CN209400888U - For the motor servo driver of gate, device, system and gate equipment - Google Patents

Abstract

The utility model provides a kind of for the motor servo driver of gate, device, system and gate equipment, and motor servo driver includes microprocessor, the encoder circuit connecting respectively with microprocessor, communication unit, power driving circuit, band-type brake circuit；Communication unit is used to the first information received issuing microprocessor；Encoder circuit is connect with encoder, and the second information for sending encoder passes to microprocessor；Microprocessor is used to send band-type brake control signal to band-type brake circuit to start band-type brake circuit and realize band-type brake and for according to the first information or the second information, controlling servo motor by power driving circuit to drive gate to execute corresponding actions；Motor driver provided by the utility model 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 the security risk that gate equipment is forcibly opened under shutdown state, the intelligence of safety, the control of gate equipment is promoted.

Description

For the motor servo driver of gate, device, system and gate equipment

Technical field

The utility model relates to gate control field more particularly to it is a kind of for the motor servo driver of gate, device, System 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, original highlights many disadvantages such as using brushless or servo-drive gate: former Using brushless or servo-drive gate in the case where shutdown, the pinning force of shutdown is little, if therefore someone or in other accidents Situation can open gate by force to cause gate to lose it and meaning is arranged by gate.

In addition, former lack anti-pinch safeguard protection to the gate person is accidentally rushed using brushless or servo-drive gate.

Further, derived from the demand to current comfort level, client wishes that gate control machine core occupied ground is the smaller the better, Existing driver is unable to satisfy very thin volume requirement, and brings many puzzlements for machine core installation and cabling.

Utility model content

The utility model provides a kind of for the motor servo driver of gate, device, system and gate equipment, solution Existing gate is by maliciously rushing the problem that lock can not protect or protection effect is bad.

To solve the above-mentioned problems, the utility model provides a kind of motor servo driver for gate, described to watch Taking motor driver includes: microprocessor, and encoder circuit, communication unit, the power connecting respectively with the microprocessor drive Dynamic circuit, band-type brake circuit；

The communication unit is used to the first information received issuing the microprocessor；

The encoder circuit is connect with encoder for servo motor, second for sending the encoder for servo motor Information passes to the microprocessor；

The microprocessor is also used to be controlled according to the first information or the second information by the power driving circuit The servo motor is to drive gate to execute corresponding actions；

The microprocessor is used to send band-type brake control signal to the band-type brake circuit and be realized with controlling the band-type brake circuit 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.

Optionally, the motor servo driver further includes braking circuit；The braking circuit includes 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, 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 communication unit includes at least one of the following:

I/O communication unit；

RS485 communication unit；

RS232 communication unit；

CAN bus communication unit.

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

First choice switch for control the RS485 communication unit or the RS232 communication unit with it is described micro- Processor is connected.

Optionally, the I/O communication unit 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 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.

Optionally, the motor servo driver further includes the current sampling circuit connecting with the microprocessor；It is described Current sampling circuit is used to acquire the current value of the servo motor and passes to the microprocessor, and the microprocessor is also used Anti-pinch movement is executed in when the corresponding moment values of the current value are greater than default moment values, controlling the servo motor.

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

The voltage sampling circuit is used to acquire the voltage value of the motor servo driver power itself and passes to institute State microprocessor；

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

Optionally, the motor servo driver further includes the power supply display alarm unit connecting with the microprocessor And/or alarm indication reminding unit.

To solve the above-mentioned problems, the utility model additionally provides a kind of servo motor driving device, which drives Dynamic device includes servo motor and the as described above motor servo driver for being used for gate, the motor servo driver it is micro- Processor is connected by the power driving circuit with the servo motor, for controlling the servo motor.

To solve the above-mentioned problems, the utility model additionally provides a kind of servo motor driving control system, the servo Driving control system for electric machine includes control equipment and a first servo motor driving device and at least one second servo electricity Machine actuating device, the first servo motor driving device and second servo motor driving device are servo as described above Motor driver；

The first servo motor driving device includes first servo motor driver and drives with the first servo motor The first servo motor of dynamic device connection, second servo motor driving device include the second motor servo driver, Yi Jiyu Second servo motor of second motor servo driver connection；The control equipment and the first servo motor driver are logical Letter connection, the first servo motor driver and each second motor servo driver communicate to connect.

Optionally, the servo motor driving control system includes a first servo motor driving device and one Second servo motor driving device.

Optionally, the first servo motor driver and second motor servo driver are logical by RS485 principal and subordinate Believe bus or the connection of CAN master-slave communication bus communication；

The first servo motor driver receives the control equipment and is sent to second motor servo driver Control signal when, the control signal is sent to second motor servo driver.

To solve the above-mentioned problems, the utility model additionally provides a kind of gate equipment, and the gate equipment includes one First cabinet, at least one second cabinet, first gate, at least one second gate and servo motor as described above Driving control system；

The first servo motor driving device and second servo motor driving device are respectively arranged at described first In cabinet and in second cabinet；

First gate is connected with the first servo motor in first cabinet, second gate with it is described The second servo motor in second cabinet is connected.

The utility model has the beneficial effects that

The utility model provides a kind of for the motor servo driver of gate, device, system and gate equipment, servo electricity Machine driver includes microprocessor, the encoder circuit connecting respectively with microprocessor, communication unit, power driving circuit, embraces Lock circuit；Communication unit is used to the first information received issuing microprocessor；Encoder circuit and encoder for servo motor Connection, the second information for sending encoder for servo motor pass to microprocessor；Microprocessor is used for band-type brake circuit It sends band-type brake control signal and realizes band-type brake and for according to the first information or the second information, passing through power to start band-type brake circuit Driving circuit controls servo motor to drive gate to execute corresponding actions；Motor driver provided by the utility model, which is provided with, to be embraced Lock circuit simultaneously realizes band-type brake when required by band-type brake control signal enabling band-type brake circuit, is maliciously rushed to can avoid gate It is hidden thoroughly to solve the safety that gate equipment is forcibly opened under shutdown state for the problem that lock can not protect or protection effect is bad Suffer from, promotes the intelligence of safety, the control of gate equipment and the satisfaction of user experience.

Further, motor servo driver provided by the utility model includes current sampling circuit；Current sampling circuit By collected servo motor current value and microprocessor is passed to, microprocessor can be used for big in the corresponding moment values of current value When default moment values, control servo motor execution anti-pinch movement, so that realization provides anti-pinch guarantor safely to the gate person is accidentally rushed Shield.

Further, motor servo driver at least part interface provided by the utility model is set to drive control plate In the region of upper close drive control plate at least one side, and the direction and drive control plate of the Wiring port of this part of interface Angle between front is greater than 0 °, is less than or equal to 135 °, rather than towards the left or right side of mainboard main body, while also connecing and driving Other interface concentrations of device are set to the upper end and/or lower end of driver, therefore not will increase the transverse width of drive control plate, The interface saturation of drive control plate can be promoted simultaneously.So that can to better meet swing turnstile etc. leptosomatic in height side for driver The application scenarios abundant to installation space, while reducing the demand of the installation space on the width and width direction of driver, To machine core installation and the cabling of being more convenient for, so that installing more gates under same mounting area, traffic efficiency is improved, is saved Installation space, save the cost.

Detailed description of the invention

Fig. 1 is the motor servo driver structural schematic diagram that the utility model embodiment one provides；

Fig. 2-1 is the band-type brake circuit structural schematic diagram one that the utility model embodiment one provides；

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

Fig. 3 is the communication unit structural schematic diagram that the utility model embodiment two provides；

Fig. 4 is the structural schematic diagram that the communication interface that the utility model embodiment two provides is multiplexed first choice switch；

Fig. 5 is the motor servo driver structural representation with master-slave communication unit that the utility model embodiment three provides Figure；

Fig. 6 is the motor servo driver structural representation for having current sampling circuit that the utility model embodiment four provides Figure；

Fig. 7 is the motor servo driver structural representation for having the anti-circnit NOT of power supply that the utility model embodiment four provides Figure；

Fig. 8 is the servo motor for having voltage sampling circuit and energy loss circuit that the utility model embodiment four provides Activation configuration schematic diagram；

Fig. 9 is the transmitted in both directions structural schematic diagram that the utility model embodiment five provides；

The two directions' inputing structural schematic diagram that Figure 10-1 the utility model embodiment five provides；

The bidirectional output structural schematic diagram that Figure 10-2 the utility model embodiment five provides；

The motor servo driver structural schematic diagram that Figure 11-1 the utility model embodiment six provides；

Figure 11-2 is the top view of Figure 11-1；

Figure 11-3 is the right view of Figure 11-1；

Figure 11-4 is the left view of Figure 11-1；

The motor servo driver structural schematic diagram that Figure 12 the utility model embodiment seven provides；

The servo motor driving control system structural schematic diagram one that Figure 13-1 the utility model embodiment seven provides；

The servo motor driving control system structural schematic diagram two that Figure 13-2 the utility model embodiment seven provides；

The servo motor driving control system structural schematic diagram three that Figure 13-3 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 systems, shown in Figure 1 comprising but Be not limited to microprocessor 11, the communication unit being connect respectively with microprocessor 11 12, band-type brake circuit 17, encoder circuit 14 and Power driving circuit 15；Wherein:

Communication unit 12 is used to that microprocessor 11 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 12 can be able to achieve servo motor drive using various The microprocessor 11 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 12 is sent to microprocessor 11 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 11 is set by communication unit 12 to outside The third information that preparation is sent includes but is not limited to that various warning messages (including but not limited to detect Hall failure warning message, owe Pressure and/or over voltage alarm information, overcurrent warning message, overload-alarm information), various status informations etc..

In the present embodiment, microprocessor 11 can use various microcontroller equivalent replacements, such as grace intelligence Pu can be used The microcontroller of the LPC11C00 series of semiconductor company, can also be used Texas Instrument model TMS320F28030/28031/ 28032/28033/28034/28035 microcontroller, or the micro-control using Texas Instrument's model TMS320F280041MPZS Device processed.In the present embodiment, microprocessor 11 can use but be not limited to X86 chip, i960 chip or the AMD public affairs of Intel Company SH risc chip of Am386EM, Hitachi of department etc.；Peripheral circuit then can flexible setting according to demand, such as may include but It is not limited at least one of peripheral circuits such as RAM, ROM, timer, interrupt schedule.

Encoder circuit 14 is connect with encoder for servo motor, and the second information for sending encoder for servo motor is anti- It feeds microprocessor 11；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 according to delay relationship Positive and negative rotation is distinguished, 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., often Circle issues a pulse.When using absolute value type encoder for servo motor, a corresponding circle, the angle of each benchmark issues one only One 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 1, microprocessor 11 passes through band-type brake circuit 17 It is connect with band-type brake device；Microprocessor 11 is used to send band-type brake control signal to band-type brake circuit 17 and be embraced with starting the realization of band-type brake circuit 17 Lock；For example, microprocessor 11 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 17 Existing band-type brake.

In a kind of example, band-type brake circuit 17 can be made of power driving circuit, relay, band-type brake interface.The driving of band-type brake device Electric current generally collectively constitutes signal amplification unit in 0.5A to 3A etc., power driving circuit and relay, to obtain band-type brake Device driving current, wherein relay volume is relatively large, is unfavorable for system compact；And relay higher cost, and need root Selection adaptation is carried out according to the rated current of band-type brake device, increases the difficulty of relay type selecting.

Therefore, in another example of the present embodiment, a kind of new band-type brake circuit structure is additionally provided, referring to fig. 2-1 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 simultaneously can also be with power Driving unit 172 connects, and provides driving voltage for power drive unit 172；Power drive unit 172 and N-type switching power tube Unit 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 conductings, 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 Make electric current, so that controlling band-type brake device 170 realizes band-type brake.

In a kind of example of the present embodiment, band-type brake power supply 171 can be the external power supply outside driver, such as Shown in Fig. 2-1, the built-in power positioned at internal drive can also be used, for example, see built-in band-type brake power supply shown in Fig. 2-2 1711；N-type switch power pipe unit 173 may include but be not limited to N-type MOS pipe；The wherein first electrode end of band-type brake power supply 171 (can be positive terminal or negative pole end) connect with the source electrode of N-type metal-oxide-semiconductor, the drain electrode of N-type metal-oxide-semiconductor and the first electricity of band-type brake interface 174 Extremely (can for positive terminal or negative pole end) connection, band-type brake power supply 171 second electrode end (it is different from first electrode end, for example, when When first electrode end is negative pole end, then second electrode end is positive terminal；When first electrode end is positive terminal, then second electrode end For negative pole end) it is connect with the second electrode end of band-type brake interface 174；The grid of N-type metal-oxide-semiconductor is connect with power drive unit 172.

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 PNP type triode, can also be NPN type three Pole pipe.

In a kind of example of the present embodiment, power drive unit 172 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；

The second current-limiting resistance unit being connected between 171 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 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.

In the present embodiment, microprocessor 11 is connect by power driving circuit 15 with servo motor, watching in the present embodiment Taking motor and can using according to demand has brush servo motor or brushless servo motor.Microprocessor 11 can be according to above-mentioned first letter Breath or the second information drive gate execution corresponding actions by the control servo motor of power driving circuit 15.

For example, the above-mentioned first information includes the opening gate inputted by communication unit 12 or closing lock in a kind of example The control instruction of door, then microprocessor 11 can control what servo motor drive gate execution opened or closed according to the control instruction Movement.

In another example the second information that microprocessor 11 is received from encoder circuit 14 includes gate in a kind of example Location information when microprocessor 11 determines that gate deviates predeterminated position according to the position of strobe information, can produce band-type brake control letter It number issues band-type brake circuit control servo motor and realizes band-type brake.

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 two:

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. 1 is single Member 12 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 at least one of RS232 communication unit, RS485 communication unit.Such as serial port communication unit can be only Using RS232 communication unit, perhaps serial port communication unit can be only with RS485 communication unit or serial port communication Unit uses RS232 communication unit and RS485 communication unit.

In order to make it easy to understand, example as shown in connection with fig. 3 is illustrated below the present embodiment on the basis of Fig. 1.Scheming In 3, communication unit includes I/O communication unit 121, RS485 communication unit 122, RS232 communication unit 123 and CAN communication Unit 124, therefore I/O control mode, RS485 control mode, RS232 control mode, these four sides of CAN control mode can be passed through Any one mode in formula gives microprocessor 11 photos and sending messages, more conducively user's type selecting, while also largely to watch It is applicable from different application scenarios to take motor driver.

I/O communication unit includes that I/O communication interface can be used as the tie that driver carries out information exchange with controlled device, Driver can carry out data exchange by I/O communication interface and external equipment；I/O communication interface can support universal input/defeated Out (General Purpose Input Output, GPIO), pulse width modulation (Pulse Width Modulation, PWM), I2C bus (Inter-Integrated Circuit, I2C bus), universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/Transmitter, UART) etc. agreements, 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 etc..

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 numbers According to 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 Fig. 4 below the present embodiment and is said It is bright.

Shown in Figure 4, motor servo driver further includes first choice switch 16, and RS232 communication unit 123 includes phase The RS232 communication interface 1231 and RS232 communicating circuit 1232 to connect, RS485 communication unit 122 include interconnected RS485 communication interface 1221 and RS485 communicating circuit 1222, RS232 communication interface 1231 and RS485 communication interface 1221 can Share a physical communication interface, RS232 communicating circuit 1232 and RS485 communicating circuit 1222 by first choice switch 16 and Microprocessor 11 connect, first choice switch 16 be used for control RS232 communicating circuit 1232 or RS485 communicating circuit 1222 with it is micro- Processor 11 is connected.The mode of one physical communication interface of this multiplexing can save interface and be conducive to reduce servo motor The volume of driver, and product cost can have been saved to a certain extent.First choice switch 16 can pass through in the present embodiment Dial-up circuit is realized.For example, first choice switch 16 uses toggle switch in a kind of example, when toggle switch selects low level When, it is switched to RS232 communicating circuit 1232 and microprocessor 11 is connected, when toggle switch selects high level, be switched to RS485 Communicating circuit 1222 and microprocessor 11 are connected.And toggle switch can be used rotary dip switch, it is flat dial formula toggle switch or by Keyed toggle switch.In practical applications, the toggle switch type specifically used can do spirit according to concrete scene by designer Adjustment living.Currently employed communication unit can be more easily selected by using toggle switch, while convenient for intuitive It checks 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 three:

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 principal and subordinate connecting with microprocessor Communication unit 13, for example, see shown in Fig. 5, motor servo driver can pass through master-slave communication unit 13 and the servo of pairing electricity Machine driver (hereinafter referred to as pairing motor servo driver) connection, for receiving the 4th from pairing motor servo driver Information, and microprocessor 11 is passed to, and/or for the servo motor of pairing will to be issued from the 5th information of microprocessor 11 Driver.In the present embodiment, the number for matching motor servo driver can be one, can also be set as according to demand more It is a, it can be using the identical motor servo driver of structure with the motor servo driver of local terminal.In the present embodiment, pairing is watched Taking motor driver can be used as main servo motor driver, and the motor servo driver of local terminal, which is used as from servo motor, to be driven Device, or pairing motor servo driver are used as from motor servo driver, and the motor servo driver of local terminal can be used as master Motor servo driver；Motor servo driver is driven as main servo motor driver or from servo motor in the present embodiment Dynamic device can just be set when leaving the factory, can also be set dynamically or be updated in installation or the course of work.For example, showing in one kind In example, gate controls the first servo motor driver of the corresponding first servo motor of left gate as main servo motor driven Device, the second motor servo driver that gate controls corresponding second servo motor of right gate are used as from motor servo driver, It then can directly pass through the master-slave communication unit 13 of the two between first servo motor driver and the second motor servo driver Realize communication connection, and in a kind of example, it can be only by the first servo motor driver as main servo motor driver Connect with external control equipment or commissioning device or configuration equipment etc., external control equipment or commissioning device or configures equipment Etc. can directly by master-slave communication unit 13 between the first gate region device and the second motor servo driver will control information, Debugging message, configuration information or query information etc. issue the second motor servo driver, to reduce the driving of the second servo motor The wiring of device promotes the integrated level of gate system, reduces the cost of gate system.As it can be seen that in the present embodiment, above-mentioned 4th information It may include but be not limited to control information, Debugging message, configuration information or query information with the 5th information, and these information and unlimited In coming outside output from driver.Meanwhile it can be sent out according to other side between first servo motor driver and the second motor servo driver The control of the information the sent realization servo motor synchronous with other side, is accordingly opened or closed with the execution for driving corresponding gate synchronous Movement, avoids between two motor servo drivers completely mutually indepedent control servo 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 13 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.

In the present embodiment, microprocessor 11 can also be watched by band-type brake circuit 17 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 11 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.

Example IV:

In the present embodiment, in order to judge whether gate clips to people or object, realize that safe anti-pinch, ginseng as shown in Figure 6, are watched Taking motor driver can optionally may include the electricity connecting with microprocessor 11 on the basis of Fig. 1 is to any structure shown in fig. 5 Sample circuit 18 is flowed, current sampling circuit 18 can be used for acquiring the current value of servo motor and pass to microprocessor 11；Micro- place Reason device 11 is also used to control when the moment values corresponding to the 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 can also and generate anti-pinch control when microprocessor moment values corresponding to the current value received are greater than default moment values Signal issues pairing motor servo driver by the 5th information；Certain microprocessor 11 may also be received by the 4th information The anti-clip control signal that pairing motor servo driver is sent；What the motor servo driver of two such pairing can synchronize Pinch resistant operation is executed, safety can be further promoted.

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

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

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

In the present embodiment, direct current supply can be used in motor servo driver.Positive and negative anodes are distinguished in direct current supply, and when use must It need to correspond to and connect power supply line, but that still inevitably there is a phenomenon where power supply lines in practical applications is reversed, gently then burn out insurance, Heavy then burn out driver and power supply, at this moment power supply anti-reflection function is particularly important.There is no the driver meeting of the anti-circnit NOT of power supply There are very big design defect.In order to avoid this kind of situation, shown in Figure 7, motor servo driver can be in Fig. 1 It optionally may include that the power supply being connected between power driving circuit 15 and power supply is prevented on the basis of to any structure shown in fig. 6 Circnit NOT 19, the anti-circnit NOT 19 of power supply in power positive cathode wrong by the separated of power supply and power driving circuit 15, Clock synchronization is connect in power positive cathode to be connected to power supply with power driving circuit 15, to realize power supply anti-reflection function, promotes driver Safety.

The anti-circnit NOT 19 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 19 of power supply comprising metal-oxide-semiconductor, the drain electrode (pole D) of metal-oxide-semiconductor and source electrode (pole S) are defeated with DC power supply respectively Enter and is connected between anode/cathode, and load (namely power driving circuit 15), the conducting direction of the parasitic diode of metal-oxide-semiconductor It is consistent with current direction of DC power supply access polarity when correct；The grid (pole G) of metal-oxide-semiconductor concatenates at least one biasing resistor； When DC power supply access polarity 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 be the parasitic diode conducting in metal-oxide-semiconductor, the current potential in the pole G, with the pole S and D first when plant-grid connection polarity is correct When potential difference between extremely middle current potential the higher person is more than or equal to the cut-in voltage of metal-oxide-semiconductor, metal-oxide-semiconductor is caused to be switched on, by parasitism two Pole pipe short circuit, to realize connection；When plant-grid connection incorrect polarity, metal-oxide-semiconductor cut-off causes circuit to be truncated, to realize pair The reverse connecting protection of circuit.Metal-oxide-semiconductor in the present embodiment can be NMOS tube, can also reasonably be substituted for PMOS tube, this implementation The effect of the anti-circnit NOT 19 of power supply in example is that when DC power supply just connects, circuit be can work normally, and work as DC power supply When reversal connection, the device in circuit can be protected, avoid reversal connection circuit damage internal components circuit etc., and be not required for anti- It also can work normally when connecing.Wherein, the potential difference when DC power supply access polarity is correct, between the pole G and the pole S of metal-oxide-semiconductor Meet the cut-in voltage condition of metal-oxide-semiconductor, indicates that metal-oxide-semiconductor can be with normally, to guarantee that circuit, can be normal on state Work.And resistance value very little when metal-oxide-semiconductor conducting, usually only several milliohms to tens milliohms are far smaller than prevented using diode The scheme of reversal connection, greatly reduces power consumption.

In some examples of the present embodiment, the anti-circnit NOT 19 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, can play to MOS Protective effect.In some examples of the present embodiment, the anti-circnit NOT 19 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 8, and motor servo driver can be on the basis of Fig. 1 be to any structure shown in Fig. 7, can Selection of land may include the voltage sampling circuit 110 connecting with microprocessor 11.Voltage sampling circuit 110 is for acquiring bus voltage value (namely voltage value of acquisition motor servo driver power itself) simultaneously passes to microprocessor 11；Microprocessor 11 is for watching It takes motor to be under enabled state, the voltage value that voltage sampling circuit 110 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 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 five:

The I/O communication interface being arranged on driver at present all only supports one-way transmission mode, such as or transmits for common cathode Mode or be common anode transmission mode, leads to the driver that corresponding production respective model is needed for different modes, to lead Drive model wide variety is caused, user's type selecting is not easy to, and it is wrong to be also easy to cause type selecting or interface to connect in use Driver cisco unity malfunction is accidentally caused, the use cost of driver is further improved.To solve the above-mentioned problems, this implementation The single-ended signal transmission circuit for supporting common cathode or common anode is provided in example in drive control plate, I/O communication interface passes through single-ended Signal circuit is connect with microprocessor.One of structural schematic diagram is shown in Figure 9: being provided in drive control plate Sequentially connected microprocessor 11 supports the single-ended signal transmission circuit 120 and I/O communication interface 130 of common cathode or common anode, branch The compatible common cathode transmission of single-ended signal transmission circuit 120 and common anode transmission for holding common cathode or common anode, so that I/O communication interface Compatible common cathode transmission and common anode transmission, so that motor servo driver does not need to respectively correspond generation for different modes One model both saves inventory cost so as to greatly reduce drive model, facilitates client's type selecting, while also can avoid User interface type selecting mistake or in use connection error and lead to driver cisco unity malfunction, drive can be further decreased The use cost of dynamic device.

In a kind of example, referring to shown in Figure 10-1, in input direction, I/O communication interface 130 includes that at least one is two-way Incoming traffic interface 1301, single-ended signal transmission circuit include that common cathode or common anode are connect and supported with two directions' inputing communication interface Single-ended signal input circuit 1201.External information can be input to single-ended signal input circuit by two directions' inputing communication interface 1301 1201, which can be issued microprocessor 11 by single-ended signal input circuit 1201.Wherein due to two directions' inputing communication interface 1301 connect with single-ended signal input circuit 1201, and single-ended signal input circuit 1201 supports common cathode or common anode, namely both common cathodes Common anode transmission is also supported in transmission, so that input communication interface 1301 both supported common cathode to transmit, also supports common anode transmission, therefore both It can avoid input 1301 wrong of communication interface, and the compatibility of input communication interface can be promoted.It should be understood that the present embodiment The various circuits for being able to achieve two directions' inputing can be used in middle single-ended signal input circuit 1201.Such as in a kind of example, single-ended signal Input circuit 1201 may include the bidirectional optical coupler that input stage is connect with two directions' inputing communication interface 1301, bidirectional optical coupler Output stage circuit received by input signal connect with microprocessor 11.Two directions' inputing can be realized by bidirectional optical coupler. 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 1201 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 1201 further includes the input stage string with bidirectional optical coupler The impedance matching resistor of connection, to provide suitable driving current for bidirectional optical coupler.

Referring to shown in Figure 10-2, in outbound course, I/O communication interface 130 includes at least one bidirectional output communication interface 1303, 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 1203.Internal information can be exported by single-ended signal output circuit 1203 to bidirectional output communication interface 1303, two-way defeated The information can be issued external equipment by communication interface 1303 out.Wherein since bidirectional output communication interface 1303 and single-ended signal are defeated Circuit 1203 connects out, and single-ended signal output circuit 1203 both supported common anode to transmit, and also supports common cathode transmission, so that output communication Interface 1303 both supported common anode to transmit, and also supported common cathode transmission, therefore not only can avoid output communication interface wrong, but also can be promoted defeated The compatibility of communication interface out.

It should be understood that the various bidirectional outputs that are able to achieve can be used in single-ended signal output circuit 1203 in the present embodiment Circuit.Such as in a kind of example, single-ended signal output circuit 1203 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 1303.Bilateral diode bridge can be passed through Realize bidirectional output.But it is to be understood that being not limited to bilateral diode bridge, can also be used but being not limited to two-way optical coupling Device realizes bidirectional output.

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

Embodiment six:

Various interfaces on current servo motor driver, such as power interface, motor is all to be arranged around group interface etc. In the left and right sides of driver, and the Wiring port of each interface towards the left and right sides, cause between at left and right sides of driver Distance (namely width of driver) is larger, simultaneously because the left and right sides of driver is arranged in interface, leads to connecing for driver Mouth wiring requires to connect from the left and right sides, and into requiring driver to need biggish installation space, this is elongated with installation space The gate application scenarios demand of type is runed counter to, it is seen then that existing driver is not able to satisfy the small application scenarios of the installation spaces such as swing turnstile and needs It asks.

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 to set, for example, first interface unit includes I/O communication interface and band-type brake interface, second interface unit in a kind of example Including RS232 communication interface, RS485 communication interface, CAN bus communication interface, third interface unit include power interface, around Group interface, encoder for servo motor 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 in the present embodiment When interface as communication of I/O communication interface, RS232 communication interface, RS485 communication interface, CAN bus communication interface, It can be used as but be not limited to configuration/debugging/control communication interface, be also possible to be used for transmission the communication interface of data.And it is logical Believe that number included by 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, and wherein power supply display alarm unit and/or alarm indication reminding unit can It is realized through but not limited to warning light, display screen, charactron etc..

In order to make it easy to understand, the present embodiment is described further below with reference to a kind of motor servo driver for example.This The motor servo driver that embodiment provides is referring to shown in Figure 11-1 to Figure 11-4, wherein 2 be the shell of motor servo driver, 21 be the upper end of motor servo driver, and 22 be the lower end of motor servo driver, and 210 be CAN bus communication interface, and 211 are RS485 communication interface, 212 be RS232 communication interface, and 213 be toggle switch；220 be power interface, and 221 be external braking electricity Interface is hindered, 222 be motor around group interface, and 223 be encoder for servo motor interface, and 230 be I/O interface, and 231 connect for band-type brake Mouthful, 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, motor around group interface 222, encoder for servo motor interface 223；And power interface 220, outside Set braking resistor interface 221, motor around group interface 222, encoder for servo motor interface 223 is successively disposed adjacent.In this reality In example, the interface of the interface of communication and power supply and machine winding is separately positioned on the upper end of motor servo driver under End can be convenient for subsequent wiring and use, while avoid wiring error.

In this example, 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 230, band-type brake interface 231, and I/O interface 230, and the Wiring port of band-type brake interface 231 is as shown in Figure 11-1 It is that upward, in this way when to I/O interface 230 and band-type brake 231 wiring of interface, there is no need to connect from motor servo driver side Enter, so that the motor servo driver in this example reduces motor servo driver installation without left and right wiring requirements When horizontal space demand, while can guarantee the interface installed capacity of motor servo driver again.240 be power supply display alarm list Member and 241 is disposed adjacent for alarm indication reminding unit with band-type brake interface 231, and 240 be power supply display alarm unit and 241 It can be realized in this example through but not limited to warning light for alarm indication reminding unit.

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

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 12.

The present embodiment additionally provides a kind of servo motor driving control system, referring to shown in Figure 13-1, including control equipment 31, a first servo motor driving device and at least one second servo motor driving device, first servo motor driving Device and the second servo motor driving device can be servo motor driving device as shown above；First servo motor driving device Including first servo motor driver 32 and the first servo motor 33 being connect with the first servo motor driver 32, Two servo motor driving devices include the second motor servo driver 34 and connect with second motor servo driver 34 Second servo motor 35；It controls equipment 31 and first servo motor driver 32 communicates to connect, first servo motor driver 32 It is communicated to connect with each second motor servo driver 34.In another example of the present embodiment, referring to shown in Figure 13-2, each second Motor servo driver 34 can also be communicated to connect directly with first servo motor driver 32 respectively.In a kind of example, servo electricity Machine driving control system includes a first servo motor driving device and second servo motor driving device, such as Referring to shown in Figure 13-3.In a kind of example of the present embodiment, first servo motor driver 32 and the second servo motor are driven Device 34 is connected by RS485 master-slave communication bus or CAN master-slave communication bus communication；First servo motor driver 32 receives When being sent to the control signal of the second motor servo driver 34 to control equipment 31, control signal is transmitted to the second servo electricity Machine driver 34.

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 the second cabinet.In a kind of example, gate equipment Including first cabinet and second cabinet, wherein the first gate can be left gate, the second gate can be right gate.And it answers When the motor servo driver in understanding, the present embodiment is not limited to the gate equipment applied to double-gate, it is also applied for The gate equipment of homostrobe.

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 movement planning function, control servo motor movement, receive encoder for servo motor letter Breath, reception IO/RS232/RS485/CAN communication unit information, processing slave interactive information etc., can be realized gate needs as follows It asks: safer (torque anti-pinch, Anti-knocking), faster speed (faster speed of opening the door, improve traffic efficiency), softer (switch gate is softer), operation more steady (switch gate steady in place, non-jitter), more mute (smaller servo motor is encouraged Magnetosonic 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 (16)

1. a kind of motor servo driver for gate, which is characterized in that the motor servo driver includes: micro process Device, the encoder circuit being connect respectively with the microprocessor, communication unit, power driving circuit, band-type brake circuit；

The communication unit is used to the first information received issuing the microprocessor；

The encoder circuit is connect with encoder for servo motor, the second information for sending the encoder for servo motor Pass to the microprocessor；

The microprocessor is also used to according to the first information or the second information, by described in power driving circuit control Servo motor is to drive gate to execute corresponding actions；

The microprocessor, which is used to send band-type brake control signal to the band-type brake circuit, realizes band-type brake to control the band-type brake circuit.

2. being used for the motor servo driver of gate as described in claim 1, which is characterized in that the band-type brake circuit includes function Rate driving unit, N-type switch power pipe unit and band-type brake interface；Band-type brake power supply passes through the N-type switch power pipe unit and institute State the connection of 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.

3. being used for the motor servo driver of gate as described in claim 1, which is characterized in that the motor servo driver It further include braking circuit；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.

4. being used for the motor servo driver of gate as claimed in claim 3, which is characterized in that the braking circuit further includes The external braking resistor interface being connected in parallel with the built-in braking resistor, positioned at the motor servo driver for gate Outer external braking resistor is in parallel with the built-in braking resistor by the external braking resistor interface.

5. the motor servo driver according to any one of claims 1-4 for gate, which is characterized in that the communication is single Member includes at least one of the following:

I/O communication unit；

RS485 communication unit；

RS232 communication unit；

CAN bus communication unit.

6. being used for the motor servo driver of gate as claimed in claim 5, which is characterized in that the motor servo driver It further include first choice switch, the communication unit includes the RS485 communication unit and the RS232 communication unit, described RS485 communication unit and the RS232 communication unit share a communication interface；

The first choice switch is for controlling the RS485 communication unit or the RS232 communication unit and the micro process Device is connected.

7. being used for the motor servo driver of gate as claimed in claim 5, which is characterized in that the I/O communication unit packet Include 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.

8. the motor servo driver according to any one of claims 1-4 for gate, which is characterized in that the servo electricity Machine driver further includes the second selection switch connecting with the microprocessor；

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

9. the motor servo driver according to any one of claims 1-4 for gate, which is characterized in that the servo electricity Machine driver further includes the current sampling circuit connecting with the microprocessor；The current sampling circuit is for acquiring described watch It takes the current value of motor and passes to the microprocessor, the microprocessor is also used to moment values corresponding in the current value When greater than default moment values, controls the servo motor and execute anti-pinch movement.

10. the motor servo driver for gate as described in claim 3 or 4, which is characterized in that the servo motor drives Dynamic device further includes the voltage sampling circuit connecting with the microprocessor；

The voltage sampling circuit is used to acquire 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, is greater than default first voltage in the voltage value Start the braking circuit when threshold value, and default for after starting the braking circuit, detecting that the voltage value is less than When second voltage threshold value, the braking circuit is closed；The first voltage threshold value is greater than the second voltage threshold value.

11. the motor servo driver according to any one of claims 1-4 for gate, which is characterized in that the servo Motor driver further includes the power supply display alarm unit and/or alarm indication reminding unit connecting with the microprocessor.

12. a kind of servo motor driving device, which is characterized in that the servo motor driving device includes servo motor and such as right It is required that the described in any item motor servo drivers for gate of 1-11, the microprocessor of the motor servo driver pass through The power driving circuit is connected with the servo motor, for controlling the servo motor.

13. a kind of servo motor driving control system, which is characterized in that the servo motor driving control system includes that control is set A standby and first servo motor driving device and at least one second servo motor driving device, the first servo motor Driving device and second servo motor driving device are servo motor driving device as claimed in claim 12；

The first servo motor driving device include first servo motor driver and with the first servo motor driver The first servo motor of connection, second servo motor driving device include the second motor servo driver and with this Second servo motor of two motor servo drivers connection；The control equipment and the first servo motor driver communication link It connects, the first servo motor driver and second motor servo driver communicate to connect.

14. servo motor driving control system as claimed in claim 13, which is characterized in that the servo motor drive control System includes a first servo motor driving device and second servo motor driving device.

15. servo motor driving control system as claimed in claim 13, which is characterized in that the first servo motor driving Device is connect with second motor servo driver by RS485 master-slave communication bus or CAN master-slave communication bus communication；

The first servo motor driver receives the control that the control equipment is sent to second motor servo driver When signal processed, the control signal is sent to second motor servo driver.

16. a kind of gate equipment, which is characterized in that the gate equipment include first cabinet, at least one second cabinet, One the first gate, at least one second gate and such as described in any item servo motor drive controls of claim 13-15 System；

The first servo motor driving device and second servo motor driving device are respectively arranged at first cabinet In interior and described second cabinet；

First gate is connected with the first servo motor in first cabinet, second gate and described second The second servo motor in cabinet is connected.