CN208383944U - Industrial robot controller busbar voltage detection circuit - Google Patents
Industrial robot controller busbar voltage detection circuit Download PDFInfo
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- CN208383944U CN208383944U CN201821093094.1U CN201821093094U CN208383944U CN 208383944 U CN208383944 U CN 208383944U CN 201821093094 U CN201821093094 U CN 201821093094U CN 208383944 U CN208383944 U CN 208383944U
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Abstract
The utility model discloses a kind of industrial robot controller busbar voltage detection circuit, which includes high resistant isolation bleeder circuit, input voltage clamp circuit, differential amplifier circuit, voltage follower circuit, output voltage clamp circuit；The utility model breaks the method that conventionally employed Hall element carries out voltage detecting, has saved sensor and relevant power supply and processing circuit.Using precision resister, entire circuit has many advantages, such as that safe and stable, reliable, precision is high and the linearity is good, helps industrial robot controller batch production, does not have to every progress voltage correction；Device used in entire circuit is few, occupies little space, compared with traditional detection method, effectively reduces the space occupied, for this robot controller precious to space, especially seldom.
Description
Technical field
The utility model relates to the technical field of industrial robot controller more particularly to a kind of isolated high-precision it is low at
This busbar voltage detection circuit.
Background technique
The busbar voltage detection of servo-system is particularly important for the normal operation of entire industrial robot controller, not only
The loading condition of whole system is monitored according to the busbar voltage detected, also bleeder resistance is controlled according to busbar voltage
On-off in the loop is to slow down pressure of the electric energy to bus of motor feedback, and the precision of the detection of busbar voltage
It is follow-up system overcurrent, overheats, the basis of under-voltage equal protections and premise.Existing busbar voltage detection circuit mostly uses resistance to decline greatly
Subtract network to busbar voltage decay then by amplifier followed will also by A/D chip carry out sampling be converted to number
Signal could be sampled after exporting using light-coupled isolation to MCU, this sequence of transformations process not only greatly reduces electricity
The precision of pressure sampling increases the complexity of circuit, and circuit cost is higher.
Summary of the invention
The purpose of this utility model in order to overcome the shortcomings of existing industrial robot controller busbar voltage detection mode,
Busbar voltage can not only accurately be detected by providing one kind, and also avoid bus and the control circuit work that bring does not influence altogether
Industry robot controller busbar voltage detection circuit, the industrial robot controller busbar voltage detection circuit can not only be examined accurately
Busbar voltage is surveyed, and also avoids bus and control circuit bring influences altogether, at low cost and precision is high.
A kind of industrial robot controller busbar voltage detection circuit of the utility model, including high resistant isolation bleeder circuit,
Input voltage clamp circuit, differential amplifier circuit, voltage follower circuit, output voltage clamp circuit；
The high resistant isolation bleeder circuit includes first resistor R1, second resistance R2 and first capacitor C1；First resistor
One end of R1 is connect with busbar voltage electrode input end VBUS, and the other end of first resistor R1 and one end of first capacitor C1 connect
Connect, the other end of first capacitor C1 is connect with one end of second resistance R2, the other end of second resistance R2 and busbar voltage it is defeated
Enter cathode AGND connection；
Input voltage clamp circuit includes the first bilateral diode D1, the second bilateral diode D2；
The cathode of first diode in first bilateral diode D1 connects 5V power supply, and anode and the DGND of the second diode connect
It connects, one end of the anode and the cathode of the second diode, the other end of first resistor R1, first capacitor C1 of first diode connects
It connecing, the cathode of the third diode in the second bilateral diode D2 connects 5V power supply, and the anode of the 4th diode is connect with DGND, the
The anode of three diodes is connect with one end of the cathode of the 4th diode, the other end of first resistor R1, first capacitor C1；
Differential amplifier circuit includes the first operational amplifier OP1, the second capacitor C2, third capacitor C3,3rd resistor R3, the
Four resistance R4；
One end of the noninverting input of first operational amplifier OP1 and third capacitor C3, one end of 3rd resistor R3, first
The other end of resistance R1 connects, the reverse input end of the first operational amplifier OP1 and one end, the second capacitor C2 of the 4th resistance R4
One end, first capacitor C1 other end connection, the other end of the output end of the first operational amplifier OP1 and the 4th resistance R4,
The other end of second capacitor C2 connects, another termination DGND of the other end of 3rd resistor R3, third capacitor C3；
Voltage follower circuit includes second operational amplifier OP2 and the 5th resistance R5；
The noninverting input of second operational amplifier OP2 is connect with the output end of the first operational amplifier OP1, the second operation
The reverse input end of amplifier OP2 is connect with one end of the 5th resistance R5, the output end of second operational amplifier OP2 and the 5th electricity
Hinder the other end connection of R5；
Output voltage clamp circuit includes third bilateral diode D3；
The cathode of the 5th diode of third bilateral diode D3 connects 3.3V power supply, and anode and the DGND of the 6th diode connect
It connects, anode and the cathode of the 6th diode, the other end of the 5th resistance R5 of the 5th diode, and as output end.
The technical scheme adopted by the utility model to solve the technical problem is as follows: female from industrial robot controller main circuit
The positive VBUS and ground AGND of line voltage lead to busbar voltage detection circuit, just industrial robot controller main circuit bus
Pole and ground directly as detection circuit input positive electrode and negative electrode, and led to busbar voltage detection circuit anode with it is negative
Pole after bleeder circuit is isolated in high resistant, via clamp circuit, then passes through a differential amplifier circuit, voltage follow electricity respectively
Road exports clamp circuit, takes the form formula of Differential Input and voltage follow side and voltage clamping of arranging in pairs or groups to will test circuit and examined
The voltage signal of survey is output to MCU, realizes to industrial robot controller busbar voltage detection.
The utility model busbar voltage detection circuit has following remarkable advantage:
1. the utility model breaks the method that conventionally employed Hall element carries out voltage detecting, sensor and phase have been saved
The power supply of pass and processing circuit.
2. using precision resister, entire circuit has many advantages, such as that safe and stable, reliable, precision is high and the linearity is good, has
It helps industrial robot controller to produce in batches, does not have to every progress voltage correction.
3. device used in entire circuit is few, occupy little space, compared with traditional detection method, effectively reduces the sky of occupancy
Between, for this robot controller precious to space, especially seldom.
4. entire circuit efficiently solves bus, bring does not influence altogether, regardless of whether altogether, output and input
Bus anode is related with bus negative terminal voltage difference.
5. entire circuit is practical, with the scheme ratio using Hall element detection, simple and reliable, effect is more preferable, and
Cost is greatly saved.
Detailed description of the invention
Fig. 1 is the circuit diagram of the utility model；
Specific embodiment
The utility model is further described below in conjunction with attached drawing.
As shown in Figure 1, a kind of industrial robot controller busbar voltage detection circuit, including high resistant isolation bleeder circuit,
Input voltage clamp circuit, differential amplifier circuit, voltage follower circuit, output voltage clamp circuit；
It includes first resistor R1, second resistance R2 and first capacitor C1 that bleeder circuit, which is isolated, in high resistant；The one of first resistor R1
End is connect with busbar voltage electrode input end VBUS, and the other end of first resistor R1 is connect with one end of first capacitor C1, and first
The other end of capacitor C1 is connect with one end of second resistance R2, the other end of second resistance R2 and the input cathode of busbar voltage
AGND connection；
Input voltage clamp circuit includes the first bilateral diode D1, the second bilateral diode D2；
The cathode of first diode in first bilateral diode D1 connects 5V power supply, and anode and the DGND of the second diode connect
It connects, one end of the anode and the cathode of the second diode, the other end of first resistor R1, first capacitor C1 of first diode connects
It connecing, the cathode of the third diode in the second bilateral diode D2 connects 5V power supply, and the anode of the 4th diode is connect with DGND, the
The anode of three diodes is connect with one end of the cathode of the 4th diode, the other end of first resistor R1, first capacitor C1；
Differential amplifier circuit includes the first operational amplifier OP1, the second capacitor C2, third capacitor C3,3rd resistor R3, the
Four resistance R4；
One end of the noninverting input of first operational amplifier OP1 and third capacitor C3, one end of 3rd resistor R3, first
The other end of resistance R1 connects, the reverse input end of the first operational amplifier OP1 and one end, the second capacitor C2 of the 4th resistance R4
One end, first capacitor C1 other end connection, the other end of the output end of the first operational amplifier OP1 and the 4th resistance R4,
The other end of second capacitor C2 connects, another termination DGND of the other end of 3rd resistor R3, third capacitor C3；
Voltage follower circuit includes second operational amplifier OP2 and the 5th resistance R5；
The noninverting input of second operational amplifier OP2 is connect with the output end of the first operational amplifier OP1, the second operation
The reverse input end of amplifier OP2 is connect with one end of the 5th resistance R5, the output end of second operational amplifier OP2 and the 5th electricity
Hinder the other end connection of R5；
Output voltage clamp circuit includes third bilateral diode D3；
The cathode of the 5th diode of third bilateral diode D3 connects 3.3V power supply, and anode and the DGND of the 6th diode connect
It connects, anode and the cathode of the 6th diode, the other end of the 5th resistance R5 of the 5th diode, and as output end.
From attached drawing as can be seen that the utility model is a kind of industrial robot busbar voltage detection circuit, from industrial machine
The positive VBUS and ground AGND of people's controller main circuit busbar voltage lead to busbar voltage detection circuit, industrial robot control
The positive electrode and negative electrode that device main circuit bus anode processed and ground are inputted directly as detection circuit, and led to busbar voltage inspection
The positive electrode and negative electrode of slowdown monitoring circuit after bleeder circuit is isolated in high resistant, via clamp circuit, then pass through a differential amplification respectively
Circuit, voltage follower circuit export clamp circuit, take the form formula of Differential Input and voltage follow side and voltage clamping of arranging in pairs or groups
It will test circuit voltage signal detected and be output to MCU, realize to industrial robot controller busbar voltage detection.
The busbar voltage detection circuit of the utility model, the partial pressure electricity constituted including tetra- megaohms of resistance of R1, R2, R3, R4
Road, a differential amplifier circuit, a voltage follower circuit and clamp circuit.Wherein, four megaohms of resistance use connects two-by-two,
It is respectively connected to bus anode and bus cathode, plays high resistant buffer action, and constitute bleeder circuit with rear class computing circuit, really
Protect circuit safety.Two computing circuits are respectively the plus and minus calculation and electricity being made of the first amplifier OP1 and the second amplifier OP2
Pressure follows circuit, and addition and subtraction circuit and front end input resistance constitute first order computing circuit, play Differential Input and ratio tune
Section effect, the second level are voltage follower circuit, and the second level is voltage follow computing circuit, play buffering, isolation, improve load capacity
Effect.
Resistance parameter meets following relationship in this busbar voltage detection circuit:
R1=R2；
R3=R4.
Claims (1)
1. industrial robot controller busbar voltage detection circuit, including high resistant isolation bleeder circuit, input voltage clamp circuit,
Differential amplifier circuit, voltage follower circuit, output voltage clamp circuit；
It is characterized by: high resistant isolation bleeder circuit includes first resistor R1, second resistance R2 and first capacitor C1；First resistor
One end of R1 is connect with busbar voltage electrode input end VBUS, and the other end of first resistor R1 and one end of first capacitor C1 connect
Connect, the other end of first capacitor C1 is connect with one end of second resistance R2, the other end of second resistance R2 and busbar voltage it is defeated
Enter cathode AGND connection；
Input voltage clamp circuit includes the first bilateral diode D1, the second bilateral diode D2；
The cathode of first diode in first bilateral diode D1 connects 5V power supply, and the anode of the second diode is connect with DGND,
The anode of first diode is connect with one end of the cathode of the second diode, the other end of first resistor R1, first capacitor C1, the
The cathode of third diode in two bilateral diode D2 connects 5V power supply, and the anode of the 4th diode is connect with DGND, and the three or two
The anode of pole pipe is connect with one end of the cathode of the 4th diode, the other end of first resistor R1, first capacitor C1；
Differential amplifier circuit includes the first operational amplifier OP1, the second capacitor C2, third capacitor C3,3rd resistor R3, the 4th electricity
Hinder R4；
The noninverting input of first operational amplifier OP1 and one end, one end of 3rd resistor R3, first resistor of third capacitor C3
The other end of R1 connects, one end of the reverse input end of the first operational amplifier OP1 and the 4th resistance R4, the second capacitor C2 one
The other end of the other end connection at end, first capacitor C1, the output end of the first operational amplifier OP1 and the 4th resistance R4, second
The other end of capacitor C2 connects, another termination DGND of the other end of 3rd resistor R3, third capacitor C3；
Voltage follower circuit includes second operational amplifier OP2 and the 5th resistance R5；
The noninverting input of second operational amplifier OP2 is connect with the output end of the first operational amplifier OP1, the second operation amplifier
The reverse input end of device OP2 is connect with one end of the 5th resistance R5, the output end of second operational amplifier OP2 and the 5th resistance R5
The other end connection；
Output voltage clamp circuit includes third bilateral diode D3；
The cathode of the 5th diode of third bilateral diode D3 connects 3.3V power supply, and the anode of the 6th diode is connect with DGND, the
The anode of five diodes and the cathode of the 6th diode, the other end of the 5th resistance R5, and as output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821093094.1U CN208383944U (en) | 2018-07-11 | 2018-07-11 | Industrial robot controller busbar voltage detection circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821093094.1U CN208383944U (en) | 2018-07-11 | 2018-07-11 | Industrial robot controller busbar voltage detection circuit |
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| Publication Number | Publication Date |
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| CN208383944U true CN208383944U (en) | 2019-01-15 |
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ID=64963943
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821093094.1U Active CN208383944U (en) | 2018-07-11 | 2018-07-11 | Industrial robot controller busbar voltage detection circuit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802446A (en) * | 2018-07-11 | 2018-11-13 | 杭州电子科技大学 | A kind of industrial robot controller busbar voltage detection circuit |
| CN111398856A (en) * | 2020-04-17 | 2020-07-10 | 江苏吉泰科电气股份有限公司 | Quick accurate insulation detection circuit |
-
2018
- 2018-07-11 CN CN201821093094.1U patent/CN208383944U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108802446A (en) * | 2018-07-11 | 2018-11-13 | 杭州电子科技大学 | A kind of industrial robot controller busbar voltage detection circuit |
| CN111398856A (en) * | 2020-04-17 | 2020-07-10 | 江苏吉泰科电气股份有限公司 | Quick accurate insulation detection circuit |
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