CN209388141U - Motor servo driver and gate equipment - Google Patents

Abstract

The utility model discloses a kind of motor servo driver and gate equipment, motor servo driver includes shell and is set to the intracorporal drive control plate of shell, and shell includes cap and pedestal, hollow hole is provided on cap, drive control plate is set on pedestal；Interface unit is provided in drive control plate, interface unit is revealed in outside by the hollow hole on cap；Interface unit includes the first interface unit being arranged in the region of drive control plate at least one side in drive control plate, and the angle between the direction and the front of drive control plate of the Wiring port of each interface in first interface unit is greater than 0 °, less than or equal to 135 °, to reduce the size of driver transverse direction, so that driver can better meet the leptosomatic application scenarios abundant in short transverse installation space such as swing turnstile, so that installing more gates under same mounting area, improve traffic efficiency, save installation space, save the cost.

Description

Motor servo driver and gate equipment

Technical field

The utility model relates to control field more particularly to a kind of motor servo driver and gate equipment.

Background technique

Gate as described herein is a kind of channel barrier device (channel management equipment), for managing the stream of people and specification pedestrian Access device.Other titles of gate include but are not limited to swing turnstile, flap turnstile, translation turnstile speed open gate etc..

With the high speed development of the promotion of human cost, Internet of Things and vision technique, novel door machine market welcomes development Peak, on the one hand novel door gate machine can replace security personnel, ticket collector carries out safety check work, on the other hand can be obtained by Internet of Things People information, in the fields such as office, factory, building site, house, public transport, prospect is huge.Since mounting area is small, space utilization Occasion of the high gate of rate in same space can fill more gates and improve traffic efficiency, in the case where same gate quantity Installation space, save the cost are saved, therefore is becoming increasingly popular while source in the big occasion of the flows of the people such as subway, high-speed rail, airport, customs In the demand to current comfort level, client wishes that gate control machine core occupied ground is the smaller the better, and existing driver is unable to satisfy Very thin volume requirement, and many puzzlements are brought for machine core installation and cabling.Various interfaces on current servo driver, example Such as power interface, motor is all that the left and right sides of driver is arranged in around group interface etc., and the court of the Wiring port of each interface Two sides to the left and right cause the distance between the driver left and right sides (namely width of driver) larger, simultaneously because interface is set Set causes the interface wiring of driver to require to connect from the left and right sides in the left and right sides of driver, into requiring driver to need There is biggish installation space, this is that leptosomatic gate application scenarios demand is runed counter to installation space, it is seen then that existing driver is not It is able to satisfy the small application scenarios demand of the installation spaces such as swing turnstile.

Utility model content

The utility model provides a kind of motor servo driver and gate equipment, solves existing driver and is not able to satisfy The installation spaces such as gate are small, and the problem of the application scenarios demand of inconvenient wiring.

To solve the above-mentioned problems, the utility model provides a kind of motor servo driver, the servo motor driving Device includes shell and is set to the intracorporal drive control plate of the shell, and the shell includes cap and pedestal, is set on the cap It is equipped with hollow hole, the drive control plate is set on the pedestal；Interface unit is provided in the drive control plate, it is described Interface unit is revealed in outside by the hollow hole on the cap；The interface unit includes leaning in the drive control plate The first interface unit of setting in the region of the nearly drive control plate at least one side, respectively connecing in the first interface unit Angle between the direction of the Wiring port of mouth and the front of the drive control plate is greater than 0 °, is less than or equal to 135 °；

The interface unit further includes band-type brake interface, is provided in the drive control plate and connect with the band-type brake interface Band-type brake circuit.

Optionally, the band-type brake circuit includes power drive unit, N-type switch power pipe unit and band-type brake interface；Band-type brake Power supply is connect by the N-type switch power pipe unit with the band-type brake interface；

The power drive unit is connect with the N-type switch power pipe unit, and the power drive unit is according to Band-type brake, which controls signal and generates driving voltage, controls N-type switch power pipe unit conducting so that the band-type brake power supply with it is described Band-type brake interface conducting, to provide operating current for the band-type brake interface.

Optionally, the first interface unit is disposed in proximity to the left side and/or right side of the drive control plate In region.

Optionally, the Wiring port of each interface in the first interface unit direction with the drive control plate just Angle between face is equal to 90 °.

Optionally, the interface unit further includes second interface unit and third interface unit, the second interface unit It is respectively arranged at the third interface unit close to the region of the drive control plate upper end and close to the drive control plate The region of lower end；The Wiring port of each interface in the second interface unit is towards the drive control plate upper end, and described The Wiring port of each interface in three interface units is towards the drive control plate lower end.

Optionally, the first interface unit includes at least one of I/O communication interface and the band-type brake interface, described Second interface unit includes at least one of RS232 communication interface, RS485 communication interface, CAN bus communication interface, described Third interface unit includes power interface, around at least one of group interface, encoder for servo motor interface；

Or, the first interface unit includes at least one of I/O communication interface and the band-type brake interface, described second Interface unit includes power interface, around at least one of group interface, encoder for servo motor interface, the third interface unit Including at least one of RS232 communication interface, RS485 communication interface, CAN bus communication interface.

Optionally, the first interface unit includes I/O communication interface and band-type brake interface, and the second interface unit includes RS232 communication interface, RS485 communication interface, CAN bus communication interface, the third interface unit include power interface, winding Interface, encoder for servo motor interface.

Optionally, the power interface, around group interface and encoder for servo motor interface in the drive control plate according to Secondary adjacent distributions；

And/or the RS232 communication interface, RS485 communication interface, CAN bus communication interface are in the drive control plate On successively adjacent distributions.

Optionally, the third interface unit further includes spare interface.

Optionally, the spare interface is set to the power interface and described between group interface, the spare interface For the external braking resistor interface of braking circuit.

Optionally, first choice switch, RS232 communicating circuit, RS485 communication electricity are additionally provided in the drive control plate Road and microprocessor, the RS232 communication interface, RS485 communication interface share a physical communication interface；

The physical communication interface is connect with the RS232 communicating circuit, RS485 communicating circuit respectively, and the RS232 is logical News circuit and the connection of RS485 communicating circuit are switched by the first choice and are connect with the microprocessor, the first choice Switch is connected for controlling the RS485 communicating circuit or the RS232 communicating circuit and the microprocessor.

Optionally, the first choice switch is toggle switch.

Optionally, display alarm unit is additionally provided in the drive control plate, the display alarm unit passes through described Hollow hole on cap is revealed in outside.

Optionally, the display alarm unit includes power supply display alarm unit and/or alarm indication reminding unit, described Power supply display alarm unit and/or alarm indication reminding unit are disposed adjacent with the I/O communication interface or band-type brake interface.

Optionally, input interface circuit and output interface circuit are provided in the drive control plate, the I/O communication connects Mouth includes incoming traffic interface and outputting communication interface, and the input interface circuit is connect with the incoming traffic interface, described Output interface circuit is connect with the outputting communication interface；

The input interface circuit includes the single-ended signal input circuit for supporting common cathode or common anode；

The output interface circuit includes the single-ended signal output circuit for supporting common cathode or common anode.

To solve the above-mentioned problems, the utility model additionally provides a kind of gate equipment, and the gate equipment includes as above The motor servo driver, further includes the control equipment connecting respectively with the motor servo driver, servo motor, with And the gate being connected with the servo motor.

The utility model has the beneficial effects that

The utility model provides a kind of motor servo driver and gate equipment, the motor servo driver comprising shell Body and it is set to the intracorporal drive control plate of shell, shell includes cap and pedestal, and hollow hole, drive control plate are provided on cap It is set on pedestal；Interface unit is provided in drive control plate, interface unit is revealed in outside by the hollow hole on cap； Interface unit includes the first interface unit being arranged in the region of drive control plate at least one side in drive control plate, And the angle between the direction and the front of drive control plate of the Wiring port of each interface in first interface unit is greater than 0 °, it is small In being equal to 135 °, to reduce the size of driver laterally (i.e. width direction), so that can to better meet gate thin for driver The application scenarios abundant in short transverse installation space of elongated, while reducing the peace on the width and width direction of driver The demand in space is filled, so that more convenient installing machine core and wiring improve logical so that installing more gates under same mounting area Line efficiency saves installation space, save the cost；

In addition, interface unit further includes band-type brake interface, the band-type brake electricity connecting with band-type brake interface is provided in drive control plate Road controls signal enabling band-type brake circuit by band-type brake when so as to need and realizes band-type brake, can avoid gate equipment in shutdown state Under the security risk that is forcibly opened, promote the intelligence of safety, the control of gate equipment and the satisfaction of user experience.

Detailed description of the invention

Fig. 1 is the drive control plate area distribution schematic diagram that an embodiment of the present invention provides；

Fig. 2 is the interface distribution schematic diagram that an embodiment of the present invention provides；

The motor servo driver structural schematic diagram that Fig. 3 the utility model embodiment two provides；

Fig. 4 is the top view of Fig. 3；

Fig. 5 is the right view of Fig. 3；

Fig. 6 is the left view of Fig. 3；

Fig. 7 is the motor servo driver structural schematic diagram that the utility model embodiment three provides；

Fig. 8-1 is the band-type brake circuit structural schematic diagram one that the utility model embodiment three provides；

Fig. 8-2 is the band-type brake circuit structural schematic diagram two that the utility model embodiment three provides；

Fig. 9 is the communication unit structural schematic diagram that the utility model embodiment four provides；

Figure 10 is the structural schematic diagram that the communication interface that the utility model embodiment four provides is multiplexed first choice switch；

Figure 11 is that the motor servo driver structure with master-slave communication unit that the utility model embodiment five provides is shown It is intended to；

Figure 12 is that the motor servo driver structure for having current sampling circuit that the utility model embodiment six provides is shown It is intended to；

Figure 13 is that the motor servo driver structure for having the anti-circnit NOT of power supply that the utility model embodiment six provides is shown It is intended to；

Figure 14 is the servo electricity for having voltage sampling circuit and energy loss circuit that the utility model embodiment six provides Machine activation configuration schematic diagram；

Figure 15 is the transmitted in both directions structural schematic diagram that the utility model embodiment seven provides；

The two directions' inputing structural schematic diagram that Figure 16-1 the utility model embodiment seven provides；

The bidirectional output structural schematic diagram that Figure 16-2 the utility model embodiment seven provides；

The motor servo driver structural schematic diagram that Figure 17 the utility model embodiment eight provides.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is a part of the embodiment in the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

The utility model is described in further detail below by specific embodiment combination attached drawing.

Embodiment one:

Motor servo driver provided in this embodiment can be applied to various gate systems comprising shell and be set to shell Intracorporal drive control plate, shell include cap and pedestal, hollow hole are provided on cap, drive control plate is set to pedestal On；Interface unit is provided in drive control plate, interface unit is revealed in outside by the hollow hole on cap；Interface unit packet Include the first interface unit being arranged in the region of drive control plate at least one side in drive control plate, first interface list Angle between the direction of the Wiring port of each interface in member and the front of drive control plate is greater than 0 °, is less than or equal to 135 °. Drive control plate in the present embodiment includes mainboard main body, which can be but be not limited to various circuit boards.The present embodiment Interface type and number etc. included by middle first interface unit can flexibly be set according to specific requirements, and first interface unit In each interface Wiring port direction the front of drive control plate between corner dimension can according to demand at 0 ° extremely Flexible setting between 135 °.For example, in a kind of example, the direction of the Wiring port of each interface in settable first interface unit Angle between the front of drive control plate is equal to the court of the Wiring port of 90 ° namely each interface in first interface unit To the front vertical with drive control plate.Rather than towards the left or right side of mainboard main body, accordingly even when first interface unit is set It sets on the left of the mainboard main body and/or the region on right side, but the transverse width of drive control plate will not be increased, while can mention Rise the interface saturation of drive control plate.So that driver can be better met, swing turnstile etc. is leptosomatic to install sky in short transverse Between abundant application scenarios, while reducing the demand of the installation space on the width and width direction of driver, so that same Etc. more gates are installed under mounting areas, improve traffic efficiency, save installation space, save the cost.For example, in the present embodiment First interface unit may be disposed in the region of the left side and/or right side close to drive control plate.

In the present embodiment, interface unit may also include band-type brake interface, is provided in drive control plate and connects with band-type brake interface The band-type brake circuit connect, and optionally, also settable microprocessor in drive control plate, band-type brake circuit can connect with the microprocessor It connects, microprocessor can be used for sending band-type brake control signal to band-type brake circuit and realize band-type brake to start band-type brake circuit, avoid gate quilt The case where opening by force.

In a kind of example of the present embodiment, interface unit further includes second interface unit and/or third interface unit, and Two interface units and third interface unit are respectively arranged at close to the region of drive control plate upper end and under drive control plate The region at end；The Wiring port of each interface in second interface unit is towards drive control plate upper end, in third interface unit The Wiring port of each interface is towards the drive control plate lower end.The second interface unit and third of driver can be connect in this way Mouth unit is distributed in the longitudinal direction (namely short transverse of driver) of drive control plate, so as to further decrease to drive The requirement of dynamic lateral (i.e. width direction, the width direction of respective drivers) size of control panel, so that driver can be fitted preferably It is mountable more under same mounting area for the leptosomatic application scenarios abundant in short transverse installation space such as swing turnstile Gate improves traffic efficiency, saves installation space, save the cost.

It should be understood that the interface type that includes in second interface unit and third interface unit in the present embodiment and Interface quantity etc. can also flexible setting according to demand.Such as: in a kind of example, first interface unit may include but be not limited to I/ At least one of O communication interface and band-type brake interface, second interface unit may include but be not limited to RS232 communication interface, RS485 At least one of communication interface, CAN (Controller Area Network, controller local area network) bus communication interface, Third interface unit may include but be not limited to power interface, around at least one of group interface, encoder for servo motor interface.And It should be understood that the position of above-mentioned each interface can also flexibly change according to demand in the present embodiment, for example, in another example In, first interface unit may include but be not limited at least one of I/O communication interface and band-type brake interface, and third interface unit can Including but not limited at least one of RS232 communication interface, RS485 communication interface, CAN bus communication interface, second interface Unit may include but be not limited to power interface, around at least one of group interface, encoder for servo motor interface.

It should be understood that the arrangement position for the interface that above-mentioned each interface unit includes can flexibly be set, for example, a kind of First interface unit includes I/O communication interface and band-type brake interface in example, second interface unit include RS232 communication interface, RS485 communication interface, CAN bus communication interface, third interface unit include power interface, around group interface, servo motor encoder Device interface.

In another example in a kind of example, power interface that third interface unit includes, around group interface and encoder for servo motor Interface can in drive control plate successively adjacent distributions；

And/or RS232 communication interface, RS485 communication interface, the CAN bus communication interface that second interface unit includes can The successively adjacent distributions in drive control plate.

It should be understood that I/O communication interface, RS232 communication interface, RS485 communication interface, CAN are total in the present embodiment When interface of the line communication interface as communication, configuration/debugging/control communication interface is can be used as but is not limited to, it can also To be the communication interface for being used for transmission data.And number included by communication interface and type all can also flexible settings.

In a kind of example in the present embodiment, interface unit may also include spare interface, so that servo motor drives Device can support more extension functions, to promote the compatibility of motor servo driver.For example, in a kind of example, the third Interface unit further includes spare interface, and the function of the spare interface can be according to concrete application demand flexible expansion.And its position Setting can also flexible setting according to demand.Such as in a kind of application example, which can be the external braking electricity of braking circuit Interface is hindered, and the spare interface may be disposed at power interface and between group interface.

In order to make it easy to understand, being described further below with reference to a kind of application example.

Referring to Figure 1 shown in-Fig. 2, wherein 1 is the mainboard main body that the intracorporal drive control plate of shell is arranged in, Tu1-2Zhong (cap of shell is not shown in the figure) is arranged on the pedestal of shell in mainboard main body 1；11 is upper close to mainboard for 1 front of mainboard main body The region of main body upper end, 12 be the upper region close to mainboard lower body in 1 front of mainboard main body, and 13 is on 1 fronts of mainboard main body Region on the left of mainboard main body, 14 be the upper region on the right side of mainboard main body in 1 front of mainboard main body.Fig. 2 shows for one kind The interface distribution schematic diagram of example, wherein 110 be CAN bus communication interface, 111 be RS485 communication interface, and 112 communicate for RS232 Interface, 113 be toggle switch；120 be power interface, 121 be external braking resistor interface, and 122 be motor around group interface, 123 be encoder for servo motor interface, and 130 be I/O interface, and 131 be band-type brake interface.In this application example, close to mainboard master The second interface unit being arranged in the region 11 of body upper end include: CAN bus communication interface 110, RS485 communication interface 111, RS232 communication interface 112, and 4-bit DIP switch 113 is additionally provided in the region 11 of mainboard main body upper end；And it should manage Solution, CAN bus communication interface 110, RS485 communication interface 111, RS232 communication interface 112 and toggle switch 113 are arranged Sequence can be adjusted flexibly, and RS485 communication interface 111, RS232 communication interface 112 can flexibly using multiplexing one The mode of physical interface, or individually use a physical interface.In this example, in the region 12 of mainboard lower body The third interface unit of setting include: power interface 120, external braking resistor interface 121, motor around group interface 122, servo Motor encoder interface 123.In this example, the first interface unit being arranged in the region 13 on the right side of mainboard main body includes: I/O interface 130, band-type brake interface 131, and the Wiring port of I/O interface 130, band-type brake interface 131 is arranged upward, namely perpendicular to The front of mainboard main body 1.

In a kind of example in the present embodiment, display alarm unit is also provided in drive control plate, which mentions Awake unit can be revealed in outside by the hollow hole on cap, so that display state is checked in outside.Display alarm in the present embodiment The concrete type and number and setting position that unit includes all can flexibly be set.For example, display alarm unit may include but not It is limited to power supply display alarm unit and/or alarm indication reminding unit, power supply display alarm unit and/or alarm indication are reminded single Member is disposed adjacent with I/O communication interface or band-type brake interface.

Interface a part can be concentrated on the vertical of motor servo driver by motor servo driver provided in this embodiment It is arranged to (i.e. short transverse), to reduce the size of driver lateral (i.e. width direction)；It simultaneously can also be in mainboard main body Close to left side and/or right area setting Wiring port perpendicular to the positive interface of mainboard main body, capacity is set promoting interface While, it may make driver that can meet the leptosomatic application scenarios abundant in short transverse installation space such as swing turnstile, reduce The width of driver and the demand of the installation space in width direction, so that more gates are installed under same mounting area, Traffic efficiency is improved, installation space, save the cost are saved.

Embodiment two:

In order to make it easy to understand, the present embodiment is described further below with reference to a kind of motor servo driver for example.This The motor servo driver that embodiment provides is referring to shown in Fig. 3-Fig. 6, wherein 2 be the shell of motor servo driver, 21 be to watch The upper end of motor driver is taken, 22 be the lower end of motor servo driver, and 210 be CAN bus communication interface, and 211 is logical for RS485 Communication interface, 212 be RS232 communication interface, and 213 be toggle switch；220 be power interface, and 221 be external braking resistor interface, 222 be motor around group interface, and 223 be encoder for servo motor interface, and 230 be I/O interface, and 231 be band-type brake interface, and 240 are Power supply display alarm unit, 241 be alarm indication reminding unit.

In this example, drive control plate (not showing directly in figure) is set in shell 2, and shell 2 is provided with and respectively connects The corresponding opening of Wiring port of mouth, for the exposing of each Wiring port, wiring when being easily installed.Referring to shown in Fig. 3-Fig. 6, watching The second interface unit for taking the setting of upper end 21 of motor driver includes: CAN bus communication interface 210, RS485 communication interface 211, RS232 communication interfaces 212；And optionally, also dial-up can be arranged according to demand in the upper end of motor servo driver 21 to open Close 213；But it is to be understood that the setting of 21 interface of upper end of motor servo driver is not limited to institute in figure in this example Show, it can flexible choice according to demand.And toggle switch 213 nor the device that must be provided with, it can also be flexible according to specific requirements Selection setting.

It include: power interface 220 in the third interface unit that the lower end of motor servo driver 22 is arranged in this example, External braking resistor interface 221, motor around group interface 222, encoder for servo motor interface 223；And power interface 220, outside Set braking resistor interface 221, motor around group interface 222, encoder for servo motor interface 223 is successively disposed adjacent.In this reality In example, the interface of the interface of communication and power supply and machine winding is separately positioned on the upper end of motor servo driver under End can be convenient for subsequent wiring and use, while avoid wiring error.In this example, close to left side in drive control plate Region is additionally provided with first interface unit, and first interface unit includes: I/O interface 230, band-type brake interface 231, and I/O interface 230, the Wiring port of band-type brake interface 231 is upward, to connect in this way to I/O interface 230 and band-type brake interface 231 as shown in Figure 3 When line, there is no need to be accessed from motor servo driver side so that motor servo driver in this example without Left and right wiring requirements reduce horizontal space demand when motor servo driver installation, while can guarantee that servo motor drives again The interface installed capacity of device.240 be power supply display alarm unit and 241 be alarm indication reminding unit and 231 phase of band-type brake interface Neighbour's setting, and 240 be power supply display alarm unit and 241 be that alarm indication reminding unit in this example can be through but not limited to Warning light, display screen or charactron are realized.

In this example, optionally, in order to further decrease the size of motor servo driver, in above-mentioned each interface extremely Few one can use interface small in size, for example, encoder for servo motor interface and/or I/O interface can be selected select volume compared with Small plastic contact, (such as threading) is more convenient during making user's integral installation, and does not influence width dimensions after installing.

In this example, optionally, in order to further decrease the size of motor servo driver, in above-mentioned each interface extremely Few one can be used intensive terminal using intensive terminal, such as I/O interface, to be further ensured that servo motor drives The miniature requirement of device.

In addition, it is to be understood that specifically adoptable model can be clever according to demand for above-mentioned each interface in the present embodiment Setting living, in order to make it easy to understand, being illustrated below using several interfaces as example.

In this example, CAN bus communication interface can be used as control signal end mouth, which can be with Using DB26 connector.Encoder for servo motor interface can use DB15 terminal.RS485 communication interface (RS232 in this example Communication interface is also such) RJ45 terminal can be used；I/O interface can be using 7PIN band 5.08 terminal of screw in this example.

It should be understood that above-mentioned each interface specifically uses in the present embodiment model and specific welding and route connect Connect all can flexibly set according to concrete application demand.And in this example, second interface unit and third shown in Fig. 3-Fig. 6 are connect The position of mouth unit can mutually be exchanged, at least one of second interface unit, third interface unit and first interface unit Interface number and type in unit can be with flexible settings.And optionally, can also be arranged in the opposite side of first interface unit First interface unit, and the interface setting side in first interface unit can be used in the set-up mode of each interface in first interface unit Formula.And the motor servo driver of the upper/lower terminal outlet provided through this embodiment is that gate market space occupied is small, space The high gate of utilization rate provides perfect solution；Solves the driving installation question of existing swing turnstile type gate.

Embodiment three:

In order to make it easy to understand, being illustrated below the present embodiment to the structure of motor servo driver, referring to Fig. 7 institute Show comprising but it is not limited to microprocessor 31, the communication unit connecting respectively with microprocessor 31 32, band-type brake circuit 37, coding Device circuit 34 and power driving circuit 35；Wherein:

Communication unit 32 is used to that microprocessor 31 will to be issued from the external first information, and/or is used for microprocessor The third information of transmission issues external equipment.In the present embodiment, communication unit 32 can be able to achieve servo motor drive using various The microprocessor 31 and the external communication link for realizing information exchange inside device are moved, such as may include but be not limited to I/O communication list Member, RS485 communication unit, RS232 communication unit, at least one of CAN bus communication unit.In the present embodiment, by logical News unit 32 be sent to microprocessor 31 the first information may include but be not limited to various action directives (such as gate open, Pipe instruction, gate status inquiry instruction etc.), configuration information, Debugging message and other need interaction information at least one Kind.Microprocessor 31 by communication unit 32 to the third information that external equipment is sent include but is not limited to various warning messages (including but not limited to detection Hall failure warning message, under-voltage and/or over voltage alarm information, overcurrent warning message, overload-alarm Information), various status informations etc..

In the present embodiment, microprocessor 31 can use various microcontroller equivalent replacements, such as grace intelligence Pu can be used The microcontroller of the LPC11C00 series of semiconductor company, can also be used Texas Instrument model TMS320F28030/28031/ 28032/28033/28034/28035 microcontroller, or the micro-control using Texas Instrument's model TMS320F280041MPZS Device processed.In the present embodiment, microprocessor 31 can use but be not limited to X86 chip, i960 chip or the AMD public affairs of Intel Company SH risc chip of Am386EM, Hitachi of department etc.；Peripheral circuit then can flexible setting according to demand, such as may include but It is not limited at least one of peripheral circuits such as RAM, ROM, timer, interrupt schedule.

Encoder circuit 34 is connect with encoder for servo motor, and the second information for sending encoder for servo motor is anti- It feeds microprocessor 31；In the present embodiment, the second information that encoder for servo motor is sent includes but is not limited to that servo motor is compiled The location information that code device detects.In the present embodiment, encoder for servo motor can use incremental encoder for servo motor, root According to needing can also be used absolute value type encoder for servo motor.When using incremental encoder for servo motor, unit is often turned over Angle issues a pulse signal (or cosine and sine signal, be then finely divided to it, copped wave goes out the higher pulse of frequency), A phase, B phase, Z phase can be used to export, A phase, B phase can be the pulse output in mutually 1/4 period of delay, can be with area according to delay relationship Other positive and negative rotation, and by taking the rising and falling edges of A phase, B phase that can carry out 2 or 4 frequencys multiplication；Z phase is individual pen pulse, i.e., every circle Issue a pulse.When using absolute value type encoder for servo motor, a corresponding circle, the angle of each benchmark issues one uniquely Binary numerical value corresponding with the angle can carry out record and the measurement of multiple positions by note circle device.

In gate use process, in the case where not paying dues or without confirmation identity, twice gate is to close, for people Safety or servo-system needs, in the case where shutdown, the pinning force of shutdown is little, if someone or other fortuitous events are thought When opening gate (such as the case where colliding door-plate) by force, motor servo driver can start band-type brake control, and gate is locked, It prevents people to be forced through, keeps order.To solve the above-mentioned problems, shown in Figure 7, microprocessor 31 passes through band-type brake circuit 37 It is connect with band-type brake device；Microprocessor 31 is used to send band-type brake control signal to band-type brake circuit 37 and be embraced with starting the realization of band-type brake circuit 37 Lock；For example, microprocessor 31 is in root when above-mentioned second information includes the position of strobe information that encoder for servo motor detects When determining that gate deviates predeterminated position according to position of strobe information, it is real that band-type brake control signal control motor can be sent to band-type brake circuit 37 Existing band-type brake.

In a kind of example, band-type brake circuit 37 can be made of power driving circuit, relay, band-type brake interface.The driving of band-type brake device Electric current generally collectively constitutes signal amplification unit in 0.5A to 3A etc., power driving circuit and relay, to obtain band-type brake Device driving current, wherein relay volume is relatively large, is unfavorable for system compact；And relay higher cost, and need root Selection adaptation is carried out according to the rated current of band-type brake device, increases the difficulty of relay type selecting.

Therefore, in another example of the present embodiment, a kind of new band-type brake circuit structure is additionally provided, referring to Fig. 8-1 institute Show, the band-type brake circuit 37 in this example includes power drive unit 372, N-type switch power pipe unit 373 and band-type brake interface 374； Band-type brake power supply 371 is connect by N-type switch power pipe unit 373 with band-type brake device 370；Band-type brake power supply 371 simultaneously can also be with power Driving unit 372 connects, and provides driving voltage for power drive unit 372；Power drive unit 372 and N-type switching power tube Unit 373 connects, and power drive unit 372 controls signal according to band-type brake and generates driving voltage control N-type switch power pipe unit 373 conductings, so that band-type brake power supply 371 and band-type brake interface 374 are connected, such band-type brake power supply 371 is that band-type brake interface 374 provides work Electric current, so that controlling band-type brake device 370 realizes band-type brake.

In a kind of example of the present embodiment, band-type brake power supply 371 can be located at the external power supply outside driver with external application, ginseng As shown in Fig. 8-1, the built-in power positioned at internal drive can also be used, for example, see built-in band-type brake power supply shown in Fig. 8-2 3711.It is still illustrated below with circuit structure shown in Fig. 8-1.N-type switch power pipe unit 373 may include but unlimited In N-type metal-oxide-semiconductor；Wherein the first electrode end (can be positive terminal or negative pole end) of band-type brake power supply 371 and the source electrode of N-type metal-oxide-semiconductor connect It connects, the drain electrode of N-type metal-oxide-semiconductor is connect, band-type brake power supply with the first electrode end (can be positive terminal or negative pole end) of band-type brake interface 374 371 second electrode end (it is different from first electrode end, for example, when first electrode end be negative pole end when, then second electrode end is positive Extremely；When first electrode end is positive terminal, then second electrode end is negative pole end) connect with the second electrode end of band-type brake interface 374 It connects；The grid of N-type metal-oxide-semiconductor is connect with power drive unit 372.

Optionally, in a kind of example of the present embodiment, N-type switch power pipe unit 373, which may also include, is connected to N-type Anti- suspension resistance unit between the grid and source electrode of metal-oxide-semiconductor.

In a kind of example of the present embodiment, power drive unit 372 may include but be not limited to optocoupler unit, triode, Optocoupler unit input terminal is connect with microprocessor, and the first output end is connect with the grid of N-type metal-oxide-semiconductor；The base stage and N-type of triode The source electrode of metal-oxide-semiconductor connects, and collector is connect with the second electrode end of band-type brake power supply 371, and the second of emitter and optocoupler unit is defeated Outlet connection.In this example, optocoupler unit can flexibly choose various types of optocouplers, such as can choose but unlimited In being based on photodiode, triode, photo resistance, photoelectric coupled device made from light-operated thyristor.Light in this example Electric coupler mainly consists of two parts, and is light emitting source and light-receiving device respectively, this two-part element is all in one simultaneously In closed space, the transparent shell isolation of insulation can be used each other.The mode of current work can be for the wiring of light emitting source Mouth is input terminal, and electric current enters from here；Using the connection jaws of light-receiving device as output end, electric current exports from here.When electric current enters Into light emitting source, luminous element is shone by the function of current, and the brightness of light can change because of the size of input current. In illumination to light-receiving device, light-receiving device reacts, and electric current exports from here will become photoelectric current.By light-receiving device in this example Two output ends as optocoupler unit of positive terminal mouth and negative terminal mouth, such as positive terminal mouth is as the first output End, negative terminal mouth is as second output terminal；Or positive terminal mouth, as second output terminal, negative terminal mouth is as the first output End；It flexible choice can specifically determine according to demand.Triode in this example can be PNP type triode, can also be three pole of NPN type Pipe.

In a kind of example of the present embodiment, power drive unit 372 further include in following current-limiting resistance unit at least One:

The first current-limiting resistance unit being connected between the emitter of triode and the second output terminal of optocoupler unit；Connection The second current-limiting resistance unit between 371 second electrode of base stage and band-type brake power supply of triode；

It should be understood that current-limiting resistance unit can be made of single resistance in the present embodiment, it can also be by multiple resistance In parallel, series connection or series-parallel mixing are constituted.

In a kind of example of the present embodiment, power drive unit 372 further includes the base stage and N-type for being connected to triode Voltage regulation unit between the source electrode of metal-oxide-semiconductor；And it should be understood that the structure of voltage regulation unit can also flexibly be set in the present embodiment It is fixed.Such as voltage regulation unit may include zener diode in a kind of example.

Optionally, in a kind of example of the present embodiment, band-type brake circuit further includes being connected to the drain electrode of N-type metal-oxide-semiconductor and embracing Anti-pressure protection unit between the second electrode end of lock power supply 371；The back-pressure that band-type brake device can be generated by anti-pressure protection unit It restrains, to guarantee the even running of band-type brake circuit.

It should be understood that the structure of anti-pressure protection unit can also flexible choice in this example.For example, in a kind of example, Anti-pressure protection unit may include but be not limited to anti-paralleled diode, and the drain electrode of the input terminal and N-type metal-oxide-semiconductor of anti-paralleled diode connects It connects, output end is connect with 371 second electrode of band-type brake power supply.

Band-type brake circuit provided in this embodiment is made up of power drive unit 372 and N-type switch power pipe unit 373 Signal amplification unit, opposite the relevant technologies are by the way of power driving circuit and relay composition signal amplification unit, composition Signal amplification unit physical size it is smaller, more conducively system compact；And N-type switch power pipe unit 373 there is no The bad situation in the contact that relay is easy to appear, better reliability, and cost is lower than relay, it is easier to meet band-type brake device Rated current adaptation demand, while can reduce band-type brake control cost.As it can be seen that servo motor driving provided in this embodiment Device is provided with band-type brake circuit and realizes band-type brake when required by band-type brake control signal enabling band-type brake circuit, to can avoid gate The security risk that equipment is forcibly opened under shutdown state promotes intelligence and the user of safety, the control of gate equipment The satisfaction of experience.

Example IV:

Communication unit at present on motor servo driver on the market for communicating with external realization is all relatively simple, this It is unfavorable for promoting the compatibility of motor servo driver, is also unfavorable for user's type selecting.In the present embodiment, communication shown in Fig. 7 is single Member 32 includes the communication unit of at least two types, such as may include but be not limited to serial port communication unit, CAN bus communication At least two in unit and I/O (input/output) communication unit, such as include above-mentioned three kinds of communication units in a kind of example. It for three kinds of communication units is only in a kind of example it is worth noting that, recited herein, however it is not limited to above-mentioned three kinds of communications Unit can also do flexible setting according to concrete scene demand by designer in practical applications.

In the present embodiment, serial port communication unit may include RS232 communication unit, in RS485 communication unit It is at least one.Such as serial port communication unit can only be adopted only with RS232 communication unit or serial port communication unit RS232 communication unit and RS485 communication unit are used with RS485 communication unit or serial port communication unit.

In order to make it easy to understand, example as shown in connection with fig. 9 is illustrated below the present embodiment on the basis of Fig. 7.Scheming In 9, communication unit includes I/O communication unit 321, RS485 communication unit 322, RS232 communication unit 323 and CAN communication list Member 324, therefore can be by I/O control mode, 485 control modes, 232 control modes, in these four modes of CAN control mode Any one mode gives microprocessor 31 photos and sending messages, more conducively user's type selecting, while also largely making servo motor Driver is applicable from different application scenarios.

In the present embodiment, I/O communication unit includes that I/O communication interface can be used as driver and controlled device progress information The tie of exchange, driver can carry out data exchange by I/O communication interface and external equipment；I/O communication interface can be supported Universal input/output (General Purpose Input Output, GPIO), pulse width modulate (Pulse Width Modulation, PWM), I2C bus (Inter-Integrated Circuit, I2C bus), universal asynchronous receiving-transmitting transmitter Agreements such as (Universal Asynchronous Receiver/Transmitter, UART), can be used for transmitting various data or Control signal etc., for example including but be not limited to configuration information, query information, band-type brake control signal, switch gate signal, warning message Deng.

The physical layer and data link layer functions of CAN protocol are integrated in the CAN communication interface of CAN communication unit, it can be complete The work of the items such as the framing processing of pairwise communications data, including position filling, data block coding, cyclic redundancy check, priority discrimination. Compared with general communication bus, the data communication of CAN bus has reliability outstanding, real-time and flexibility, typical Application protocol include but is not limited to: SAE J1939/ISO11783, CANopen, CANaerospace, DeviceNet, NMEA 2000 etc., CAN communication interface can also be used for transmitting various data or control signal etc., for example including but be not limited to configuration information, Query information, band-type brake control signal, switch gate signal, warning message etc..

The RS232 communication interface of RS232 communication unit is by Electronic Industries Association (Electronic Industries Association, EIA) prepared asynchronous transmission standard interface.Such as RS-232 communication interface with 9 pins (DB-9) or It is the kenel appearance of 25 pins (DB-25), can be set but be not limited to two groups of RS-232 interfaces on driver, be referred to as COM1 and COM2.RS232 communication interface supports EIA-RS-232C standard.RS232 communication interface can also be used for transmitting various data Or control signal etc..

The RS485 communication interface of RS485 communication unit is the communication interface based on serial ports, and RS232 communication interface The operation of data transmit-receive is consistent, and uses the bsp driver of WinCE.RS485 communication interface is half-duplex data The transmitting-receiving of communication mode, data cannot carry out simultaneously, in order to guarantee not conflicting for data transmit-receive, can be switched by direction on hardware To realize.RS232 communication interface can also be used for transmitting various data or control signal etc..

In a kind of example of the present embodiment, while the communication unit of above-mentioned offer enriched types and quantity, in order to Reduce the size and cost of driver, at least two one communication interface of multiplexing that can will be also arranged in foregoing circuit, and passes through The selection of communication mode switching circuit realization communication unit.Understand to facilitate, example is carried out with Figure 10 below the present embodiment and is said It is bright.

Shown in Figure 10, motor servo driver further includes first choice switch 36, and RS232 communication unit 323 includes RS232 communication interface 3231 and RS232 communicating circuit 3232 interconnected, RS485 communication unit 322 include interconnected RS485 communication interface 3221 and RS485 communicating circuit 3222, RS232 communication interface 3231 and RS485 communication interface 3221 can be total to With a physical communication interface, RS232 communicating circuit 3232 and RS485 communicating circuit 3222 by first choice switch 36 with it is micro- Processor 31 connects, and first choice switch 36 is for controlling RS232 communicating circuit 3232 or RS485 communicating circuit 3222 and Wei Chu Device 31 is managed to connect.The mode of one physical communication interface of this multiplexing can save interface and be conducive to reduce servo motor drive The volume of dynamic device, and product cost can have been saved to a certain extent.First choice switch 36 can be by dialling in the present embodiment Code circuit is realized.For example, first choice switch 36 uses toggle switch in a kind of example, when toggle switch selects low level, It is switched to RS232 communicating circuit 3232 and microprocessor 31 is connected, when toggle switch selects high level, it is logical to be switched to RS485 It interrogates circuit 3222 and microprocessor 31 is connected.And rotary dip switch, flat group of formula toggle switch or key can be used in toggle switch Formula toggle switch.In practical applications, the toggle switch type specifically used can be done flexibly by designer according to concrete scene Adjustment.Currently employed communication unit can be more easily selected by using toggle switch, while convenient for intuitive inspection It looks into and judges when the communication unit used, be more convenient for later maintenance and management, bring many conveniences for staff, and Cost has been saved to a certain extent.

Embodiment five:

At present for synchronously control that one in the performance requirement of gate is to left and right two fan brakes door.And current gate Left and right two fan door be to be waited by mutually independent two motor drive controller independent controls, therefore in regulating gate open and close Cheng Zhong often will appear left and right two fan brakes door and open or close nonsynchronous problem, causes security risk, cause user experience satisfied It spends low.

Therefore in a kind of example of the present embodiment, motor servo driver may also include the master connecting with microprocessor 31 From communication unit 33, for example, see shown in Figure 11, motor servo driver can pass through the servo of master-slave communication unit 33 and pairing Motor driver (hereinafter referred to as pairing motor servo driver) connection, for receiving from matching the of motor servo driver Four information, and microprocessor 31 is passed to, and/or the servo electricity for pairing will to be issued from the 5th information of microprocessor 31 Machine driver.In the present embodiment, pairing motor servo driver can be identical using structure with the motor servo driver of local terminal Motor servo driver.In the present embodiment, pairing motor servo driver can be used as main servo motor driver, local terminal Motor servo driver, which can be used as, to be used as from servo motor and drives from motor servo driver, or pairing motor servo driver Dynamic device, the motor servo driver of local terminal can be used as main servo motor driver；Motor servo driver is in the present embodiment It still can just be set when leaving the factory from motor servo driver as main servo motor driver, it can also be in installation or work It is set dynamically or updates during making.For example, gate controls the of the corresponding first servo motor of left gate in a kind of example As main servo motor driver, what gate controlled corresponding second servo motor of right gate second watches one motor servo driver Motor driver is taken to be used as from motor servo driver, then between first servo motor driver and the second motor servo driver Communication connection directly can be realized by the master-slave communication unit 33 of the two, and in a kind of example, will only can be watched as master The first servo motor driver for taking motor driver is connect with external control equipment or commissioning device or configuration equipment etc., outside The control equipment or commissioning device or configuration equipment in portion etc. can directly be driven by the first gate region device and the second servo motor Master-slave communication unit 33 between device will control information, Debugging message, configuration information or query information etc. and issue the second servo electricity Machine driver promotes the integrated level of gate system, reduces gate system to reduce the wiring of the second motor servo driver Cost.As it can be seen that above-mentioned 4th information and the 5th information may include but be not limited to control information, Debugging message, matches in the present embodiment Confidence breath or query information, and these information are not limited to come outside output from driver.Meanwhile first servo motor driver and The control of the information that can be sent according to other side between the two motor servo drivers realization servo motor synchronous with other side, to drive The synchronous execution of corresponding gate such as accordingly opens or closes at the movement, avoids completely mutually indepedent control between two motor servo drivers Servo motor processed and there is gate and control nonsynchronous problem, promote intelligence and the user of safety, control that gate uses The satisfaction of experience.

In the present embodiment, master-slave communication unit 33 can be 485 master-slave communication units, or be CAN master-slave communication unit；Certainly It can also be other kinds of communication unit.

Therefore, in a kind of example of the present embodiment, motor servo driver further includes connect with microprocessor 31 Two selection switches；Second selects switch electric as main servo motor driver or from servo for motor servo driver to be arranged Machine driver.Second selection switch can also be used in toggle switch, such as a kind of example, when toggle switch selects high level, Motor servo driver is set as main servo motor driver, when toggle switch selects low level, setting servo motor is driven Dynamic device is used as from motor servo driver.And rotary dip switch, flat group of formula toggle switch or key can also be used in toggle switch Formula toggle switch.In practical applications, the toggle switch type specifically used can be done flexibly by designer according to concrete scene Adjustment.Motor servo driver can be more easily set as main servo motor driver still by using toggle switch Checked and judgement, be more convenient for later maintenance and management from motor servo driver, while convenient for intuitive, be staff with Carry out many conveniences, and saves cost to a certain extent.

In the present embodiment, microprocessor 31 can also be watched by band-type brake circuit 37 to as from the pairing of motor servo driver It takes motor driver and the control instruction is sent by above-mentioned 5th information, so that the motor servo driver of pairing controls its correspondence Servo motor movement is opened or closed with the execution for driving the gate of pairing synchronous.

It may also include that pairing motor servo driver sends in application scenes, in above-mentioned 4th information Band-type brake control instruction or other control signals, microprocessor 31 can according to the control signal in the 4th information control servo motor with Drive gate to execute corresponding movement, for example including but be not limited to anti-pinch movement.

Embodiment six:

In the present embodiment, in order to judge whether gate clips to people or object, safe anti-pinch is realized, it is shown in Figure 12, it watches Taking motor driver can optionally may include connecting with microprocessor 31 on the basis of any structure shown in Fig. 7 to Figure 11 Current sampling circuit 38, current sampling circuit 38 can be used for acquiring the current value of servo motor and pass to microprocessor 31；It is micro- Processor 31 is also used to the control when the corresponding moment values of current value received are greater than default moment values and executes anti-pinch movement, example Such as including but not limited to control servo motor stops working or controls servo motor reversion and realizes drive gate opening.And it is optional Ground, microprocessor can also and generate anti-clip control signal and pass through the 5th information when corresponding moment values are greater than default moment values Issue pairing motor servo driver；Certain microprocessor 31 may also receive pairing servo motor driving by the 4th information The anti-clip control signal that device is sent；The execution pinch resistant operation that the motor servo driver of two such pairing can synchronize, can Further promote safety.

Since gate is controlled by servo motor, system is can be used in servo motor in the process of running, in the present embodiment Dynamic circuit can make servo motor avoid the occurrence of the excessively high situation of revolving speed, by accessing braking circuit, allow braking resistor to consume Electricity is damaged, achievees the purpose that the revolving speed for reducing servo motor.Therefore in a kind of example of the present embodiment, motor servo driver It further include braking circuit；The braking circuit includes the built-in braking resistor being set in motor servo driver and control for brake electricity Road, built-in braking resistor are connect by brake control circuit with microprocessor.The effect of braking circuit is, when servo motor exists Revolving speed is excessively high in operating status, then by starting braking circuit, so that the braking resistor connecting with braking circuit enters work shape State achievees the purpose that reduce servo motor power draw by braking resistor energy consumption, in addition, braking circuit can be also used for servo electricity Machine fast braking, in the case where there is braking circuit, servo motor power-off after can than no braking circuit under the premise of faster Stop operating.Wherein, the present embodiment brake control circuit brakes servo motor by the way of dynamic braking, specifically , different according to the type of servo motor, dynamic braking or the AC servo motor of DC servo motor can be used in dynamic braking Two kinds of dynamic braking.The characteristics of built-in braking resistor, is, when the revolving speed of servo motor falls to zero, braking moment also will It is zero, so dynamic braking can make servo motor accurate stopping.

Due to the energy consumption characteristics of built-in braking resistor, the volume of this quasi-resistance is often larger, therefore existing is typically all to incite somebody to action It is set to except the shell of driver, although set-up mode is simple in this way, between driver and built-in braking resistor Consistency is poor, and is unfavorable for the storage transport of driver.In the present embodiment, built-in braking resistor is fixedly installed in drive control Being fixedly connected with relationship and can be arbitrary on plate, and between built-in braking resistor and drive control plate.For example, in a kind of example In, the two sides of built-in braking resistor are respectively arranged with fixation hole, on the opposite position in drive control plate and with fixation hole It is respectively arranged with connecting hole, the fixation hole and connecting hole of built-in braking resistor are fixed by connecting element is set up in driving control On making sheet.Built-in braking resistor can be by the connecting hole of the setting on included fixation hole and drive control plate, with even Fitting is fixedly connected.Wherein, the concrete form of connector can be bolt, threaded fastener etc..

In some embodiments, braking circuit further includes that the external braking resistor being connected in parallel with built-in braking resistor connects Mouthful, the external braking resistor outside motor servo driver is in parallel with built-in braking resistor by external braking resistor interface, So that stopping power can be adjusted according to specific requirements, preferably it is suitable for various application scenarios demands.

In the present embodiment, direct current supply can be used in motor servo driver.Positive and negative anodes are distinguished in direct current supply, and when use must It need to correspond to and connect power supply line, but that still inevitably there is a phenomenon where power supply lines in practical applications is reversed, gently then burn out insurance, Heavy then burn out driver and power supply, at this moment power supply anti-reflection function is particularly important.There is no the driver meeting of the anti-circnit NOT of power supply There are very big design defect.In order to avoid this kind of situation, shown in Figure 13, motor servo driver can scheme It optionally may include that the power supply being connected between power driving circuit 35 and power supply is prevented on the basis of any structure shown in 7- Figure 12 Circnit NOT 39, the anti-circnit NOT 39 of power supply in power positive cathode wrong by the separated of power supply and power driving circuit 35, Clock synchronization is connect in power positive cathode to be connected to power supply with power driving circuit 35, to realize power supply anti-reflection function, promotes driver Safety.

The anti-circnit NOT 39 of power supply in the present embodiment can be used diode design and realize counnter attack, but send out in use Counnter attack now is realized using the forward conduction characteristic of diode, and power consumption is very big when passing through high current, first is that being not easy to meet big electricity The product demand of stream, by product power limit a very little range, second is that diode has separated the power device of topological structure Part, the pump that the servo motor quick deceleration being electrically connected with power device is formed, which rises energy, to be digested by power end, can be to drive Dynamic device brings hidden danger, and excessive pump rises impact and is easy to cause drive corruption.Therefore the present embodiment additionally provides a kind of performance more The good anti-circnit NOT 39 of power supply comprising metal-oxide-semiconductor, the pole D and the pole S of metal-oxide-semiconductor respectively with the input of DC power supply anode/cathode, And connected between load (namely power driving circuit 35), conducting direction and the DC power supply of the parasitic diode of metal-oxide-semiconductor connect Enter polarity it is correct when current direction it is consistent；The pole G of metal-oxide-semiconductor concatenates at least one biasing resistor；When DC power supply accesses polarity When correct, the potential difference between the pole G and the pole S of metal-oxide-semiconductor meets the cut-in voltage condition of metal-oxide-semiconductor.To when plant-grid connection polarity It is the parasitic diode conducting in metal-oxide-semiconductor first, between the current potential in the pole G, with the pole S and the extremely middle current potential the higher person of D when correct When potential difference is more than or equal to the cut-in voltage of metal-oxide-semiconductor, metal-oxide-semiconductor is caused to be switched on, parasitic diode short circuit connects to realize It is logical；When plant-grid connection incorrect polarity, metal-oxide-semiconductor cut-off causes circuit to be truncated, to realize the reverse connecting protection to circuit.

Metal-oxide-semiconductor in the present embodiment can be NMOS tube, can also reasonably be substituted for PMOS tube, the electricity in the present embodiment The effect of the anti-circnit NOT 39 in source is that, when DC power supply just connects, circuit can work normally, and when DC power supply reversal connection, Device in circuit can be protected, when avoiding reversal connection circuit damage internal components circuit etc., and being not required for reversal connection It can work normally.Wherein, when DC power supply access polarity is correct, the potential difference between the pole G and the pole S of metal-oxide-semiconductor meets MOS The cut-in voltage condition of pipe indicates that metal-oxide-semiconductor can be with normally, to guarantee that circuit on state, can work normally.And Resistance value very little when metal-oxide-semiconductor is connected, usually only several milliohms far smaller than carry out anti-reverse side using diode to tens milliohms Case greatly reduces power consumption.

In some examples of the present embodiment, the anti-circnit NOT 39 of power supply may also include zener diode, and zener diode is simultaneously It is associated between the pole G of metal-oxide-semiconductor and the pole S.Zener diode can prevent overtension and puncture metal-oxide-semiconductor, and guarantor can be played to MOS Shield effect.

In some examples of the present embodiment, the anti-circnit NOT 39 of power supply can also include capacitor, and capacitor is connected in parallel on pressure stabilizing two Pole pipe both ends.It is the filter action using capacitor that capacitor, which is arranged, realizes the soft start of circuit, can reduce powered on moment pulse voltage Bring impact.

In the present embodiment, motor servo driver is caused in order to energy counter fill occur in servo motor moderating process The case where damage, occurs, shown in Figure 14, motor servo driver can any structure shown in Fig. 7-Figure 13 on the basis of, can Selection of land may include the voltage sampling circuit 310 connecting with microprocessor 31.Voltage sampling circuit 310 is for acquiring bus voltage value (namely voltage value of acquisition motor servo driver power itself) simultaneously passes to microprocessor 31；Microprocessor 31 is for watching It takes motor to be under enabled state, the voltage value that voltage sampling circuit 310 passes over opens when being greater than default first voltage threshold value Dynamic braking circuit, and be used for after braking circuit, when detecting that voltage value is less than default second voltage threshold value, it is electric to close braking Road, wherein first voltage threshold value is greater than second voltage threshold value, and the two threshold values can flexibly be set according to specific application scenarios It is fixed.The anti-energy filled is lost when busbar voltage is excessively high by braking circuit, driver is can avoid energy is counter and fills feelings It is damaged under condition.Each braking resistor and specific resistance value that braking circuit includes in the present embodiment can also be according to concrete application fields Scape flexible choice.

In the present embodiment, microprocessor 31 can support selection powers on execution or powers on rear instruction execution to return to zero movement, and can Automatic study position and moment information are returned to zero, the position for automatically determining switch gate according to these information and anti-pinch are with reference to torque, more Convenient for client's installation and debugging.

In the present embodiment, microprocessor 31 internal can carry out curve movement planning, realize that switch gate speed is fast, movement is soft With run smoothly, the actual effects such as mute.

Embodiment seven:

The I/O communication interface being arranged on driver at present all only supports one-way transmission mode, such as or transmits for common cathode Mode or be common anode transmission mode, leads to the driver that corresponding production respective model is needed for different modes, to lead Drive model wide variety is caused, user's type selecting is not easy to, and it is wrong to be also easy to cause type selecting or interface to connect in use Driver cisco unity malfunction is accidentally caused, the use cost of driver is further improved.It to solve the above-mentioned problems, is understanding The certainly above problem is provided with the single-ended signal transmission circuit for supporting common cathode or common anode, I/O in the present embodiment in drive control plate Communication interface is connect by single-ended signal transmission circuit with microprocessor.One of structural schematic diagram is shown in Figure 15: Be provided with sequentially connected microprocessor 31 in drive control plate, support the single-ended signal transmission circuit 320 of common cathode or common anode with And I/O communication interface 330, support the compatible common anode transmission mode of the single-ended signal transmission circuit 320 of common cathode or common anode and common cathode to pass Defeated mode, so that the compatible common anode transmission mode of I/O communication interface and common cathode transmission mode, so that servo motor drives Device do not need for different modes respectively correspond generate a model both saved so as to greatly reduce drive model Inventory cost facilitates client's type selecting, while also can avoid user interface type selecting mistake or in use connection error and leading Driver cisco unity malfunction is caused, the use cost of driver can be further decreased.

In a kind of example, referring to shown in Figure 16-1, in input direction, I/O communication interface 330 includes that at least one is two-way Incoming traffic interface 3301, single-ended signal transmission circuit include that common cathode or common anode are connect and supported with two directions' inputing communication interface Single-ended signal input circuit 3201.External information can be input to single-ended signal input circuit by two directions' inputing communication interface 3301 3201, which can be issued microprocessor 31 by single-ended signal input circuit 3201.Wherein due to two directions' inputing communication interface 3301 connect with single-ended signal input circuit 3201, and single-ended signal input circuit 3201 supports common cathode or common anode, namely both supports Common anode transmission mode also supports common cathode transmission mode, so that input communication interface 3301 had both supported common anode transmission mode, also supports Common cathode transmission mode, therefore not only can avoid input 3301 wrong of communication interface, but also the compatibility of input communication interface can be promoted.It answers When the various circuits for being able to achieve two directions' inputing can be used in single-ended signal input circuit 3201 in understanding, the present embodiment.Such as In a kind of example, single-ended signal input circuit 3201 may include the bi-directional light that input stage is connect with two directions' inputing communication interface 3301 Coupler, the output stage of bidirectional optical coupler receive circuit by input signal and connect with microprocessor 31.Bi-directional light can be passed through Coupler realizes two directions' inputing.But it is to be understood that being not limited to bidirectional optical coupler realizes two directions' inputing.

In another example of the present embodiment, single-ended signal input circuit 3201 may also include defeated with bidirectional optical coupler Enter the filter capacitor that grade is connected in parallel, to promote the effect of input signal, reduce interference, it is received accurate to promote input signal Property.In another example of the present embodiment, single-ended signal input circuit 3201 further includes the input stage string with bidirectional optical coupler The impedance matching resistor of connection, to provide suitable driving current for bidirectional optical coupler.

Referring to shown in Figure 16-2, in outbound course, I/O communication interface 330 includes at least one bidirectional output communication interface 3303, single-ended signal transmission circuit includes connecting and supporting the single-ended signal of common cathode or common anode to export with bidirectional output communication interface Circuit 3203.Internal information can be exported by single-ended signal output circuit 3203 to bidirectional output communication interface 3303, two-way defeated The information can be issued external equipment by communication interface 3303 out.Wherein since bidirectional output communication interface 3303 and single-ended signal are defeated Circuit 3203 connects out, and single-ended signal output circuit 3203 had both supported common anode transmission mode, also supports common cathode transmission mode, so that Output communication interface 3303 had both supported common anode transmission mode, also supported common cathode transmission mode, therefore both can avoid output communication and connect Mouth wrong, and the compatibility of output communication interface can be promoted.

It should be understood that the various bidirectional outputs that are able to achieve can be used in single-ended signal output circuit 3203 in the present embodiment Circuit.Such as in a kind of example, single-ended signal output circuit 3203 may include bilateral diode bridge, bilateral diode bridge Input terminal is connect with microprocessor 31, and output end is connect with bidirectional output communication interface 3303.Bilateral diode bridge can be passed through Realize bidirectional output.But it is to be understood that being not limited to bilateral diode bridge, can also be used but being not limited to two-way optical coupling Device realizes bidirectional output.

It should be understood that the two-way of above-mentioned example can be used simultaneously in input direction and outbound course in the present embodiment Transmission mode, can also only direction uses above-mentioned transmitted in both directions mode wherein according to demand, another direction then uses list To transmission mode.

Embodiment eight:

In order to make it easy to understand, the present embodiment is below with reference to a kind of servo motor driving device, including servo motor and as above The motor servo driver of gate is used for described in each embodiment, the microprocessor of motor servo driver to pass through power drive electricity Road is connected with the servo motor, for controlling servo motor, wherein a kind of exemplary construction of motor servo driver referring to Shown in Figure 17.

This implementation additionally provides a kind of gate equipment, including motor servo driver as described above, further include respectively with The control equipment of motor servo driver connection, servo motor, and the gate being connected with servo motor.The gate equipment Can with various types of channel barrier devices (channel management equipment), for example including but to be not limited to swing turnstile, flap turnstile, translation turnstile speed logical Door.

It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard To belong to the protection scope of the utility model.

Claims (16)

1. a kind of motor servo driver, which is characterized in that the motor servo driver includes shell and is set to the shell Intracorporal drive control plate, the shell include cap and pedestal, and hollow hole, the drive control plate are provided on the cap It is set on the pedestal；Interface unit is provided in the drive control plate, the interface unit passes through on the cap Hollow hole is revealed in outside；The interface unit includes in the drive control plate close to the drive control plate at least side The first interface unit being arranged in the region in face, the direction of the Wiring port of each interface in the first interface unit with it is described Angle between the front of drive control plate is greater than 0 °, is less than or equal to 135 °；

The interface unit further includes band-type brake interface, and the band-type brake connecting with the band-type brake interface is provided in the drive control plate Circuit.

2. motor servo driver as described in claim 1, which is characterized in that the band-type brake circuit includes power drive list Member, N-type switch power pipe unit and band-type brake interface；Band-type brake power supply is connect by the N-type switch power pipe unit with the band-type brake Mouth connection；

The power drive unit is connect with the N-type switch power pipe unit, and the power drive unit is according to the band-type brake It controls signal and generates the driving voltage control N-type switch power pipe unit conducting, so that the band-type brake power supply and the band-type brake Interface conducting, to provide operating current for the band-type brake interface.

3. motor servo driver as described in claim 1, which is characterized in that the first interface unit is disposed in proximity to institute It states in the left side of drive control plate and/or the region of right side.

4. motor servo driver as described in any one of claims 1-3, which is characterized in that in the first interface unit Angle between the direction of the Wiring port of each interface and the front of the drive control plate is equal to 90 °.

5. motor servo driver as described in any one of claims 1-3, which is characterized in that the interface unit further includes Two interface units and third interface unit, the second interface unit and the third interface unit are respectively arranged at close to described The region in the region of drive control plate upper end and the close drive control plate lower end；Each interface in the second interface unit Wiring port towards the drive control plate upper end, the Wiring port of each interface in the third interface unit is described in Drive control plate lower end.

6. motor servo driver as claimed in claim 5, which is characterized in that the first interface unit includes I/O communication At least one of interface and the band-type brake interface, the second interface unit include RS232 communication interface, RS485 communication connect At least one of mouth, CAN bus communication interface, the third interface unit includes power interface, around group interface, servo motor At least one of encoder interfaces；

Or, the first interface unit includes at least one of I/O communication interface and the band-type brake interface, the second interface Unit includes power interface, around at least one of group interface, encoder for servo motor interface, and the third interface unit includes At least one of RS232 communication interface, RS485 communication interface, CAN bus communication interface.

7. motor servo driver as claimed in claim 6, which is characterized in that the first interface unit includes I/O communication Interface and band-type brake interface, the second interface unit include RS232 communication interface, RS485 communication interface, CAN bus communication connect Mouthful, the third interface unit includes power interface, around group interface, encoder for servo motor interface.

8. motor servo driver as claimed in claim 7, which is characterized in that the power interface, around group interface and servo Motor encoder interface successively adjacent distributions in the drive control plate；

And/or the RS232 communication interface, RS485 communication interface, CAN bus communication interface in the drive control plate according to Secondary adjacent distributions.

9. motor servo driver as claimed in claim 7, which is characterized in that the third interface unit further includes reserved connects Mouthful.

10. motor servo driver as claimed in claim 9, which is characterized in that the spare interface is set to the power supply Interface and described between group interface, the spare interface are the external braking resistor interface of braking circuit.

11. motor servo driver as claimed in claim 7, which is characterized in that be additionally provided in the drive control plate One selection switch, RS232 communicating circuit, RS485 communicating circuit and microprocessor, the RS232 communication interface, RS485 communication Interface shares a physical communication interface；

The physical communication interface is connect with the RS232 communicating circuit, RS485 communicating circuit respectively, the RS232 communication electricity Road and the connection of RS485 communicating circuit are switched by the first choice and are connect with the microprocessor, the first choice switch It is connected for controlling the RS485 communicating circuit or the RS232 communicating circuit and the microprocessor.

12. motor servo driver as claimed in claim 11, which is characterized in that the first choice switch is opened for dial-up It closes.

13. motor servo driver as claimed in claim 7, which is characterized in that be additionally provided in the drive control plate aobvious Show that reminding unit, the display alarm unit are revealed in outside by the hollow hole on the cap.

14. motor servo driver as claimed in claim 13, which is characterized in that the display alarm unit includes that power supply is aobvious Show reminding unit and/or alarm indication reminding unit, the power supply display alarm unit and/or alarm indication reminding unit and institute It states I/O communication interface or band-type brake interface is disposed adjacent.

15. motor servo driver as claimed in claim 8, which is characterized in that be provided with input in the drive control plate Interface circuit and output interface circuit, the I/O communication interface include incoming traffic interface and outputting communication interface, the input Interface circuit is connect with the incoming traffic interface, and the output interface circuit is connect with the outputting communication interface；

The input interface circuit includes the single-ended signal input circuit for supporting common cathode or common anode；

The output interface circuit includes the single-ended signal output circuit for supporting common cathode or common anode.

16. a kind of gate equipment, which is characterized in that the gate equipment includes such as the described in any item servos of claim 1-15 Motor driver further includes the control equipment connecting respectively with the motor servo driver, servo motor, and watches with described Take the gate of motor linkage connection.