minimum system structural representation of the microcontroller in Fig. 1.
Figure 11 is the structural representation of the photoelectric code disk in Fig. 1.
The electrical block diagram of the photoelectric code disk in Figure 12 Figure 10.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with specific embodiment, and
Referring to the drawings, this utility model is further described.
Refer to Fig. 1 is the small-sized brush motor activation configuration schematic diagram of low-voltage in the embodiment of this utility model one.
The small-sized brush motor driver of a kind of low-voltage in the present embodiment, including：Microcontroller 102, to from it is interior to
The outer electric current loop for carrying out motor successively, speed ring, position ring control；Motor drive ic 100, to controlled motor rotate and
Velocity of rotation；Photoisolator 101, to isolate the driver in control signal and drive signal；Photoelectric code disk 104,
Closed loop is formed to return motor speed；CAN communication interface 103, is communicated to be connected with CAN；The electricity
Machine driving chip 100 is connected by photoisolator 101 with microcontroller 102, the microcontroller 102 and CAN communication interface
103 connections, the photoelectric code disk 104 is connected respectively with motor and the microcontroller 102.
Photoisolator 101 in the present embodiment so that the control signal and drive signal of motor driver passes through light
Isolated during coupling, the interference brought when motor is rotated can be effectively prevented from, controller is also had excessively stream, under-voltage and temperature
Spend high automatic protection, and malfunction prompt facility.
It is preferred in as the present embodiment, the microcontroller 102, including microcontroller chip, clock circuit, reset electricity
Road and the minimum system circuit of power circuit composition, by the minimum system circuit, to output control motor control
Signal and/or signal of communication.The microcontroller is also reserved with hand-reset button, realizes to minimum to carry out manual reset
Circuit system is restarted.Simple perfect motor control closed loop system is provided in the present embodiment, can real-time accurate acquisition position
Put ring, speed ring, electric current loop information, precise control motor movement.
It is preferred in as the present embodiment, it is total with outside CAN using CAN transceiver in the CAN communication interface 103
Line connects, and output difference signal is using defeated.A serial ports is reserved with the CAN transceiver, to assist by serial ports
The parameter that view or instruction are gone in controlled motor.The function of CAN communication interface 103 in the present embodiment, can be linked into CAN
In the system bus of interface, very easily serial communication can be carried out with other equipment.
It is preferred in as the present embodiment, the photoelectric code disk, including photoelectric code disk and code-disc process circuit, the code-disc
Process circuit is made up of light emitting diode and photosensitive reception audion, and is attached separately to the both sides of disc；The photoelectric code disk peace
Motor terminal shaft is mounted in, is set up in the photoelectric code disk and is offered grating, when the photoelectric code disk is rotated, if having blocked luminous
The light that pipe sends, then export high level signal；If photoelectric code disk goes to the gap position on grating, low level signal is exported.
It is an independent module that the photoelectric code disk is photoelectric encoder, and its signal is given by motor drive ic, this reality
The standalone module that the photoelectric code disk in example is mounted in motor end is applied, motor shaft drives the disc of code-disc when motor is rotated
Rotate, different low and high level signal pulses are produced by internal circuit, concrete principle can be mentioned below, photoelectric code disk
The signal of generation feeds back to microcontroller and does collection calculating process, so as to obtain the rotating speed of motor.
Preferred in as the present embodiment, the motor drive ic 100 is also rotated to motor, motor overload is protected
Shield, over current of motor protection.
Preferred in as the present embodiment, the speed ring control passes through photoelectric code disk, using A, B phase two-way phase
90 degree of signal output, if advanced 90 degree of the B phases of A phases, now motor is rotated forward；If conversely, advanced 90 degree of the A phases of B phases, this
When motor reversal.
Preferred in as the present embodiment, the position ring adopts position Hall element, the position Hall element
Including：Magnet steel and Hall element are constituted, and when the magnet steel is near Hall element, Hall element output remains low electricity
It is flat；When the magnet steel is away from Hall element, output remains high level；The microcontroller is by detection output signal
Low and high level value, can detect and judge whether motor reaches current desired position.
Explanation of nouns is as follows：
1st, electric current loop：The input of electric current loop is that output after speed ring PID is adjusted, referred to as " electric current loop gives ", so
Be exactly afterwards electric current loop this given and " feedback of electric current loop " value be compared after difference PID be in electric current loop adjust defeated
Go out to motor, the phase current that " output of electric current loop " is exactly motor per phase, " feedback of electric current loop " be not the feedback of encoder and
It is to be arranged on the Hall element (magnetic field induction is changed into current and voltage signals) per phase in internal drive to feed back to electric current loop.
2nd, speed ring：The input of speed ring is exactly the feedforward value of the output after position ring PID is adjusted and position setting, I
Be referred to as " speed setting ", this " speed setting " and the difference after " loop feedback " value is compared are PID in speed ring
Afterwards output is exactly " electric current loop given " talked about above to adjust (mainly proportional gain and Integral Processing).The feedback of speed ring
Come from what the value after the feedback of encoder was obtained through " velocity arithmetic device ".
3rd, position ring：The input of position ring is exactly that outside pulse (under normal circumstances, directly writes data to driver ground
The servo exception of location), outside pulse after the disposal of gentle filter and electronic gear are calculated as " setting of position ring ", if
Numerical value of the fixed and pulse signal from encoder feedback after the calculating of offset counter is adjusted in the PID through position ring
(proportional gain is adjusted, without integral differential link) afterwards the conjunction value of the feed-forward signal that output gives with position just constitutes what is said above
Speed ring it is given.The feedback of position ring also comes from encoder.
Encoder is installed on servomotor afterbody, and it and electric current loop do not have any contact, and he samples and comes from turning for motor
Dynamic rather than current of electric, and input, output, the feedback of electric current loop is without any contact.And electric current loop is in internal drive
Formed, even if without motor, as long as fictitious load electric current loop is installed in every phase can just form feedback operation.
Preferred in as the present embodiment, driver also includes 24V driving voltages, to be adjusted according to practical situation
To drive the no more than direct current generator of 24V.
Signal isolation is carried out using photoelectric device in the present embodiment, it is to avoid the interference that motor signal is caused, and provide logical
CAN communication interface, facilitates secondary development to use.And microcontroller also has excessively stream, under-voltage and temperature is too high certainly
Dynamic protection, and malfunction prompt facility.
In addition, a kind of low-power machine is additionally provided in the present embodiment, including the small-sized brush motor driver of low-voltage.Its
The small-sized brush motor driver of middle low-voltage disclosure satisfy that the application scenario that DC micro-motor drives, and solve well
The electromagnetic interference phenomenon brought to circuit part when rotating because of motor, and design comes with CAN communication interface, very just
Just the connection that bus communication is carried out with other equipment.
Fig. 2～Fig. 4 (a)-Fig. 4 (b) is refer to, wherein Fig. 2 is the structural representation of the motor drive ic in Fig. 1.Fig. 3
It is the truth table of motor drive ic in Fig. 2.Fig. 4 (a)-Fig. 4 (b) is the motor steering schematic diagram sheet in Fig. 2.
As shown in Fig. 2 the motor drive ic in the present embodiment, running voltage highest 40V, driving current highest 5A, adopt
With the motor drive ic MC33887 of Freescale company, the chip can simultaneously drive two motors, single power supply to power.Can
To realize the Real Time Control Functions such as motor PWM speed governing, rotating, braking.And with excessively stream, the under-voltage and too high automatic guarantor of temperature
Shield, and malfunction prompt facility, output short circuit protection, under-voltage closing.The driver can at most drive two motors, tool
There are two groups of OUT1, OUT2 pins, chip pin figure need to only drive a motor as shown in Fig. 2 in the present embodiment, therefore can be by
OUT1, OUT2 are connected in parallel respectively, can increase the driving force of electric current, and two pins of chip input signal are IN1, IN2.
Signal input can be divided into 4 in situation：1.IN1 pins are height, and IN2 is low, and chip output is that OUT1 positions are high, and OUT2 is low；
2.IN1 pins are low, and IN2 is height, and chip output is that OUT1 positions are low, and OUT2 is height；3.IN1 pins are height, and IN2 is height, core
Piece outfan is that OUT1 positions are high, and OUT2 is height；4.IN1 pins are low, and IN2 is low, and chip output is that OUT1 positions are low, and OUT2 is
It is low；Specific truth table is shown in shown in Fig. 3.If realizing that motor is rotated forward, the situation 1 of the signal of input just and in Fig. 3 keeps
Equally, motor will be rotated forward, and rotated and illustrated as shown in Fig. 4 (a), and the sense of current is as indicated by a dashed arrow in the figure；Conversely, such as
Fruit will realize motor reversal, and the situation 2 of the signal of input just and in Fig. 3 is consistent, and motor will be rotated backward, and rotate signal
As shown in Fig. 4 (b) figures, in the sense of current such as figure shown in middle dotted arrow；If realizing motor brake hard, the signal of input
Situation 3 just and in Fig. 3 is consistent, motor will the brake hard in the case of rotation, or in originally static feelings
Self-locking is carried out under condition.If two input signals are all 0, such as it is consistent with the situation 4 in Fig. 3, it is now naturally sliding for motor
Row state or natural halted state, this situation is typically of little use.Electric machine speed regulation function is realized if desired, and input signal IN2 is
0, IN1 input is the pwm signal of variable duty ratio, you can realize the speed-regulating function of motor；Realize that motor is reversely adjusted if desired
Fast function, input signal IN1 is the pwm signal that 0, IN2 inputs are variable duty ratio, you can realize the speed-regulating function of motor.
Fig. 5-Fig. 7 is refer to, wherein Fig. 5 is that position ring of the present utility model adopts position Hall element schematic diagram.Fig. 7
It is A, B phase two paths of signals output schematic diagram in Fig. 5.Fig. 6 is the output signal diagram of Hall element.
In the present embodiment, electric current loop realizes the excessively stream of motor using the overcurrent protection function carried inside driving chip
Overheat protective function,
Position ring adopts position Hall element, is constituted using magnet steel and Hall element, as shown in figure 5, A is what is rotated
Magnet steel, B is static Hall element, and when magnet steel is near Hall element, Hall element output remains low level, when
When magnet steel is away from Hall element, output remains high level.The low and high level value that processor passes through detection output signal, can be with
Detection judges whether motor reaches current desired position, the output signal diagram of Hall element, as shown in Figure 6.
Speed ring adopts photoelectric encoder, is exported using A, B phase two paths of signals, 90 degree of phase, as shown in Figure 7,
The output signal of two pulses is given processor and goes sampling to calculate, and processor is by calculating the number of pulse and the priority of pulse
Along after, the speed of motor operation can be calculated and current rotation direction is rotated.If advanced 90 degree of the B phases of A phases, now electric
Machine is rotated forward, if conversely, advanced 90 degree of the A phases of B phase, now motor reversal.
Three above all carries out the closed loop control of motor using the algorithm of PID, is gathered in real time and is calculated by processor
Data are obtained, controlled motor is accurately controlled and is rotated, bringing onto load disturbs little, efficiency high.
Refer to Fig. 7 is the CAN communication interface structure schematic diagram in Fig. 1.
Communication interface adopts the more commonly used CAN communication interface, i.e. CAN interface, is received and dispatched using independent CAN
Device, supports the low power mode of operation of 3.3V voltages, and output signal is using output of checking the mark, anti-interference little, long transmission distance, highest
Traffic rate reaches 1Mb/s, very easily can carry out two with other CAN equipment and be connected.A string is also reserved simultaneously
Mouthful, it is also possible to the parameters of controlled motor are gone by serial port protocol or instruction.Idiographic flow control figure is as shown in Figure 7.
Refer to Fig. 8 is 24V driving voltages structural representation in Fig. 1.
24V driving voltage motors are adopted in the present embodiment, highest can drive the brush direct current motor of 24V, and drive
Galvanic electricity pressure can be adjusted according to practical situation, and the direct current generator within 24V can drive, and as shown in Figure 8, processor leads to
The resistance value that I/O pin controls a digital regulation resistance is crossed, by different resistance values so as to the resistance ratio of regulation power supply die terminals
Example value, can be such that supply voltage is changed in certain scope, so as to adapt to the motor of different load voltage values, increased
The suitability of the driver.
Fig. 9-Figure 10 is refer to, wherein Fig. 9 is the circuit diagram of the microcontroller in Fig. 1.Figure 10 is the microcontroller in Fig. 1
Minimum system structural representation.
The circuit diagram of the microcontroller 102 in the present embodiment as shown in figure 9, main by clock circuit, reset circuit and
Power circuit constitute minimum system circuit, then by the function I/O interface used draw, for do controlled motor control signal and
Signal of communication.Power supply adopts 3.3V electric power systems, clock to adopt outside 8M crystal oscillators, can by the PLL (phaselocked loop) in chip
Frequency multiplication is operated to the high-frequency clock of 72MHZ so as to provide the modules in interior microcontroller, and reset system adopts low electricity
Calm down position, be reserved with a hand-reset button, if necessary can manual reset, whole system is restarted.Microcontroller is most
Mini system structural representation is as shown in Figure 10.
Figure 11-Figure 12 is refer to, the structural representation that Figure 11 is the photoelectric code disk in Fig. 1 is refer to.Refer to Figure 12 figures
The electrical block diagram of the photoelectric code disk in 10.
The internal structure of photoelectric code disk 104 in the present embodiment is as shown in figure 11：Photoelectric code disk is arranged on motor terminal shaft.Such as
Rotating shaft in figure, the upper secret note of disc represents a rule crack (being commonly called as grating), can be with printing opacity, and code-disc process circuit is by lighting
Diode and photosensitive reception audion are constituted, and both is attached separately to the both sides of disc.Motor can drive code-disc disc when rotating
Rotate together, when rotating, if having blocked the light that luminous tube sends, now photosensitive receiving tube does not receive what is sent to disc
Light, process circuit thinks to be now 1, i.e. high level signal, if disc goes to the gap position on grating so that luminous tube
Light can just be passed through and gone, then now photosensitive receiving tube receives the light for setting out, and process circuit thinks to be now 0, i.e., low electricity
Level state, code-disc circuit theory diagrams are as shown in figure 12.During disc in motor with rotating, continuous height just occurs
Signal pulse.If encoder seam resolution is N (umber of pulse often enclosed), Clock Multiplier Factor k (adopts the biphase code-discs of A B, bilateral edge
Sampling, now k=4), the countings cycle is T (s), and counting number is n, then motor speed now is just：
Motor speed (turning/min)=60 × n/T × 1/kN.
It should be appreciated that each several part of the present utility model can be realized with hardware, software, firmware or combinations thereof.
In above-mentioned embodiment, multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Software or firmware are realizing.For example, if realized with hardware, and in another embodiment, can be with known in this field
Any one of following technology or their combination realizing：With for realizing the gate of logic function to data signal
The discrete logic of circuit, the special IC with suitable combinational logic gate circuit, programmable gate array (PGA),
Field programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the present utility model or example.In this manual, to the schematic table of above-mentioned term
State and be not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can be
Combine in an appropriate manner in any one or more embodiments or example.
Those of ordinary skill in the art should be understood：More than, it is described be only specific embodiment of the utility model and
, this utility model is not limited to, all within spirit of the present utility model and principle, any modification, equivalent made
Replace, improve etc., should be included within protection domain of the present utility model.
Claims (10)
1. the small-sized brush motor driver of a kind of low-voltage, it is characterised in that include：
Microcontroller, to the electric current loop, speed ring, the position ring control that carry out motor successively from inside to outside；
Motor drive ic, rotates and velocity of rotation to controlled motor；
Photoisolator, to isolate the driver in control signal and drive signal；
Photoelectric code disk, to return motor speed closed loop is formed；
CAN communication interface, is communicated to be connected with CAN；
The motor drive ic is connected by photoisolator with microcontroller, and the microcontroller connects with CAN communication interface
Connect, the photoelectric code disk is connected respectively with motor and the microcontroller.
2. the small-sized brush motor driver of low-voltage according to claim 1, it is characterised in that the microcontroller, bag
The minimum system circuit of microcontroller chip, clock circuit, reset circuit and power circuit composition is included, by the minimum
Circuit system, to output control motor control signal and/or signal of communication.
3. the small-sized brush motor driver of low-voltage according to claim 2, it is characterised in that the microcontroller is also pre-
Hand-reset button is left, realizes restarting minimum system circuit to carry out manual reset.
4. the small-sized brush motor driver of low-voltage according to claim 1, it is characterised in that the CAN communication interface
Middle employing CAN transceiver is connected with outside CAN, and output difference signal is using defeated.
5. the small-sized brush motor driver of low-voltage according to claim 4, it is characterised in that receive in the CAN
Send out and be reserved with a serial ports on device, to the parameter gone in controlled motor by serial port protocol or instruction.
6. the small-sized brush motor driver of low-voltage according to claim 1, it is characterised in that the photoelectric code disk, bag
Photoelectric code disk and code-disc process circuit are included,
The code-disc process circuit is made up of light emitting diode and photosensitive reception audion, and is attached separately to the both sides of disc；
The photoelectric code disk is arranged on motor terminal shaft, sets up in the photoelectric code disk and offers grating, in the photoelectric code disk
During rotation, if having blocked the light that luminous tube sends, high level signal is exported；If photoelectric code disk goes to the gap position on grating
Put, then export low level signal.
7. the small-sized brush motor driver of low-voltage according to claim 1, it is characterised in that the speed ring control is logical
Photoelectric code disk is crossed, using 90 degree of signal output of A, B phase two-way phase, if advanced 90 degree of the B phases of A phases, now motor
Rotate forward；If conversely, advanced 90 degree of the A phase of B phases, now motor reversal.
8. the small-sized brush motor driver of low-voltage according to claim 1, it is characterised in that the position ring adopts position
Hall element is put, the position Hall element includes：Magnet steel and Hall element are constituted,
When the magnet steel is near Hall element, Hall element output remains low level；
When the magnet steel is away from Hall element, output remains high level；
The low and high level value that the microcontroller passes through detection output signal, can detect that to judge whether motor reaches current desired
Position.
9. the small-sized brush motor driver of low-voltage according to any one of claim 1-8, it is characterised in that also include
24V driving voltages, to be adjusted driving the no more than direct current generator of 24V according to practical situation.
10. a kind of low-power machine, it is characterised in that drive including the small-sized brush motor of low-voltage as claimed in claim 1
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620938138.0U CN206135755U (en) | 2016-08-24 | 2016-08-24 | Low -voltage is small -size to have brush motor drive and small power motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620938138.0U CN206135755U (en) | 2016-08-24 | 2016-08-24 | Low -voltage is small -size to have brush motor drive and small power motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206135755U true CN206135755U (en) | 2017-04-26 |
Family
ID=58565810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620938138.0U Active CN206135755U (en) | 2016-08-24 | 2016-08-24 | Low -voltage is small -size to have brush motor drive and small power motor |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112713818A (en) * | 2020-12-17 | 2021-04-27 | 杭州海康威视数字技术股份有限公司 | Method and system for realizing self-locking by mechanism driven by direct-current brush motor to operate |
-
2016
- 2016-08-24 CN CN201620938138.0U patent/CN206135755U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112713818A (en) * | 2020-12-17 | 2021-04-27 | 杭州海康威视数字技术股份有限公司 | Method and system for realizing self-locking by mechanism driven by direct-current brush motor to operate |
| CN112713818B (en) * | 2020-12-17 | 2023-03-10 | 杭州海康威视数字技术股份有限公司 | Method and system for realizing self-locking by mechanism driven by direct-current brush motor to operate |
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