CN209388143U - The motor servo driver of compatible multiple communication modes, gate equipment - Google Patents

Abstract

The utility model discloses a kind of motor servo drivers of compatible multiple communication modes, at least two communicating circuits that communication interface including microprocessor, the communication interface of at least two types and at least two types is correspondingly arranged, the communication interface of at least two types is attached by corresponding communicating circuit with microprocessor, it solves and there was only a type of communication interface in motor servo driver in the prior art, control mode is single, is unfavorable for user's type selecting and mating problem.The invention also discloses a kind of gate equipment, which includes realizing compatible a variety of different communication modes such as above-mentioned motor servo driver, convenient for user's type selecting and mating, substantially increases the experience satisfaction of user.

Description

The motor servo driver of compatible multiple communication modes, gate equipment

Technical field

The utility model relates to motor servo driver technical fields, more specifically to a kind of a variety of communications of compatibility The motor servo driver of mode, 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..

In recent years, with Internet of Things fast development, the communication need control mode of equipment room is more and more, it is known that often The communication interface seen has common I/O communication interface and serial communication interface such as RS232 communication interface, RS485 communication interface etc., And CAN bus communication interface etc., wherein I/O communication interface is the tie that host and controlled device carry out information exchange, host Data exchange can be carried out by I/O interface and external equipment；Be integrated in CAN bus communication interface CAN protocol physical layer and Data link layer functions, the achievable framing processing to communication data, including position filling, data block coding, cyclic redundancy check, The work of the items such as priority discrimination；RS232 communication interface is one of the communication interface on personal computer, by Electronic Industries Association (Electronic Industries Association, EIA) prepared asynchronous transmission standard interface；RS485 communication connects It mouthful is the communication interface based on serial ports, and the operation of data transmit-receive of RS232 communication interface is consistent, and is used The bsp driver of WinCE.These communication interfaces facilitate equipment room signal and transmit mutually.However, in current servo Usually only a type of communication interface in motor driver, control mode is single, is unfavorable for user's type selecting, brings for user Inconvenience；Meanwhile by taking gate as an example, the controller producer of gate is very more, and the control mode that controller provides is had nothing in common with each other, Very big puzzlement is brought to the mating driving of gate manufacturer.

Utility model content

The motor servo driver and gate equipment of compatible multiple communication modes provided by the embodiment of the utility model, mainly The technical issues of solution is that there was only a type of communication interface, control mode list in motor servo driver in the prior art One, it is unfavorable for user's type selecting and mating.

In order to solve the above technical problems, the utility model provides a kind of servo motor driving of compatible multiple communication modes Device, the motor servo driver include:

Microprocessor, the communication interface of at least two types are correspondingly arranged with the communication interface of at least two type At least two communicating circuits；

The communication interface of at least two type is connected by corresponding communicating circuit and the microprocessor It connects.

Optionally, the communication interface of at least two type uses RS232 communication interface, RS485 communication interface, CAN At least two in bus communication interface, I/O communication interface；

At least two communicating circuit using RS232 communicating circuit, RS485 communicating circuit, CAN bus communicating circuit and At least two in I/O communicating circuit；

The RS232 communication interface is connected with the RS232 communicating circuit, the RS485 communication interface and the RS485 Communicating circuit is connected, and the CAN bus communication interface is connected with the CAN bus communicating circuit, the I/O communication interface and institute I/O communicating circuit is stated to be connected.

Optionally, the RS232 communication interface and RS485 communication interface share a communication interface.

Optionally, the motor servo driver further include: selected on-off circuit, the selected on-off circuit respectively with institute It states RS232 communicating circuit to be connected with the RS485 communicating circuit, for switching the RS232 communicating circuit or the RS485 Communicating circuit and the micro process are connected.

Optionally, the selected on-off circuit includes multiple selector and selection switch；

The multiple selector is connected at least two communicating circuit, switchs selected communication according to the selection This status information of circuit selects one of communicating circuit to carry out signal transmission.

Optionally, the I/O communicating circuit includes input interface circuit and output interface circuit；

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.

Optionally, the motor servo driver further include: braking circuit, the braking circuit include being set to described watch Built-in braking resistor and the brake control circuit in motor driver are taken, the built-in braking resistor passes through the control for brake electricity Road is connect with the microprocessor.

Optionally, the braking circuit further includes that the external braking resistor being connected in parallel with the built-in braking resistor connects Mouthful, the external braking resistor outside the motor servo driver passes through the external braking resistor interface and the built-in system Dynamic resistor coupled in parallel.

Optionally, the motor servo driver further include: band-type brake circuit, the band-type brake circuit and the micro process phase Even, the band-type brake control signal for being sent according to the microprocessor realizes band-type brake.

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.

The utility model additionally provides a kind of gate equipment, and the gate equipment includes that compatibility as described above is a variety of logical The motor servo driver of news mode, further includes the control equipment connecting respectively with the motor servo driver, servo motor, And the gate being connected with the servo motor.

The beneficial effects of the utility model are:

The motor servo driver of compatible multiple communication modes provided by the utility model includes microprocessor, at least two At least two communicating circuits that the communication interface of type and the communication interface of at least two types are correspondingly arranged, at least two classes The communication interface of type is attached by corresponding communicating circuit with microprocessor, solves servo electricity in the prior art There was only a type of communication interface in machine driver, control mode is single, is unfavorable for user's type selecting and mating problem.? That is, in the present invention, motor servo driver is corresponding with its by least two different types of communication interfaces Communicating circuit is attached with microprocessor, so that the communication interface of motor servo driver is more perfect, it is more to realize compatibility Kind different communication modes substantially increase the experience satisfaction of user convenient for user's type selecting and mating.

Detailed description of the invention

Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:

Fig. 1-1 is the motor servo driver for the first compatibility multiple communication modes that the utility model embodiment one provides Structural schematic diagram；

Fig. 1-2 is the motor servo driver of the communication interface for four seed type of compatibility that the utility model embodiment one provides Structural schematic diagram；

Fig. 2-1 is the motor servo driver for second of compatible multiple communication modes that the utility model embodiment two provides Structural schematic diagram；

Fig. 2-2 is the structural schematic diagram for the selected on-off circuit that the utility model embodiment two provides；

Fig. 3-1 is the motor servo driver for the third compatibility multiple communication modes that the utility model embodiment one provides Structural schematic diagram；

Fig. 4-1 is the transmitted in both directions structural schematic diagram that the utility model embodiment four provides；

Fig. 4-2 is the two directions' inputing structural schematic diagram that the utility model embodiment four provides；

Fig. 4-3 is the bidirectional output structural schematic diagram that the utility model embodiment four provides；

Fig. 5-1 is the structure of the motor driver for the 4th kind of changeable communication modes that the utility model embodiment five provides Schematic diagram；

Fig. 6-1 is the structure of the motor driver for the 5th kind of changeable communication modes that the utility model embodiment six provides Schematic diagram；

Fig. 6-2 is the structural schematic diagram for the first band-type brake circuit that the utility model embodiment six provides；

Fig. 6-3 is the structural schematic diagram for second of band-type brake circuit that the utility model embodiment six provides；

Fig. 7-1 is the structure of the motor driver for the 6th kind of changeable communication modes that the utility model embodiment seven provides Schematic diagram；

Fig. 7-2 is the structure of the motor driver for the 7th kind of changeable communication modes that the utility model embodiment seven provides Schematic diagram；

Fig. 7-3 is the structure of the motor driver for the 8th kind of changeable communication modes that the utility model embodiment seven provides Schematic diagram；

Fig. 7-4 is the structure of the motor driver for the 9th kind of changeable communication modes that the utility model embodiment seven provides Schematic diagram；

The motor servo driver structural schematic diagram that Fig. 8-1 embodiment of the present invention eight provides；

Fig. 8-2 is the top view of Fig. 8-1；

Fig. 8-3 is the right view of Fig. 8-1；

Fig. 8-4 is the left view of Fig. 8-1；

The motor servo driver structural schematic diagram that Fig. 9 the utility model embodiment nine provides；

The servo motor driving control system structural schematic diagram one that Figure 10-1 the utility model embodiment nine provides；

The servo motor driving control system structural schematic diagram two that Figure 10-2 the utility model embodiment nine provides；

The servo motor driving control system structural schematic diagram three that Figure 10-3 the utility model embodiment nine provides.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below by specific embodiment party Formula combination attached drawing is described in further detail the utility model embodiment.It should be appreciated that specific embodiment described herein It is only used to explain the utility model, is not used to limit the utility model.

Embodiment one:

In order to solve there was only a type of communication interface, control mode list in motor servo driver in the prior art One, it is unfavorable for user's type selecting and mating problem, the present embodiment provides a kind of drivings of the servo motor of compatible multiple communication modes Device, referring to shown in Fig. 1-1, the motor servo driver 1 include microprocessor 11, at least two types communication interface 12, with At least two communicating circuits 13 that the communication interface 12 of at least two types is correspondingly arranged, the communication interface 12 of at least two types It is attached by corresponding communicating circuit and microprocessor 11.

In the present embodiment, the communication interface of at least two types can be connect using RS232 communication interface, RS485 communication At least two in mouth, I/O communication interface, CAN bus communication interface, specifically, at least two communication interfaces are logical using RS232 Communication interface, CAN bus communication interface perhaps at least two communication interfaces using RS485 communication interface, I/O communication interface or At least two communication interfaces use RS232 using CAN bus communication interface, I/O communication interface or at least two communication interfaces Communication interface, CAN bus communication interface, I/O communication interface etc..In the present embodiment, at least two communicating circuits can use At least two in RS232 communicating circuit, RS485 communicating circuit, I/O communicating circuit and CAN bus communicating circuit, specifically , at least two communicating circuits can use RS232 communicating circuit, CAN bus communicating circuit or at least two communicating circuits Electricity can be communicated using CAN bus using RS485 communicating circuit, I/O communicating circuit or at least two communicating circuits Road, I/O communicating circuit or at least two communicating circuits can be total using RS232 communicating circuit, RS485 communicating circuit, CAN Line communicating circuit, I/O communicating circuit etc..It is understood that RS232 communication interface is connected with RS232 communicating circuit, RS485 Communication interface is connected with RS485 communicating circuit, and CAN bus communication interface is connected with CAN bus communicating circuit, I/O communication interface It is connected with I/O communicating circuit.

Here several communication interfaces are illustrated:

RS232 communication interface is one of the communication interface on personal computer, by Electronic Industries Association (Electronic Industries Association, EIA) prepared asynchronous transmission standard interface.Usual RS-232 communication interface is with 9 The kenel of pin (DB-9) or 25 pins (DB-25) occurs, and has two groups of RS-232 interfaces in general personal computer, point It is also known as COM1 and COM2.RS232 communication interface supports EIA-RS-232C standard, wherein EIA (Electronic Industry Association) American Electronics Industry Association is represented, RS (recommended standard), which is represented, recommends mark Standard, 232 be identification number, and the newest primary modification (1969) that C represents RS232 has RS232B, RS232A before this, it is advised Determine connecting cable and machinery, electrical characteristic, semiotic function and transmit process, commonly using physical criterion, there are also EIARS-422A, EIA RS-423A、EIARS-485。

RS485 communication interface is the communication interface based on serial ports, and the operation of data transmit-receive of RS232 communication interface is It is consistent, use the bsp driver of WinCE.RS485 communication interface is half-duplex data communication mode, the receipts of data Hair cannot carry out simultaneously, in order to guarantee not conflicting for data transmit-receive, be to be realized on hardware by direction switching, accordingly also want Asking must strictly separate the process of transmitting-receiving on software.The half-duplex network of RS485 communication interface composition, usually two lines System, mostly uses Shielded Twisted Pair to transmit, and this mode of connection is that bus type topological structure can at most mount on same bus 32 nodes are generally adopted by master-slave communication mode, the i.e. multiple slaves of host tape in RS485 communication network. The electrical characteristic of RS485: logic " 0 " with the voltage difference of line-to-line is+(2-6) V indicates；Logic " 1 " is with the voltage difference of line-to-line For-(2-6) V expression.Interface signal level ratio RS-232-C is reduced, and is just hardly damaged the chip of interface circuit, and the level It is compatible with Transistor-Transistor Logic level, it can facilitate and TTL circuit connection.

I/O communication interface is the tie that host and controlled device carry out information exchange, and host can pass through I/O interface and outside Equipment carries out data exchange；I/O communication interface can support 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 (Universal Asynchronous Receiver/Transmitter, UART), wherein GPIO is a simplest agreement, can only read and write high/low two kinds of level letter Number；PWM simply can only externally issue square-wave signal；I2C, UART are serial interface protocols, can continuously read and write a large amount of numbers According to for more complicated equipment.

The physical layer and data link layer functions of CAN protocol are integrated in CAN bus communication interface, it is achievable to communication number According to the items work such as framing processing, including position filling, data block coding, cyclic redundancy check, priority discrimination.Lead to general Letter bus is compared, and the data communication of CAN bus has reliability outstanding, real-time and flexibility, typical application protocol Have: SAE J1939/ISO11783, CANopen, CANaerospace, DeviceNet, NMEA 2000 etc..

For a better understanding, be illustrated here with a specific example, for example, with reference to shown in Fig. 1-2, servo motor Driver 1 includes microprocessor 11, communication interface 12, the communicating circuit 13 being correspondingly arranged with communication interface 12；Wherein communication connects Mouth 12 includes I/O communication interface 121, RS232 communication interface 122, RS485 communication interface 123, CAN bus communication interface 124； The I/O communicating circuit 131 being correspondingly arranged with I/O communication interface 121, the RS232 being correspondingly arranged with RS232 communication interface 122 are logical Interrogate circuit 132, the RS485 communication interface 133 being correspondingly arranged with RS485 communication interface 123, with CAN bus communication interface 124 The CAN bus communicating circuit 134 being correspondingly arranged；Specifically, I/O communication connects 121 by I/O communicating circuit 131 and microprocessor 11 are connected, and RS232 communication interface 122 is connected by RS232 communicating circuit 132 with microprocessor 11, RS485 communication interface 123 It is connected by RS485 communicating circuit 133 with microprocessor 11, CAN bus communication interface 124 passes through CAN bus communicating circuit 134 It is connected with microprocessor 11.It is worth noting that, recited herein, only a specific example in practical applications can It is adjusted flexibly according to concrete scene.

The motor servo driver of compatible multiple communication modes provided in this embodiment includes microprocessor, at least two classes At least two communicating circuits that the communication interface of type and the communication interface of at least two types are correspondingly arranged, at least two types Communication interface be attached by corresponding communicating circuit with microprocessor, solve servo motor in the prior art There was only a type of communication interface in driver, control mode is single, is unfavorable for user's type selecting and mating problem.Namely In the present embodiment, motor servo driver passes through at least two different types of communication interfaces and its corresponding communicating circuit It is attached with microprocessor, so that the communication interface of motor servo driver is more perfect, it is a variety of different to realize compatibility Communication modes substantially increase the experience satisfaction of user convenient for user's type selecting and mating.

Embodiment two:

In the present embodiment, RS232 communication interface and RS485 communication interface can share a physical communication interface, when Right RS232 communication interface and RS485 communication interface can also respectively be independent physical communication interface.When RS232 communication interface When sharing a physical communication interface with RS485 communication interface, referring to fig. 2 shown in -1, motor servo driver 1 further include: choosing Switching circuit 14 is selected, selected on-off circuit 14 is connected with RS232 communicating circuit and RS485 communicating circuit respectively, for switching RS232 communicating circuit or RS485 communicating circuit and micro process 11 are connected.

In the present embodiment, selected on-off circuit 14 includes multiple selector and selection switch, referring to fig. 2 shown in -2, choosing Selecting switching circuit 14 includes multiple selector 141 and first choice switch 142, and wherein multiple selector 141 is logical with RS232 respectively News circuit is connected with RS485 communicating circuit, is selected according to 142 this status information of selected communicating circuit of first choice switch It selects one of communicating circuit and carries out signal transmission, specifically, when first choice switchs selection RS232 communicating circuit, selection RS232 communicating circuit carries out signal transmission, when first choice switchs selection RS485 communicating circuit, selects RS485 communicating circuit Carry out signal transmission.

It will be clear that the first choice switch in the present embodiment can use toggle switch, specifically, toggle switch It can be rotary dip switch, flat group of formula toggle switch or button toggle switch.It is worth noting that, in practical applications, The switch of first choice switch or other forms, it is not limited to this form of switch of toggle switch, it can basis Concrete application scene is adjusted flexibly.

The motor servo driver of compatible multiple communication modes provided in this embodiment can be more by using selection switch Add and easily select the communicating circuit communication modes current with determination, while more intuitive can also check and judge to work as The communication modes of use are convenient for later maintenance and management, bring many conveniences for staff, and save to a certain extent About cost.

Embodiment three:

At present for the 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 servo driver 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 1, which may also include, to be connect with microprocessor 11 Master-slave communication unit 15, for example, see shown in Fig. 3-1, motor servo driver can be watched by master-slave communication unit 15 with what is matched Motor driver (hereinafter referred to as pairing motor servo driver) connection is taken, for receiving from pairing motor servo driver Information, and microprocessor 11 is passed to, and/or the servo motor driving for the information from microprocessor 11 to be issued to pairing Device.In the present embodiment, pairing motor servo driver and the motor servo driver of local terminal can be using the identical servos of structure Motor driver.In the present embodiment, pairing motor servo driver can be used as main servo motor driver, the servo electricity of local terminal Machine driver, which can be used as, to be used as from motor servo driver, or pairing motor servo driver from motor servo driver, The motor servo driver of local terminal can be used as main servo motor driver；Motor servo driver is as master in the present embodiment Motor servo driver still can just be set from motor servo driver when leaving the factory, can also be in installation or the course of work Middle dynamic setting or update.For example, gate controls the first servo motor of the corresponding first motor of left gate in a kind of example Driver as main servo motor driver, make by the second motor servo driver that gate controls corresponding second motor of right gate From motor servo driver, then can directly to pass through two between first servo motor driver and the second motor servo driver The master-slave communication unit 15 of person realizes communication connection, and in a kind of example, can only will be as main servo motor driver First servo motor driver is connect with external control equipment or commissioning device or configuration equipment etc., external control equipment or Commissioning device or configuration equipment etc. can be directly logical by the principal and subordinate between the first gate driver and the second motor servo driver News unit 15 issues the second motor servo driver for information, Debugging message, configuration information or query information etc. is controlled, to subtract The wiring of few second motor servo driver, promotes the integrated level of gate system, reduces the cost of gate system.As it can be seen that this reality It applies in example, above-mentioned information may include but be not limited to control information, Debugging message, configuration information or query information, and these are believed Breath is not limited to come outside output from driver.Meanwhile it can root between first servo motor driver and the second motor servo driver The information sent according to other side the control of realizing motor synchronous with other side, to drive the execution of corresponding gate synchronization accordingly to open or It the movement such as closes, avoids between two motor servo drivers completely mutually indepedent control motor and gate control occur nonsynchronous Problem promotes safety, the intelligence of control and the satisfaction of user experience that gate uses.

In the present embodiment, master-slave communication unit 15 can be RS485 master-slave communication unit, or be CAN master-slave communication unit；When It can also be so other kinds of communication unit.

Therefore, in a kind of example of the present embodiment, motor servo driver further includes connect with microprocessor 11 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.

Example IV:

Motor servo driver provided in this embodiment can be applied to various gate equipment.Servo electricity provided in this embodiment Machine driver includes shell and is set to the intracorporal drive control plate of shell, and hollow hole is provided on shell, is set in drive control plate It is equipped with interface unit and microprocessor, interface unit is revealed in outside by the hollow hole on shell；In a kind of example, shell It may include specifically cap and pedestal, drive control plate is set on pedestal, and hollow hole is provided on cap, and interface unit specifically may be used Outside is revealed in by the hollow hole on cap.Interface unit includes I/O communication interface in the present embodiment, is set in drive control plate It is equipped with the single-ended signal transmission circuit for supporting common cathode or common anode, I/O communication interface passes through single-ended signal transmission circuit and micro process Device connection.One of structural schematic diagram is referring to fig. 4 shown in -1: sequentially connected microprocessor is provided in drive control plate 11, it supports the single-ended signal transmission circuit 131 and I/O communication interface 121 of common cathode or common anode, supports the single-ended of common cathode or common anode The compatible common anode transmission mode of signal circuit 131 and common cathode transmission mode, so that the compatible common anode of I/O communication interface passes Defeated mode and common cathode transmission mode, so that motor servo driver does not need to respectively correspond generation one for different modes A model both saves inventory cost so as to greatly reduce drive model, facilitates client's type selecting, while also can avoid using Family interface type selecting mistake or in use connection error and lead to driver cisco unity malfunction, driving can be further decreased The use cost of device.

Referring to fig. 2 shown in -1, in input direction, I/O communication interface 121 includes at least one two directions' inputing communication interface 1211, single-ended signal transmission circuit includes connecting and supporting the single-ended signal of common cathode or common anode to input with two directions' inputing communication interface Circuit 1311.External information can be input to single-ended signal input circuit 1311, single-ended letter by two directions' inputing communication interface 1211 The information can be issued microprocessor 11 by number input circuit 1311.Wherein due to two directions' inputing communication interface 1211 and single-ended signal Input circuit 1311 connects, and single-ended signal input circuit 1311 supports common cathode or common anode, namely has both supported common anode transmission mode, It supports common cathode transmission mode, so that input communication interface 1211 had both supported common anode transmission mode, also supports common cathode transmission mode, because This not only can avoid input 1211 wrong of communication interface, but also can promote the compatibility of input communication interface.

Referring to fig. 2 shown in -2, in outbound course, I/O communication interface 121 includes at least one bidirectional output communication interface 1213, 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 1313.Internal information can be exported by single-ended signal output circuit 1313 to two directions' inputing communication interface 1213, two-way defeated External equipment can be issued for the information by entering communication interface 1213.Wherein since two directions' inputing communication interface 1213 and single-ended signal are defeated Circuit 1313 connects out, and single-ended signal output circuit 1313 had both supported common anode transmission mode, also supports common cathode transmission mode, so that Output communication interface 1213 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.

Embodiment five:

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, referring to shown in Fig. 5-1, motor servo driver 1 further includes braking electricity Road 16；The braking circuit 16 includes built-in braking resistor and the brake control circuit being set in motor servo driver, built-in Braking resistor is connect by brake control circuit with microprocessor.The effect of braking circuit 16 is, when servo motor is being run Revolving speed is excessively high in state, then by starting braking circuit 16, so that the braking resistor connecting with braking circuit 16 enters work shape State achievees the purpose that reduce servo motor power draw by braking resistor energy consumption, in addition, braking circuit 16 can be also used for servo Motor fast braking can be than the premise of no braking circuit 16 after servo motor power-off in the case where there is braking circuit 16 It stops operating faster down.Wherein, the present embodiment brake control circuit is by the way of dynamic braking to servo motor system Dynamic, specifically, different according to the type of servo motor, dynamic braking and the AC servo of DC servo motor are distinguished in dynamic braking Two kinds of the dynamic braking of motor, specific as follows:

The dynamic braking of DC servo motor: if motor is dropped when motoring condition is run armature voltage U is applied outside suddenly It is zero, and armature is concatenated into an additional resistance R, i.e., disconnects at armature both ends from power grid, and be connected to an electricity appropriate rapidly In resistance.Motor is in hair servo motor operating status, and the kinetic energy of rotating part is converted into power consumption on resistance.With The consumption of kinetic energy, revolving speed decline, braking moment is also smaller and smaller, therefore this braking method brakes work when revolving speed is also relatively high With bigger, with the decline of revolving speed, braking action is also with reduction.

The dynamic braking of AC servo motor: servo motor in normal operation, in order to stop rapidly, not only disconnects three-phase AC power source will also access DC power supply in the stator coils, be passed through DC current in the stator coils, form magnetic field, rotor Since inertia continues circumgyration incision magnetic field, and induced electromotive force and electric current are formed in the rotor, the torque direction and servo of generation The direction of rotation of motor is on the contrary, generation braking action, finally stops servo motor.

Different resistance is penetrated in the rotor of servo motor and different direct currents is accessed in the stator of servo motor Stream, can produce different braking moments.

The characteristics of built-in braking resistor, is, when the revolving speed of servo motor falls to zero, braking moment also will be zero, institute It can make servo motor accurate stopping with dynamic braking.

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, the fixation hole in built-in braking resistor is divided into upper layer fixation hole along short transverse and lower layer is solid Determine hole, and the aperture of upper layer fixation hole is more than or equal to the aperture of lower layer's fixation hole.Between upper layer fixation hole and lower layer's fixation hole Size relationship, may be implemented being fixedly connected by pin, screw, bolt etc. fixing piece, and the size of upper layer fixation hole is set as It is larger, it can be in order to the installation of fixedly connected part.

In some embodiments, connector can specifically include threaded fastener, and threaded fastener includes nut portion and spiral shell Line portion, and the connecting hole in drive control plate is and the matched threaded hole of threaded fastener；Fixation hole in built-in braking resistor In, the aperture of upper layer fixation hole is more than or equal to the size in the nut portion of threaded fastener, and the aperture of lower layer's fixation hole is less than or equal to The size in nut portion and the size for being more than or equal to threaded portion；Threaded fastener sequentially pass through upper layer fixation hole and lower layer's fixation hole with Connecting hole is cooperatively connected.Threaded fastener is divided into nut portion and threaded portion, and wherein nut portion refers to serving as on threaded fastener The position of nut effect, however it is not limited to which the nut on screw can also be that is be additionally arranged on bolt has limit fixed function Such as gasket, integrated injection molding or the nut cap of gluing etc..Threaded portion is at least cooperatively connected with the connecting hole on drive circuit board, Can also also have to be threadedly engaged with lower layer's fixation hole in built-in braking resistor and connect, the present embodiment does not specifically carry out it It limits.In some embodiments, upper layer fixation hole is semi-circular through hole, and lower layer's fixation hole is U type through-hole.Upper layer fixation hole It is sized to bigger, and lower layer's fixation hole then can be set to smaller, can mainly be risen solid in order to the installation of connector It is set for using.In some embodiments, built-in braking resistor can be aluminum casing resistor.Aluminum casing resistor since its shell is aluminum, It can be very good to conduct heat generated on resistance, can accomplish biggish size, meet the need under more scenes It asks.

In some embodiments, braking circuit 16 further includes that the external braking resistor being connected in parallel with built-in braking resistor connects Mouthful, the external braking resistor outside the motor servo driver for gate passes through external braking resistor interface and built-in braking Resistor coupled in parallel is preferably suitable for various application scenarios demands so that stopping power can be adjusted according to specific requirements.

In some embodiments, mode packet is fixedly mounted in the threaded fastener between built-in braking resistor and drive control plate Include it is following any one: first, the connecting hole being directly arranged in drive control plate, then pass through threaded fastener and connecting hole Between mating connection realize being fixedly connected between built-in braking resistor and drive control plate.Second, can be in drive control The connecting column being fixedly connected with drive control plate is set on plate, and the top of the connecting column is higher than drive control plate, and connecting column exists Short transverse is equipped with the internal screw thread with threaded fastener fits, the difference in height between the top and drive control plate of connecting column, More than or equal to the thickness for the electronic device being set in drive control plate below the built-in braking resistor.In some embodiments, Between built-in braking resistor and drive control plate, it is additionally provided with heat dissipating layer.Built-in braking resistor can pass through the heat dissipation on shell Device easily radiates, and the heat in drive control plate can also be passed by the heat dissipating layer between built-in braking resistor It passs, to conduct heat to the external world.

Embodiment six:

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, referring to shown in Fig. 6-1, servo motor provided in this embodiment Driver 1 further includes band-type brake circuit 17, and microprocessor 11 is connect by band-type brake circuit 17 with band-type brake device 170；Microprocessor 11 is used Band-type brake is realized in sending band-type brake control signal to band-type brake circuit 17 to start band-type brake circuit 17；For example, when the gate position detected When confidence ceases, microprocessor 11 can be sent out when determining that gate deviates predeterminated position according to position of strobe information to band-type brake circuit 17 Band-type brake control signal control servo motor is sent to realize band-type brake.

In a kind of example, band-type brake circuit 17 can be made of external power supply, power driving circuit, relay, band-type brake device.Band-type brake Device driving 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 is obtained, wherein relay volume is relatively large, is unfavorable for system compact；And relay higher cost, and It needs to carry out selection adaptation 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. 6-2 institute Show, the band-type brake circuit 17 in this example includes power drive unit 172, N-type switch power pipe unit 173 and band-type brake interface 174； Band-type brake power supply 171 is connect by N-type switch power pipe unit 173 with band-type brake device 170；Band-type brake power supply 171 also drives with power simultaneously Moving cell 172 connects, and provides driving voltage for power drive unit 172；Power drive unit 172 and N-type switching power tube list Member 173 connects, and power drive unit 172 controls signal according to band-type brake and generates driving voltage control N-type switch power pipe unit 173 Conducting, so that band-type brake power supply 171 and band-type brake interface 174 are connected, such band-type brake power supply 171 is that band-type brake interface 174 provides work electricity Stream realizes band-type brake.

In a kind of example of the present embodiment, band-type brake power supply 171 can be located at the external power supply outside driver with external application, ginseng As shown in Fig. 6-2, band-type brake power supply 171 can also be using the built-in power positioned at internal drive, for example, with reference to shown in Fig. 6-3.

It is understood that N-type switch power pipe unit 173 may include but be not limited to N-type metal-oxide-semiconductor；Wherein band-type brake power supply 171 first electrode end (can be positive terminal or negative pole end) is connect, the drain electrode of N-type metal-oxide-semiconductor and band-type brake with the source electrode of N-type metal-oxide-semiconductor First electrode end (can be positive terminal or negative pole end) connection of interface 174, the second electrode end of band-type brake power supply 171 is (with the first electricity It is extreme different, such as when first electrode end is negative pole end, then second electrode end is positive terminal；When first electrode end is positive terminal When, then second electrode end is negative pole end) it is connect with the second electrode end of band-type brake interface 174；The grid and power of N-type metal-oxide-semiconductor drive Moving cell 172 connects.

Optionally, in a kind of example of the present embodiment, N-type switch power pipe unit 173, 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 172 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 171, 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 common cathode mode transmission triode, can also be common anode Mode transmission triode.

In a kind of example of the present embodiment, power drive unit 172 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 171；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 171 second electrode of band-type brake power supply.

Band-type brake circuit provided in this embodiment is made up of power drive unit 172 and N-type switch power pipe unit 173 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 173 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 motor servo driver provided in this embodiment is provided with band-type brake circuit and controls when required by band-type brake Signal enabling band-type brake circuit realizes band-type brake, thus can avoid the security risk that gate equipment is forcibly opened under shutdown state, Promote the intelligence of safety, the control of gate equipment and the satisfaction of user experience.

Embodiment seven:

In the present embodiment, in order to judge whether gate clips to people or object, safe anti-pinch is realized, referring to shown in Fig. 7-1, Motor servo driver may also include the current sampling circuit 18 connecting with microprocessor 11, and current sampling circuit 18 can be used for adopting Collect the current value of servo motor and passes to microprocessor 11；Microprocessor 11 is also used to corresponding to the current value received Control executes anti-pinch movement when moment values are greater than default moment values, for example including but be not limited to control servo motor stop working or It controls servo motor reversion and realizes that drive gate is opened.And optionally, microprocessor is corresponding to the current value received Moment values when being greater than default moment values, can also and generate anti-clip control signal by the 5th information and issue pairing servo motor drive Dynamic device；Certain microprocessor 11 may also receive the anti-pinch control that pairing motor servo driver is sent by the 4th information Signal；The execution pinch resistant operation that the motor servo driver of two such pairing can synchronize, can further promote safety.

In the present embodiment, referring to shown in Fig. 7-2, motor servo driver 1 further includes power driving circuit 19, micro- place Reason device 11 is connect by power driving circuit 19 with servo motor, and the servo motor in the present embodiment can use according to demand to be had Brush servo motor or brushless servo motor.

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, referring to shown in Fig. 7-3, motor servo driver 1 is also wrapped Include the anti-circnit NOT 110 of the power supply being connected between power driving circuit 19 and power supply, the anti-circnit NOT 110 of power supply be used for power supply just By the separated of power supply and power driving circuit 19 when cathode wrong, clock synchronization is connect by power supply and power drive electricity in power positive cathode Road 19 is connected to, to realize power supply anti-reflection function, promotes the safety of driver.

The anti-circnit NOT 110 of power supply in the present embodiment can be used diode design and realize counnter attack, but in use It was found that realizing counnter attack using the forward conduction characteristic of diode, power consumption is very big when passing through high current, first is that being not easy to meet big The product demand of electric current, by product power limit a very little range, second is that diode has separated the power of topological structure Device, 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 give Driver 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 The anti-circnit NOT 110 of better power supply comprising metal-oxide-semiconductor, the pole D and the pole S of metal-oxide-semiconductor are positive with the input of DC power supply/negative respectively It is connected between pole, and load (namely power driving circuit 19), the conducting direction and DC power supply of the parasitic diode of metal-oxide-semiconductor Current direction when access polarity is correct is consistent；The pole G of metal-oxide-semiconductor concatenates at least one biasing resistor；When DC power supply accesses pole When property is 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 pole Property it is correct when, be the parasitic diode conducting in metal-oxide-semiconductor first, the current potential in the pole G, with the pole S and D extremely between current potential the higher person Potential difference be more than or equal to metal-oxide-semiconductor cut-in voltage when, cause metal-oxide-semiconductor to be switched on, by parasitic diode short circuit, to realize It connects；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 110 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 110 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 110 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, and referring to shown in Fig. 7-4, motor servo driver may also include the voltage connecting with microprocessor 11 and adopt Sample circuit 111.Voltage sampling circuit 111 is used to acquire bus voltage value (namely acquisition motor servo driver power itself Voltage value) and pass to microprocessor 11；Microprocessor 11 is used for the voltage sampling circuit in the case where servo motor is in enabled state 111 voltage values passed over start braking circuit 16 when being greater than default first voltage threshold value, and are used for after braking circuit 16, When detecting that voltage value is less than default second voltage threshold value, braking circuit 16 is closed, wherein first voltage threshold value is greater than the second electricity Threshold value is pressed, and the two threshold values can flexibly be set according to specific application scenarios.By braking circuit 16 in busbar voltage mistake The anti-energy filled is lost when high, driver is can avoid and is damaged when energy instead fills.Electricity is braked in the present embodiment Each braking resistor and specific resistance value that road 16 includes can also be according to concrete application scene flexible choices.

In the present embodiment, microprocessor 11 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 11 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 eight:

Various interfaces on current servo motor driver, such as power interface, servo motor are all around group interface etc. The left and right sides of driver is set, and the Wiring port of each interface towards the left and right sides, lead to the driver left and right sides Between distance (namely width of driver) it is larger, simultaneously because the left and right sides of driver is arranged in interface, lead to driver Interface wiring require to connect from the left and right sides, into requiring driver to need biggish installation space, this is with installation space Leptosomatic gate application scenarios demand is runed counter to, it is seen then that existing driver is not able to satisfy the small applied field of the installation spaces such as swing turnstile Scape demand.

In view of the above-mentioned problems, in the present embodiment, using at least part interface on motor servo driver as first Interface unit is set in drive control plate in the region of drive control plate at least one side, in first interface unit Angle between the direction of the Wiring port of each interface and the front of drive control plate is greater than 0 °, is less than or equal to 135 °.This implementation Interface type and number etc. included by first interface unit can flexibly be set according to specific requirements in example, and first interface list Corner dimension between the direction of the Wiring port of each interface in member and the front of drive control plate can be according to demand at 0 ° Flexible setting between to 135 °.For example, in a kind of example, the court of the Wiring port of each interface in settable first interface unit It is equal to the Wiring port of each interface in 90 ° namely first interface unit to the angle between the front of drive control plate Towards 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 It is positioned close to the region on mainboard main body left side and/or right side, but the transverse width of drive control plate will not be increased, while can Promote the interface saturation of drive control plate.So that driver can be better met, swing turnstile etc. is leptosomatic to be installed in short transverse The abundant application scenarios in space, while reducing the demand of the installation space on the width and width direction of driver, so that More gates are installed under same mounting area, improve traffic efficiency, save installation space, save the cost.For example, in the present embodiment First interface unit may be disposed at close to drive control plate left side and/or right side region in.

In the present embodiment, interface unit may include band-type brake interface.In a kind of example of the present embodiment, interface unit is also Including second interface unit and/or third interface unit, second interface unit and third interface unit are respectively arranged at close to drive The region in the region of dynamic control panel upper end and close drive control plate lower end；The Wiring port of each interface in second interface unit Towards drive control plate upper end, the Wiring port of each interface in third interface unit is towards the drive control plate lower end.This Sample can by the second interface unit of driver and third interface unit drive control plate longitudinal direction (namely driver Short transverse) distribution, so as to further decrease to drive control plate lateral (i.e. width direction, the width of respective drivers Direction) size requirement so that can be preferably suitable for swing turnstile etc. leptosomatic abundant in short transverse installation space for driver Application scenarios, mountable more gates under same mounting area, improve traffic efficiency, save 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 bus communication interface, third interface unit may include but be not limited to power interface, winding At least one of interface, encoder for servo motor interface.And it should be understood that in the present embodiment above-mentioned each interface position Can also flexibly it change according to demand, for example, in another example, first interface unit may include but be not limited to I/O communication interface At least one of with band-type brake interface, third interface unit may include but be not limited to RS232 communication interface, RS485 communication interface, At least one of CAN bus communication interface, second interface unit may include but be not limited to power interface, around group interface, servo At least one of motor encoder 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 that second interface unit includes Communication interface, CAN bus communication interface can in drive control plate successively adjacent distributions.

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 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.

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.

Motor servo driver provided in this embodiment is referring to shown in Fig. 8-1 to Fig. 8-4, wherein 2 drive for servo motor The shell of device, 21 be the upper end of motor servo driver, and 22 be the lower end of motor servo driver, and 210 communicate for CAN bus Interface, 211 be RS485 communication interface, and 212 be RS232 communication interface, and 213 be toggle switch；220 be power interface, and 221 are External braking resistor interface, 222 be servo motor around group interface, and 223 be encoder for servo motor interface, and 230 communicate for I/O Interface, 231 be band-type brake interface, and 240 be power supply display alarm unit, and 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.In the upper of motor servo driver The second interface unit of 21 setting of end includes: CAN bus communication interface 210, RS485 communication interface 211, RS232 communication interface 212；And optionally, toggle switch 213 can be also set according to demand in the upper end of motor servo driver 21；It is to be understood that It is that the setting of 21 interface of upper end of motor servo driver is not limited to as shown in the figure in this example, it can according to demand flexibly Selection.And toggle switch 213 nor the device that must be provided with, it can also be arranged according to specific requirements flexible choice.

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, servo motor around group interface 222, encoder for servo motor interface 223；And power interface 220, external braking resistor interface 221, servo motor around group interface 222, encoder for servo motor interface 223 is successively adjacent to be set It sets.In this example, the interface of the interface of communication and power supply and servo motor winding servo motor is separately positioned on to drive The top and bottom of dynamic device can be convenient for subsequent wiring and use, while avoid wiring error.

In this example, the region in drive control plate close to left side is additionally provided with first interface unit, first interface list Member includes: I/O communication interface 230, band-type brake interface 231, and I/O communication interface 230, and the Wiring port of band-type brake interface 231 is as schemed It is that upward, in this way when to I/O communication interface 230 and band-type brake 231 wiring of interface, there is no need to from servo motor shown in 8-1 Driver side access, so that the motor servo driver in this example reduces servo electricity without left and right wiring requirements Horizontal space demand when machine driver is installed, while can guarantee the interface installed capacity of motor servo driver again.240 be electricity Source display alarm unit and 241 is disposed adjacent for alarm indication reminding unit with band-type brake interface 231, and 240 be that power supply shows and mentions Waking up unit and 241 in this example can be real through but not limited to warning light, display screen, charactron etc. for alarm indication reminding unit It is existing.

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, such as encoder for servo motor interface and/or I/O communication interface to can be selected and select body The lesser plastic contact of product, (such as threading) is more convenient during making user's integral installation, and does not influence width after installing Size.

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 communication interface, to be further ensured that servo motor The miniature requirement of driver.

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 communication interface can be using 7PIN band 5.08 end of screw in this example Son.

Embodiment nine:

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 Fig. 9.

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 present embodiment additionally provides a kind of servo motor driving control system, referring to shown in Figure 10-1 and Figure 10-2, including 1010, first servo motor driving devices of equipment and at least one second servo motor driving device are controlled, first watches It takes motor driver and the second servo motor driving device is servo motor driving device as shown above；First servo motor Driving device includes first servo motor driver 1011 and what is connect with the first servo motor driver 1011 first watch Motor 1012 is taken, the second servo motor driving device is electric including the second motor servo driver 1021 and with second servo The second servo motor 1022 that machine driver 1021 connects；Control equipment 1010 and 1011 communication link of first servo motor driver It connects, first servo motor driver 1011 and each second motor servo driver communicate to connect.

In a kind of example, servo motor driving control system includes described in a first servo motor driving device and one Second servo motor driving device, for example, see shown in Figure 10-3.

In a kind of example of the present embodiment, first servo motor driver 1011 and the second motor servo driver 1021 It is connected by 485 master-slave communication buses or CAN master-slave communication bus communication；First, which takes motor driver 1011, receives the control When control equipment 1010 is sent to the control signal of the second motor servo driver 1021, control signal is transmitted to the second servo electricity Machine driver 1021.

The present embodiment additionally provides a kind of gate equipment, including first cabinet, at least one second cabinet, the first lock Door, at least one (its particular number is matched with the second cabinet) the second gate and servo motor as described above driving control System processed；First servo motor driving device and the number of the second servo motor driving device respectively with the first cabinet and the second machine The number of case matches, and is respectively arranged in the first cabinet and in the second cabinet；First gate is watched with first in the first cabinet Motor linkage connection is taken, the second gate is connected with the second servo motor in second cabinet.In a kind of example, gate Equipment includes first cabinet and second cabinet, wherein the first gate can be left gate, the second gate can be right gate. And it should be understood that the motor servo driver in the present embodiment is not limited to the gate equipment applied to double-gate, also fit Gate equipment for homostrobe.

In the present embodiment motor servo driver can realize gate return to zero movement or automatic aligning function, switch gate function, Pinch resistant functionality, Anti-knocking function, curve movement planning function, control servo motor movement, receive encoder for servo motor information, IO/RS232/RS485/CAN communication unit information, processing slave interactive information etc. are received, can be realized the following demand of gate: Safer (torque anti-pinch, Anti-knocking), faster speed (faster speed of opening the door, improve traffic efficiency) softer (are opened Close the door softer), operation more steady (switch gate steady in place, non-jitter), more mute (smaller servo motor excitation sound Sound, mechanical friction sound), it is more reliable and more stable, and reliable synchronously control is realized to gate.

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 (11)

1. a kind of motor servo driver of compatible multiple communication modes, which is characterized in that the motor servo driver includes:

Microprocessor, at least two types communication interface, with the communication interface of at least two type be correspondingly arranged to Few two communicating circuits；

The communication interface of at least two type is attached by corresponding communicating circuit and the microprocessor.

2. the motor servo driver of compatible multiple communication modes as described in claim 1, which is characterized in that described at least two The communication interface of seed type is using in RS232 communication interface, RS485 communication interface, CAN bus communication interface, I/O communication interface At least two；

At least two communicating circuit uses RS232 communicating circuit, RS485 communicating circuit, CAN bus communicating circuit and I/O At least two in communicating circuit；

The RS232 communication interface is connected with the RS232 communicating circuit, and the RS485 communication interface and the RS485 are communicated Circuit is connected, and the CAN bus communication interface is connected with the CAN bus communicating circuit, the I/O communication interface and the I/ O communicating circuit is connected.

3. the motor servo driver of compatible multiple communication modes as claimed in claim 2, which is characterized in that the RS232 Communication interface and RS485 communication interface share a communication interface.

4. the motor servo driver of compatible multiple communication modes as claimed in claim 3, which is characterized in that the servo electricity Machine driver further include: selected on-off circuit, the selected on-off circuit respectively with the RS232 communicating circuit and described RS485 communicating circuit is connected, and connects for switching the RS232 communicating circuit or the RS485 communicating circuit with the micro process It is logical.

5. the motor servo driver of compatible multiple communication modes as claimed in claim 4, which is characterized in that the selection is opened Powered-down road includes multiple selector and first choice switch；

The multiple selector is connected at least two communicating circuit, switchs selected communication according to the first choice Circuit carries out signal transmission.

6. the motor servo driver of compatible multiple communication modes as claimed in claim 2, which is characterized in that the I/O is logical Interrogating circuit includes input interface circuit and output interface circuit；

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.

7. the motor servo driver of compatible multiple communication modes as claimed in any one of claims 1 to 6, which is characterized in that institute State motor servo driver further include: braking circuit, the braking circuit include being set in the motor servo driver Built-in braking resistor and brake control circuit, the built-in braking resistor pass through the brake control circuit and the microprocessor Connection.

8. the motor servo driver of compatible multiple communication modes as claimed in claim 7, which is characterized in that the braking electricity Road further includes the external braking resistor interface being connected in parallel with the built-in braking resistor, is located at outside the motor servo driver External braking resistor it is in parallel with the built-in braking resistor by the external braking resistor interface.

9. the motor servo driver of compatible multiple communication modes as claimed in any one of claims 1 to 6, which is characterized in that institute State motor servo driver further include: band-type brake circuit, the band-type brake circuit are connected with the micro process, for according to micro- place It manages the band-type brake control signal that device is sent and realizes band-type brake.

10. the motor servo driver of compatible multiple communication modes is it is characterized in that, the band-type brake is electric as claimed in claim 9 Road includes power drive unit, N-type switch power pipe unit and band-type brake interface；Band-type brake power supply passes through the N-type switching power tube Unit is connect 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 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.

11. a kind of gate equipment, which is characterized in that the gate equipment includes such as the described in any item compatibilities of claim 1-10 The motor servo driver of multiple communication modes further includes the control equipment connecting respectively with the motor servo driver, watches Take motor, and the gate being connected with the servo motor.