CN209389970U - 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, hollow hole is provided on shell, interface unit and microprocessor are provided in drive control plate, interface unit is revealed in outside by the hollow hole on the cap；Interface unit includes I/O communication interface, and the two-way signaling transmission circuit for supporting positive-negative polarity exchange input/output is provided in drive control plate, and I/O communication interface is connect by two-way signaling transmission circuit with microprocessor；Therefore the I/O communication interface on driver provided by the utility model supports transmitted in both directions, namely it is compatible with common cathode transmission mode and common anode transmission mode mode, so as to greatly reduce drive model, both inventory cost is saved, facilitate client's type selecting, it also can avoid user interface type selecting mistake or in use connection error simultaneously and lead to driver cisco unity malfunction, the use cost of driver can be further decreased.

Description

Motor servo driver and gate equipment

Technical field

The utility model relates to gate 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 gate machine market welcomes hair Peak is opened up, on the one hand novel door gate machine can replace security personnel, ticket collector carries out safety check work, on the other hand can obtain by Internet of Things People information is taken, prospect is huge in the fields such as office, factory, building site, house, public transport.Since mounting area is small, space is sharp Occasion with 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 in the big occasion of the flows of the people such as subway, high-speed rail, airport, customs.

With social progress, consumption upgrading, to the performance of gate, there has also been more demands, such as: safer (power Square anti-pinch, Anti-knocking), faster speed (faster speed of opening the door, improve traffic efficiency), softer (switch gate is more soft With), operation more steady (switch gate steady in place, non-jitter), more mute (smaller motor excitation sound, mechanical friction sound Sound), it is more reliable and more stable etc..I/O communication interface is provided on driver, for sending information into driver and for driving Dynamic device is sent out various information.Gate controller producer at present on the market is more, and each standard is different, is arranged on driver I/O communication interface all only support one-way transmission mode, such as or be common cathode transmission mode or be common anode transmission mode, Lead to the driver that corresponding production respective model is needed for different modes, so as to cause drive model wide variety, no Convenient for user's type selecting, and type selecting or interface connection error is also easy to cause to cause driver cannot normal work in use Make, further improves the use cost of driver.

Utility model content

The utility model provides a kind of motor servo driver and gate equipment, solves existing driver and only supports unidirectionally The problem of I/O communication interface of transmission.

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 hollow hole, the drive control are provided on the shell Interface unit and microprocessor are provided on plate, the interface unit is revealed in outside by the hollow hole on the cap；Institute Stating interface unit includes I/O communication interface, and the single-ended signal transmission for supporting common cathode or common anode is provided in the drive control plate Circuit, the I/O communication interface are connect by the single-ended signal transmission circuit with the microprocessor.

Optionally, the I/O communication interface includes at least one two directions' inputing communication interface, the single-ended signal transmission electricity Road includes the single-ended signal input circuit for connecting and supporting common cathode or common anode with the two directions' inputing communication interface.

Optionally, the I/O communication interface may also include at least one unidirectional incoming traffic interface, motor servo driver It may also include the Differential input circuit connecting with the unidirectional incoming traffic interface, the Differential input circuit and the micro process Device connection.

Optionally, the single-ended signal input circuit include input stage connect with the two directions' inputing communication interface it is two-way Photo-coupler, the output stage of the bidirectional optical coupler are connect with the microprocessor.

Optionally, the single-ended signal input circuit further includes being connected in parallel with the input stage of the bidirectional optical coupler Filter capacitor.

Optionally, the single-ended signal input circuit further includes and the concatenated impedance of the input stage of the bidirectional optical coupler Build-out resistor.

Optionally, the I/O communication interface includes bidirectional output communication interface, the single-ended signal transmission circuit include with The bidirectional output communication interface connection and the single-ended signal output circuit for supporting common cathode or common anode.

Optionally, the I/O communication interface may also include at least one unidirectional outputting communication interface, motor servo driver It may also include the differential output circuit connecting with the unidirectional outputting communication interface, the differential output circuit and the micro process Device connection.

Optionally, the single-ended signal output circuit includes bilateral diode bridge, the bilateral diode bridge it is defeated Enter end to connect with the microprocessor, output end is connect with the bidirectional output communication interface.

Optionally, the motor servo driver further includes the voltage sampling circuit connecting with the microprocessor and braking Circuit；

The voltage sampling circuit is used for the voltage value of the motor servo driver power itself and passes to described micro- Processor；

The microprocessor is used in the case where the servo motor is in enabled state, and the voltage value is greater than default first electricity Start the braking circuit when pressing threshold value, and pre- for after starting the braking circuit, detecting that the voltage value is less than If when second voltage threshold value, closing the braking circuit；The first voltage threshold value is greater than the second voltage threshold value.

Optionally, the motor servo driver further includes band-type brake circuit, the band-type brake circuit include power drive unit, N-type switch power pipe unit and band-type brake interface；Band-type brake power supply is connected by the N-type switch power pipe unit and the band-type brake interface It connects；

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

Optionally, the braking circuit includes built-in braking resistor and the braking being set in the motor servo driver Control circuit, the built-in braking resistor are connect by the brake control circuit 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, external braking resistor outside the motor servo driver for gate by the external braking resistor interface and The built-in braking resistor is in parallel.

Optionally, the interface unit further includes at least one of lower interface: RS485 communication interface, RS232 communication Interface, CAN bus communication interface.

Optionally, the motor servo driver further includes first choice switch, and the interface unit includes RS485 communication Interface and RS232 communication interface, the RS485 communication interface and RS232 communication interface share a communication interface；

The RS485 communication interface and RS232 communication interface are connected by first choice switch with the microprocessor It connects, the first choice switch connects for controlling the RS485 communication interface and RS232 communication interface with the microprocessor It is logical.

Optionally, the motor servo driver further includes the second selection switch connecting with the microprocessor；

Described second select switch for be arranged the motor servo driver as main servo motor driver or from Motor servo driver.

To solve the above-mentioned problems, the utility model additionally provides a kind of gate equipment, including servo as described above electricity Machine driver, further includes the control equipment connecting respectively with the motor servo driver, servo motor, and with the servo The gate of motor linkage connection.

The utility model has the beneficial effects that

The utility model provides a kind of motor servo driver and gate equipment, and motor servo driver includes shell and sets It is placed in the intracorporal drive control plate of shell, hollow hole is provided on shell, is provided with interface unit and micro process in drive control plate Device, interface unit are revealed in outside by the hollow hole on the cap；Interface unit includes I/O communication interface, drive control The single-ended signal transmission circuit for supporting common cathode or common anode is provided on plate, I/O communication interface passes through the single-ended signal transmission circuit It is connect with microprocessor；Therefore the compatible common cathode transmission of I/O communication interface and common anode on driver provided by the utility model Transmission (i.e. compatible NPN mode and PNP mode), 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.

Detailed description of the invention

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

The two directions' inputing structural schematic diagram that Fig. 2-1 the utility model embodiment one provides；

The bidirectional output structural schematic diagram that Fig. 2-2 the utility model embodiment one provides；

The two directions' inputing circuit diagram that Fig. 3-1 the utility model embodiment one provides；

The bidirectional output circuit diagram that Fig. 3-2 the utility model embodiment one provides；

The motor servo driver structural schematic diagram that Fig. 4 the utility model embodiment two provides；

Fig. 5 is the top view of Fig. 4；

Fig. 6 is the right view of Fig. 4；

Fig. 7 is the left view of Fig. 4；

Fig. 8 is the motor servo driver structural schematic diagram that the utility model embodiment three provides；

Fig. 9 is the band-type brake circuit structural schematic diagram that the utility model embodiment three provides；

Figure 10 is the communication unit structural schematic diagram that the utility model embodiment four provides；

Figure 11 is the structural schematic diagram that the communication interface that the utility model embodiment four provides is multiplexed first choice switch；

Figure 12 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 13 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 14 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 15 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；

The motor servo driver structural schematic diagram that Figure 16 the utility model embodiment seven 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 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 shown in Figure 1: sequentially connected microprocessor is provided in drive control plate 11, it supports the single-ended signal transmission circuit 12 and I/O communication interface 13 of common cathode or common anode, supports the single-ended letter of common cathode or common anode The compatible common cathode transmission of number transmission circuit 12 and common anode transmission mode, so that the compatible common cathode transmission of I/O communication interface and common anode Transmission mode, so that motor servo driver, which does not need to respectively correspond for different modes, generates a model, thus Drive model can be greatly reduced, both save inventory cost, facilitate client's type selecting, while it is wrong also to can avoid user interface type selecting Accidentally or in use connection error and lead to driver cisco unity malfunction, can further decrease the use of driver at This.

It should be understood that the drive control plate in the present embodiment can be realized through but not limited to various pcb boards.

In the present embodiment, microprocessor 11 can use various picoprocessor MCU equivalent replacements, such as grace intelligence can be used The picoprocessor of the LPC11C00 series of Pu semiconductor company, can also be used Texas Instrument model TMS320F28030/ 28031/28032/28033/28034/28035 picoprocessor, or use Texas Instrument's model The picoprocessor of TMS320F280041MPZS.In the present embodiment, microprocessor 11 can use but be not limited to Intel Company X86 chip, i960 chip or the SH risc chip of Am386EM, Hitachi of Advanced Micro Devices etc.；Peripheral circuit then can basis At least one of demand flexible setting, such as may include but be not limited to the peripheral circuits such as RAM, ROM, timer, interrupt schedule.

Referring to fig. 2 shown in -1, in input direction, I/O communication interface 13 includes at least one two directions' inputing communication interface 131, 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 121.External information can be input to single-ended signal input circuit 121 by two directions' inputing communication interface 131, and single-ended signal is defeated The information can be issued microprocessor 11 by entering circuit 121.Wherein due to two directions' inputing communication interface 131 and single-ended signal input electricity Road 121 connects, and single-ended signal input circuit 121 supports common cathode or common anode, namely has both supported common cathode transmission mode, also supports common anode Transmission mode also supported common anode transmission mode, therefore can both keep away so that input communication interface 131 has both supported common cathode transmission mode Exempt to input 131 wrong of communication interface, and the compatibility of input communication interface can be promoted.

In some instances, I/O communication interface optionally may also include at least one unidirectional incoming traffic interface, servo electricity Machine driver may also include the Differential input circuit connecting with unidirectional incoming traffic interface, Differential input circuit and the micro process Device connection.Namely motor servo driver may include the Differential input circuit for supporting unipolarity input, external information can pass through list It is input to Differential input circuit to incoming traffic interface, which can be issued microprocessor by Differential input circuit.Such servo Motor driver can both support two directions' inputing, can also support unidirectionally to input, and can further promote the compatibility of motor driver.

It should be understood that the various two directions' inputings that are able to achieve can be used in single-ended signal input circuit 121 in the present embodiment Circuit.Such as in a kind of example, single-ended signal input circuit 121 may include that input stage is connect with two directions' inputing communication interface 131 Bidirectional optical coupler, the output stage of bidirectional optical coupler receives circuit by input signal and connect with microprocessor 11.It can lead to It crosses bidirectional optical coupler and 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 121 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 121 further includes the input with bidirectional optical coupler The concatenated impedance matching resistor of grade, to provide suitable driving current for bidirectional optical coupler.

Referring to fig. 2 shown in -2, in outbound course, I/O communication interface 13 includes at least one bidirectional output communication interface 133, 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 123.Internal information can be exported by single-ended signal output circuit 123 to bidirectional output communication interface 133, and bidirectional output is logical The information can be issued external equipment by communication interface 133.Wherein due to bidirectional output communication interface 133 and single-ended signal output circuit 123 connections, single-ended signal output circuit 123 had both supported common cathode transmission mode, also supported common anode transmission mode, so that output communication The both common cathode transmission mode of interface 133 also supports common anode transmission mode, therefore not only can avoid output communication interface wrong, but also can mention Rise the compatibility of output communication interface.

In some instances, I/O communication interface optionally may also include at least one unidirectional outputting communication interface, servo electricity Machine driver may also include the differential output circuit connecting with unidirectional outputting communication interface, differential output circuit and the micro process Device connection.Namely motor servo driver may include the differential output circuit for supporting unipolar output, internal information can pass through difference Output circuit is divided to export to unidirectional outputting communication interface to export to outside.Motor driver can both support bidirectional output in this way, It can also support unidirectionally to export, can further promote the compatibility of motor driver.

It should be understood that the various bidirectional outputs that are able to achieve can be used in single-ended signal output circuit 123 in the present embodiment Circuit.Such as in a kind of example, single-ended signal output circuit 123 may include bilateral diode bridge, bilateral diode bridge Input terminal is connect with microprocessor 11, and output end is connect with bidirectional output communication interface 133.It can be real by bilateral diode bridge Existing 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 bidirectional optical coupler Realize bidirectional output.

In order to make it easy to understand, the present embodiment combines a kind of specific single-ended signal output circuit and single-ended signal separately below Input circuit is illustrated for example.

It refers to shown in Fig. 3-1 comprising the single-ended signal input circuit of common cathode or common anode is supported on 4 tunnels, wherein per all the way The left end of single-ended signal input circuit is connected to signal input part, right end and micro process with corresponding two directions' inputing communication interface Device is connected to signal output end, and single-ended signal input circuit includes bidirectional optical coupler, is parallel to bidirectional optical coupler input The filter capacitor C1 of grade, and the concatenated impedance matching resistor R1 of input stage with bidirectional optical coupler.It should be understood that this The structure of single-ended signal input circuit shown in Fig. 3-1 is only exemplary construction in embodiment, and single-ended signal input circuit Quantity can be according to specific requirements flexible setting.For example, in the 4 road single-ended signal input circuits shown in Fig. 3-1, can from up to Under be respectively set each road single-ended signal input circuit effect be L.H.flapped door control signal input circuit, R.H.flapped door control signal it is defeated Enter circuit, control signal input circuit of closing the door, emergency stop control signal input circuit；Certainly, also settable reserved list according to demand End signal input circuit realizes corresponding function to extend according to actual needs.

It refers to shown in Fig. 3-2 comprising the single-ended signal output circuit of common cathode or common anode is supported on 4 tunnels, wherein often The left end of single-ended signal output circuit and corresponding bidirectional output communication interface are connected to signal output end all the way, right end with it is micro- Processor is connected to signal input part, and it includes bilateral diode bridge that single-ended signal output circuit, which exports extreme direction,.It should manage It solves, the structure of single-ended signal output circuit shown in Fig. 3-2 is only exemplary construction in the present embodiment, and single-ended signal is defeated The quantity of circuit can be according to specific requirements flexible setting out.For example, in the 4 road single-ended signal output circuits shown in Fig. 3-2, The effect that each road single-ended signal output circuit can be respectively set from top to bottom is that signal output apparatus, right gate arrive left gate in place Position signal output apparatus, door-closing in-place signal output apparatus, alarm signal output circuit；Certainly, it may also set up according to demand pre- Single-ended signal output circuit is stayed, realizes corresponding function to extend according to actual needs.

As it can be seen that motor servo driver provided in this embodiment has the single-ended signal transmission electricity for supporting common cathode or common anode Road, I/O communication interface are connect by single-ended signal transmission circuit with microprocessor, therefore support two directions' inputing and/or output, I.e. compatible common cathode transmission and common anode transmission mode, can greatly reduce drive model, both save inventory cost, client is facilitated to select Type, while also can avoid user interface type selecting mistake or in use connection error and causing driver cannot normal work Make, the use cost of driver can be further decreased.The signal that optionally also settable support unipolarity is inputted or exported simultaneously Transmission circuit can further promote the compatibility of motor servo driver.

Embodiment two:

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 above-mentioned band-type brake interface, is provided in drive control plate and connects with band-type brake The above-mentioned band-type brake circuit of mouth connection, and optionally, also settable microprocessor in drive control plate, band-type brake circuit can be with micro- place Device connection is managed, 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, avoids The case where gate is forcibly opened.

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 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 fig. 4 shown in-Fig. 7, wherein 4 be the shell of motor servo driver Body, 41 be motor servo driver upper end, 42 be motor servo driver lower end, 410 be CAN bus communication interface, 411 It is RS232 communication interface for RS485 communication interface, 412,413 be toggle switch；420 be power interface, and 421 be external braking Resistance interface, 422 be motor around group interface, and 423 be encoder for servo motor interface, and 430 be I/O interface, and 231 connect for band-type brake Mouthful, 440 be power supply display alarm unit, and 441 be alarm indication reminding unit.

In this example, drive control plate (not showing directly in figure) is set in shell 4, and shell 4 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 fig. 4 shown in-Fig. 7, watching The second interface unit for taking the setting of upper end 41 of motor driver includes: CAN bus communication interface 410, RS485 communication interface 411,432 communication interfaces 412；And optionally, toggle switch can be also set according to demand in the upper end of motor servo driver 41 413；But it is to be understood that the setting of 41 interface of upper end of motor servo driver is not limited to as shown in the figure in this example, It can flexible choice according to demand.And toggle switch 413 nor the device that must be provided with, it can also be according to specific requirements flexible choice Setting.

It include: power interface 420 in the third interface unit that the lower end of motor servo driver 42 is arranged in this example, External braking resistor interface 421, motor around group interface 422, encoder for servo motor interface 423；And power interface 420, outside Set braking resistor interface 421, motor around group interface 422, encoder for servo motor interface 423 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, the region in drive control plate close to left side is additionally provided with first interface unit, first interface list Member includes: I/O interface 430, band-type brake interface 431, and I/O interface 430, and the Wiring port of band-type brake interface 431 is court as shown in Figure 4 On, in this way when to I/O interface 430 and band-type brake 431 wiring of interface, there is no need to be accessed from motor servo driver side, So that motor servo driver in this example is without left and right wiring requirements, when reducing motor servo driver installation Horizontal space demand, while can guarantee the interface installed capacity of motor servo driver again.440 be power supply display alarm unit It is disposed adjacent for alarm indication reminding unit with band-type brake interface 431 with 441, and 440 be power supply display alarm unit and 441 be report Alert display alarm unit can be realized in this example through but not limited to warning light, display screen, charactron.

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, at least one of above-mentioned each interface can Intensive terminal can be used using intensive terminal, such as I/O interface, to be further ensured that the small-sized of motor servo driver Change demand.

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, Fig. 4-second interface unit shown in fig. 7 and third 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. 8 institute Show comprising but it is not limited to microprocessor 51, the communication unit connecting respectively with microprocessor 51 52, band-type brake circuit 57, coding Device circuit 54 and power driving circuit 55；Wherein:

Communication unit 52 is used to that microprocessor 51 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 52 can be able to achieve servo motor drive using various The microprocessor 51 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, CAN (Controller Area Network, controller local area network) are total At least one of line communication unit.It, can by the first information that communication unit 52 is sent to microprocessor 51 in the present embodiment Including but not limited to various action directives (such as gate is opened, Guan Zhiling, gate status inquiry instruction etc.), configuration information, Debugging message and at least one of the information of other needs interactions.Microprocessor 51 passes through communication unit 52 to external equipment The third information of transmission includes 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..

Encoder circuit 54 is connect with encoder for servo motor, and the second information for sending encoder for servo motor is anti- It feeds microprocessor 51；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 8, microprocessor 51 passes through band-type brake circuit 57 It is connect with band-type brake device；Microprocessor 51 is used to send band-type brake control signal to band-type brake circuit 57 and be embraced with starting the realization of band-type brake circuit 57 Lock；For example, microprocessor 51 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 57 Existing band-type brake.

In a kind of example, band-type brake circuit 57 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, therefore, in this reality It applies in another example of example, additionally provides a kind of new band-type brake circuit structure, shown in Figure 9, the band-type brake circuit in this example 57 include power drive unit 572, N-type switch power pipe unit 573 and band-type brake interface 574；Band-type brake power supply 571 is opened by N-type Power pipe unit 573 is closed to connect with band-type brake device 570；Band-type brake power supply 571 can also be connect simultaneously with power drive unit 572, be function Rate driving unit 572 provides driving voltage；Power drive unit 572 is connect with N-type switch power pipe unit 573, power drive Unit 572 controls signal according to band-type brake and generates the driving voltage control conducting of N-type switch power pipe unit 573, so that band-type brake power supply 571 are connected with band-type brake interface 574, and such band-type brake power supply 571 is that band-type brake interface 574 provides operating current, to control band-type brake device 570 realize band-type brake.

In a kind of example of the present embodiment, band-type brake power supply 571 can be located at the external power supply outside driver with external application, The built-in power positioned at internal drive can be used；N-type switch power pipe unit 573 may include but be not limited to N-type metal-oxide-semiconductor；Its The first electrode end (can be positive terminal or negative pole end) of middle band-type brake power supply 571 is connect with the source electrode of N-type metal-oxide-semiconductor, N-type metal-oxide-semiconductor It drains and is connect, the second electrode end of band-type brake power supply 571 with the first electrode end of band-type brake interface 574 (can be positive terminal or negative pole end) (it is different from first electrode end, such as when first electrode end is negative pole end, then second electrode end is positive terminal；Work as first electrode When end is positive terminal, then second electrode end is negative pole end) it is connect with the second electrode end of band-type brake interface 574；The grid of N-type metal-oxide-semiconductor Pole is connect with power drive unit 572.

Optionally, in a kind of example of the present embodiment, N-type switch power pipe unit 573, 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 572 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 571, 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 572 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 571 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 572 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 571；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 571 second electrode of band-type brake power supply.

Band-type brake circuit provided in this embodiment is made up of power drive unit 572 and N-type switch power pipe unit 573 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 573 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. 8 is single Member 52 include at least two communication units, such as may include but be not limited to serial port communication unit, CAN bus communication unit and At least two in I/O (input/output) communication unit, such as include above-mentioned three kinds of communication units in a kind of example.It is worth note Meaning, recited herein for three kinds of communication units is only in a kind of example, however it is not limited to above-mentioned three kinds of communication units, In practical application, flexible setting can also be done according to concrete scene demand by designer.

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. 10 is illustrated below the present embodiment on the basis of Fig. 8.? In Figure 10, communication unit includes I/O communication unit 521, and RS485 communication unit 522, RS232 communication unit 523 and CAN are logical Unit 524 is interrogated, therefore I/O control mode, 485 control modes, 232 control modes, these four modes of CAN control mode can be passed through In any one mode give microprocessor 51 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 11 below the present embodiment and is said It is bright.

Shown in Figure 11, motor servo driver further includes first choice switch 56, and RS232 communication unit 523 includes RS232 communication interface 5231 and RS232 communicating circuit 5232 interconnected, RS485 communication unit 522 include interconnected RS485 communication interface 5221 and RS485 communicating circuit 5222, RS232 communication interface 5231 and RS485 communication interface 5221 can be total to With a physical communication interface, RS232 communicating circuit 5232 and RS485 communicating circuit 5222 by first choice switch 56 with it is micro- Processor 51 connects, and first choice switch 56 is for controlling RS232 communicating circuit 5232 or RS485 communicating circuit 5222 and Wei Chu Device 51 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 56 can be by dialling in the present embodiment Code circuit is realized.For example, first choice switch 56 uses toggle switch in a kind of example, when toggle switch selects low level, It is switched to RS232 communicating circuit 5232 and microprocessor 51 is connected, when toggle switch selects high level, it is logical to be switched to RS485 It interrogates circuit 5222 and microprocessor 51 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 51 From communication unit 53, for example, see shown in Figure 12, motor servo driver can pass through the servo of master-slave communication unit 53 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 51 is passed to, and/or the servo electricity for pairing will to be issued from the 5th information of microprocessor 51 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 53 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 53 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 53 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 51 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 51 can also be watched by band-type brake circuit 57 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 51 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 13, it watches Taking motor driver can optionally may include connecting with microprocessor 51 on the basis of any structure shown in Fig. 8 to Figure 12 Current sampling circuit 58, current sampling circuit 58 can be used for acquiring the current value of servo motor and pass to microprocessor 51；It is micro- Processor 51 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-pinch control letter when the corresponding moment values of current value received are greater than default moment values Number pairing motor servo driver is issued by the 5th information；Certain microprocessor 51 may also be received by the 4th information matches The anti-clip control signal that motor servo driver is sent；What the motor servo driver of two such pairing can synchronize holds Row pinch resistant operation 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 , the dynamic braking of DC servo motor or the energy consumption system of AC servo motor can be taken according to the type difference of servo motor It is dynamic.

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, 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.In some embodiments, Braking circuit further includes the external braking resistor interface being connected in parallel with built-in braking resistor, positioned at the servo motor for gate External braking resistor outside driver is in parallel with braking resistor by external braking resistor interface, so that can be according to specific need Adjustment stopping power is sought, various application scenarios demands are preferably suitable for.

In some embodiments, the threaded fastener fixed installation between built-in braking resistor and drive control plate is additionally provided with Bed course, the thickness of bed course are greater than the thickness of electronic device of the built-in braking resistor in drive control plate in drop shadow spread.Due to The space of drive control plate is limited, and electronic device may also be provided near the installation of built-in braking resistor, and interior in order to guarantee The device arrangement of drive control plate will not be destroyed by setting braking resistor, can be by the installation of built-in braking resistor slightly from drive control The certain space of plate, that is, built-in braking resistor is vacantly installed above drive control plate；In order to guarantee vacantly to install It is firm, bed course can be set between built-in braking resistor and drive control plate, and bed course can be arranged directly on threaded fastener On.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 Easily to be radiated by the radiator on shell, and the heat in drive control plate can also by with built-in braking resistor Between heat dissipating layer transmit, to conduct heat to the external world.

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 14, motor servo driver can scheme It optionally may include that the power supply being connected between power driving circuit 55 and power supply is prevented on the basis of any structure shown in 7- Figure 13 Circnit NOT 59, the anti-circnit NOT 59 of power supply in power positive cathode wrong by the separated of power supply and power driving circuit 55, Clock synchronization is connect in power positive cathode to be connected to power supply with power driving circuit 55, to realize power supply anti-reflection function, promotes driver Safety.

The anti-circnit NOT 59 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 59 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 55), 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 59 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 59 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 59 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 15, motor servo driver can any structure shown in Fig. 7-Figure 14 on the basis of, can Selection of land may include the voltage sampling circuit 510 connecting with microprocessor 51.Voltage sampling circuit 510 is for acquiring bus voltage value (namely voltage value of acquisition motor servo driver power itself) simultaneously passes to microprocessor 51；Microprocessor 51 is for watching It takes motor to be under enabled state, the voltage value that voltage sampling circuit 510 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 51 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 51 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:

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 16.

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.

Motor servo driver can realize that gate returns to zero holding function, automatic aligning function, switch gate function in the present embodiment Energy, pinch resistant functionality, Anti-knocking function, curve 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 (10)

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 is provided with hollow hole on the shell, is provided with interface unit and Wei Chu in the drive control plate Device is managed, the interface unit is revealed in outside by the hollow hole on the cap；The interface unit includes that I/O communication connects Mouthful, the single-ended signal transmission circuit for supporting common cathode or common anode is provided in the drive control plate, the I/O communication interface passes through The single-ended signal transmission circuit is connect with the microprocessor.

2. motor servo driver as described in claim 1, which is characterized in that the I/O communication interface includes at least one Two directions' inputing communication interface, the single-ended signal transmission circuit include connecting with the two directions' inputing communication interface and supporting common cathode Or the single-ended signal input circuit of common anode.

3. motor servo driver as claimed in claim 2, which is characterized in that the single-ended signal input circuit includes input The bidirectional optical coupler that grade is connect with the two directions' inputing communication interface, the output stage of the bidirectional optical coupler and micro- place Manage device connection.

4. motor servo driver as claimed in claim 3, which is characterized in that the single-ended signal input circuit further include with The filter capacitor that the input stage of the bidirectional optical coupler is connected in parallel.

5. motor servo driver as claimed in claim 3, which is characterized in that the single-ended signal input circuit further include with The concatenated impedance matching resistor of the input stage of the bidirectional optical coupler.

6. motor servo driver as described in any one in claim 1-5, which is characterized in that the I/O communication interface includes Bidirectional output communication interface, the single-ended signal transmission circuit include connecting with the bidirectional output communication interface and supporting common cathode Or the single-ended signal output circuit of common anode.

7. motor servo driver as claimed in claim 6, which is characterized in that the single-ended signal output circuit includes two-way The input terminal of diode bridge, the bilateral diode bridge is connect with the microprocessor, output end and the bidirectional output Communication interface connection.

8. motor servo driver as described in any one in claim 1-5, which is characterized in that the motor servo driver is also Including the voltage sampling circuit and braking circuit being connect with the microprocessor；

The voltage sampling circuit is used for the voltage value of the motor servo driver power itself and passes to the micro process Device；

The microprocessor is used in the case where the servo motor is in enabled state, and the voltage value is greater than default first voltage threshold Start the braking circuit when value, and for after starting the braking circuit, detecting that the voltage value is less than default the When two voltage thresholds, the braking circuit is closed；The first voltage threshold value is greater than the second voltage threshold value.

9. motor servo driver as described in any one in claim 1-5, which is characterized in that the motor servo driver is also Including band-type brake circuit, the band-type brake circuit includes power drive unit, N-type switch power pipe unit and band-type brake interface；Band-type brake electricity Source is connect by the N-type switch power pipe unit with the band-type brake interface；

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

10. a kind of gate equipment, which is characterized in that including such as described in any item motor servo drivers of claim 1-9, also Including connect respectively with the motor servo driver control equipment, servo motor, and with the servo motor link connect The gate connect.