CN209748443U

CN209748443U - three-axis motor drive control circuit

Info

Publication number: CN209748443U
Application number: CN201920458499.9U
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2019-12-06
Anticipated expiration: 2029-04-04

Abstract

The utility model relates to a triaxial motor drive control circuit, include: the device comprises a controller, a driving circuit, a voltage regulating circuit, a first switch circuit, a second switch circuit, a third switch circuit, a first motor, a second motor and a third motor; the control signal output interface of the controller is connected with the input interface of the driving circuit, the input interface of the driving circuit is connected with the control signal output interface of the controller, the output interface of the driving circuit is connected with the voltage control interface of the voltage regulating circuit, the voltage output interface of the voltage regulating circuit is respectively connected with the voltage input interface of the first switching circuit, the voltage input interface of the second switching circuit and the voltage input interface of the third switching circuit, the control interface of the first switching circuit is connected with the first motor, the control interface of the second switching circuit is connected with the second motor, and the control interface of the third switching circuit is connected with the second motor. The utility model discloses can realize that nimble drive control, the control mode to triaxial motor are simple, the device is few, with low costs.

Description

Three-axis motor drive control circuit

Technical Field

The utility model relates to a motor control field, more specifically say, relate to a triaxial motor drive control circuit.

background

In traditional machine of cooking, adopt the upset magazine usually, through opening the barrier plate one by one, let the raw and other materials in each magazine fall into the frying pan in proper order again, another kind of mode is then unties the fresh-keeping cover film in proper order, however, these modes are very strict to the placing requirement of material, and these modes eat the material and can't once put in place moreover, appear putting incomplete problem easily.

In order to solve the problems, the automatic feeding mode can be adopted, namely the mode that the opening of the material box faces downwards is directly adopted, in the feeding process, the preservative film covering the opening of the material box is directly torn to smoothly feed food materials into the frying pan, however, the cutting device for cutting the preservative film is controllable in the mode, the position is accurate, and therefore the driving device capable of accurately controlling the cutting device to automatically and accurately control the cutting device in the vertical and horizontal directions needs to be found.

SUMMERY OF THE UTILITY MODEL

the to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, a triaxial motor drive control circuit is provided.

The utility model provides a technical scheme that its technical problem adopted is: there is provided a three-axis motor drive control circuit including: the device comprises a controller, a driving circuit, a voltage regulating circuit, a first switch circuit, a second switch circuit, a third switch circuit, a first motor, a second motor and a third motor;

A control signal output interface of the controller is connected with an input interface of the driving circuit, an input interface of the driving circuit is connected with a control signal output interface of the controller, an output interface of the driving circuit is connected with a voltage control interface of the voltage regulating circuit, a voltage output interface of the voltage regulating circuit is respectively connected with a voltage input interface of the first switching circuit, a voltage input interface of the second switching circuit and a voltage input interface of the third switching circuit, a control interface of the first switching circuit is connected with the first motor, a control interface of the second switching circuit is connected with the second motor, and a control interface of the third switching circuit is connected with the second motor;

The controller outputs a control signal to the driving circuit according to the received external input instruction, and the driving circuit outputs a driving signal to the voltage regulating circuit according to the control signal, so that the voltage regulating circuit outputs a regulated voltage to the first switch circuit, the second switch circuit and the third switch circuit according to the driving signal; the controller also outputs speed signals to the first, second, and third switching circuits to adjust driving speeds of the first, second, and third motors.

Preferably, the method further comprises the following steps: the system comprises a first ranging module, a second ranging module, a third ranging module and a first data collecting module which is respectively connected with the first ranging module, the second ranging module and the third ranging module;

the first distance measurement module detects the movement distance of the first motor along the first direction and outputs the first movement distance of the first motor in the first direction to the first data collection module;

The second distance measurement module detects the movement distance of the second motor along the second direction and outputs the second movement distance of the second motor in the second direction to the first data collection module;

the third distance measurement module detects the movement distance of a third motor along a third direction and outputs the third movement distance of the third motor in the third direction to the first data collection module;

And the first data collection module receives the first movement distance, the second movement distance and the third movement distance and outputs corresponding distance data to the controller.

Preferably, the first distance measuring module, the second distance measuring module and the third distance measuring module are all grating rulers;

or the first ranging module, the second ranging module and the third ranging module are all photoelectric encoders.

Preferably, the method further comprises the following steps: the device comprises a first position detection circuit, a second position detection circuit and a second data collection module which is respectively connected with the first position detection circuit and the second position detection circuit;

the first position detection circuit is used for detecting the origin positions of the first motor, the second motor and the third motor and outputting first origin information, second origin information and third origin information to the second data collection module;

The second position detection circuit is used for the positions of the maximum position points of the first motor, the second motor and the third motor and outputting first maximum information, second maximum information and third maximum information to the second data collection module;

the second data collection module receives the first origin information, the second origin information, the third origin information, the first maximum information, the second maximum information and the third maximum information, and outputs corresponding position information to the controller.

Preferably, the voltage regulating circuit includes: a ninth capacitor, a tenth capacitor and a thirteenth MOS tube;

the grid electrode of the thirteenth MOS tube is connected with the third port of the driving circuit, the drain electrode of the thirteenth MOS tube is connected with a power supply voltage, and the source electrode of the thirteenth MOS tube is connected with the fourth port of the driving circuit; a first end of the ninth capacitor is connected with the source electrode of the thirteenth MOS transistor, a second end of the ninth capacitor is grounded, a first end of the tenth capacitor is connected with the source electrode of the thirteenth MOS transistor and the first end of the ninth capacitor, and a second end of the tenth capacitor is grounded;

The gate of the thirteenth MOS transistor is a voltage control interface of the voltage regulating circuit, the third port of the driving circuit is an output interface of the driving circuit, and the second end of the tenth capacitor is a voltage output interface of the voltage regulating circuit.

Preferably, the first switching circuit includes: the circuit comprises a first triode, a second triode, a third triode, a fourth triode, a first resistor and a second resistor;

the base electrode of the first triode is connected with a nineteenth pin of the controller through the first resistor, the emitting electrode of the first triode and the emitting electrode of the second triode are connected with a voltage output interface of the voltage regulating circuit, the collecting electrode of the first triode is connected with the collecting electrode of the third triode, the connecting end of the collecting electrode of the first triode and the collecting electrode of the third triode is also connected with the first end of the first motor, the base electrode of the third triode is connected with an eighteenth pin of the controller through the second resistor, and the emitting electrode of the third triode and the emitting electrode of the fourth triode are grounded;

The collecting electrode of second triode is connected the collecting electrode of fourth triode, just the collecting electrode of second triode with the link of the collecting electrode of fourth triode still is connected the second end of first motor, the base of second triode is connected the eighteenth pin of controller, the base of fourth triode is connected the nineteenth pin of controller.

Preferably, the second switching circuit includes: the third triode is connected with the fourth resistor;

A base electrode of the fifth triode is connected with a seventeenth pin of the controller through the third resistor, an emitting electrode of the fifth triode and an emitting electrode of the sixth triode are connected with a voltage output interface of the voltage regulating circuit, a collecting electrode of the fifth triode is connected with a collecting electrode of the seventh triode, a connecting end of the collecting electrode of the fifth triode and the collecting electrode of the seventh triode is also connected with a first end of the second motor, a base electrode of the seventh triode is connected with a sixteenth pin of the controller through the fourth resistor, and the emitting electrode of the seventh triode and the emitting electrode of the eighth triode are grounded;

the collecting electrode of sixth triode is connected the collecting electrode of eighth triode, just the collecting electrode of sixth triode with the link of the collecting electrode of eighth triode still is connected the second end of second motor, the base of sixth triode is connected the sixteenth pin of controller, the base of eighth triode is connected the seventeenth pin of controller.

preferably, the third switching circuit includes: a ninth triode, a thirteenth triode, an eleventh triode, a twelfth triode, an eleventh resistor and a twelfth resistor;

a base electrode of the ninth triode is connected with a fifteenth pin of the controller through the eleventh resistor, an emitting electrode of the ninth triode and an emitting electrode of the thirteenth triode are connected with a voltage output interface of the voltage regulating circuit, a collecting electrode of the ninth triode is connected with a collecting electrode of the eleventh triode, a connecting end of the collecting electrode of the ninth triode and the collecting electrode of the eleventh triode is further connected with a first end of the third motor, a base electrode of the eleventh triode is connected with a fourteenth pin of the controller through the twelfth resistor, and an emitting electrode of the eleventh triode and an emitting electrode of the twelfth triode are grounded;

A collector electrode of the thirteenth polar tube is connected with a collector electrode of the twelfth polar tube, a connecting end of the collector electrode of the thirteenth polar tube and the collector electrode of the twelfth polar tube is further connected with a second end of the third motor, a base electrode of the thirteenth polar tube is connected with a fourteenth pin of the controller, and a base electrode of the twelfth polar tube is connected with a fifteenth pin of the controller.

preferably, the first position detection circuit includes: the first light touch switch is connected with the first resistor, the second light touch switch is connected with the second resistor, and the third light touch switch is connected with the second capacitor; the second data collection module comprises a third collection chip;

the first end of the fifth resistor, the first end of the sixth resistor and the first end of the seventh resistor are connected with VCC, the second end of the fifth resistor is grounded through the first capacitor, the second end of the sixth resistor is grounded through the second capacitor, the second end of the seventh resistor is grounded through the third capacitor, the second end of the fifth resistor is connected with the twelfth pin of the third collecting chip through the first tact switch, the second end of the sixth resistor is connected with the first pin of the third collecting chip through the third tact switch, the second end of the seventh resistor is connected with the fifth pin of the third collecting chip through the fifth tact switch, and the third pin of the third collecting chip is connected with the tenth pin of the controller.

preferably, the second position detection circuit includes: the circuit comprises an eighth resistor, a ninth resistor, a tenth resistor, a second light touch switch, a fourth light touch switch, a sixth light touch switch, a fourth capacitor, a fifth capacitor and a sixth capacitor; the second data collection module comprises a third collection chip;

the first end of the eighth resistor, the first end of the ninth resistor and the first end of the tenth resistor are connected with a VCC, the second end of the eighth resistor is connected with the ground of the fourth capacitor, the second end of the ninth resistor is connected with the ground of the fifth capacitor, the second end of the tenth resistor is connected with the ground of the sixth capacitor, the second end of the eighth resistor is connected with the thirteenth pin of the third collecting chip through the second tact switch, the second end of the ninth resistor is connected with the fourteenth pin of the third collecting chip through the fourth tact switch, the second end of the tenth resistor is connected with the fifteenth pin of the third collecting chip through the sixth tact switch, and the third pin of the third collecting chip is connected with the tenth pin of the controller.

preferably, the method further comprises the following steps: and the memory is connected with the controller and is used for receiving the position information and/or the state information of the first resistor, the second resistor and the third motor output by the controller.

Preferably, the method further comprises the following steps:

The human-computer interaction module is connected with the controller and outputs the external input instruction according to an operation instruction input by a user;

and the power input module is connected with the controller and provides electric energy for the controller.

the utility model also provides a triaxial motor drive control method is applied to above triaxial motor drive control circuit, this method includes following step:

s1, receiving an external input instruction;

s2, the controller outputs a control signal to the driving circuit according to the external input instruction, so that the driving circuit outputs a driving signal to the voltage regulating circuit;

S3, the voltage regulating circuit outputs regulating voltage to the first switch circuit, the second switch circuit and the third switch circuit according to the driving signal so as to start the first motor, the second motor and the third motor;

S4, the controller simultaneously outputs speed signals to the first switch circuit, the second switch circuit and the third switch circuit so as to adjust the driving speeds of the first motor, the second motor and the third motor and enable the driven device driven by the first motor, the second motor and the third motor to move to a first preset position;

And S5, driving the driven device to move along a preset track by the first motor and the second motor according to a preset instruction signal output by the controller.

preferably, step S5 is preceded by:

s5-1, judging whether the driven device is at the first preset position, if so, executing a step S5, and if not, adjusting the driving speeds of the first motor and the second motor to enable the driven device to reach the first preset position.

Preferably, after the step S5, the method further includes:

And S6, judging whether the driven device reaches a second preset position, if so, stopping adjustment control, and if not, continuing to control and adjust the driven device to move.

Implement the utility model discloses a triaxial motor drive control circuit has following beneficial effect: through setting up the utility model discloses a triaxial motor drive control circuit can realize the accurate nimble control of triaxial motor in X, Y, Z three ascending sides, and be full-automatic process at whole in-process, does not need the human intervention, and circuit structure is simple, and is with low costs, and control mode easily operates. To using the utility model discloses a triaxial motor drive control circuit's automatic cooking machine can make cutting device follow from top to bottom and control the automatic plastic wrap that accurately cuts of direction at the in-process of throwing the material, makes the edible material in the magazine automatically fall into the frying pan.

drawings

the invention will be further explained with reference to the drawings and examples, wherein:

Fig. 1 is a logic block diagram of a three-axis motor driving control circuit provided in an embodiment of the present invention;

Fig. 2 is a logic block diagram of a three-axis motor driving control circuit provided in an embodiment of the present invention;

fig. 3 and 4 are schematic circuit diagrams of a three-axis motor driving control circuit provided in an embodiment of the present invention;

FIGS. 5 and 6 are schematic diagrams of the movement path applied to the drive control of the automatic cooker;

Fig. 7 is a schematic flow chart of the three-axis motor driving control provided by the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 and 2, fig. 1 and 2 show schematic diagrams of a preferred embodiment of a three-axis motor driving control circuit provided by the present invention.

as shown in fig. 1, the three-axis motor drive control circuit includes: the controller 10, the driving circuit 20, the voltage adjusting circuit 30, the first switching circuit 40, the second switching circuit 50, the third switching circuit 60, the first motor, the second motor, and the third motor. The control signal output interface of the controller 10 is connected to the input interface of the driving circuit 20, the input interface of the driving circuit 20 is connected to the control signal output interface of the controller 10, the output interface of the driving circuit 20 is connected to the voltage control interface of the voltage regulating circuit 30, the voltage output interface of the voltage regulating circuit 30 is respectively connected to the voltage input interface of the first switch circuit 40, the voltage input interface of the second switch circuit 50, and the voltage input interface of the third switch circuit 60, the control interface of the first switch circuit 40 is connected to the first motor, the control interface of the second switch circuit 50 is connected to the second motor, and the control interface of the third switch circuit 60 is connected to the second motor.

specifically, the controller 10 outputs a control signal to the driving circuit 20 according to the received external input instruction, and the driving circuit 20 outputs a driving signal to the voltage regulating circuit 30 according to the control signal, so that the voltage regulating circuit 30 outputs a regulated voltage to the first switch circuit 40, the second switch circuit 50, and the third switch circuit 60 according to the driving signal; the controller 10 also outputs speed signals to the first, second, and third switching circuits 40, 50, and 60 to adjust the driving speeds of the first, second, and third motors. By controlling the drive speed of any one or more of the first, second and third motors, the speed of a driven device (such as a cutting tool of an automatic cooker) that is controlled by the drive of the first, second and third motors can be varied in any one or more of three directions.

Optionally, the control signal is a PWM signal, the PWM signal is sent to the voltage regulating circuit 30 after passing through the driving circuit 20, and the voltage regulating circuit 30 outputs a corresponding regulated voltage to the first switch circuit 40, the second switch circuit 50, and the third switch circuit 60. It can be understood that the driving signal sent by the driving circuit 20 to the voltage regulating circuit 30 is a signal driven by the driving circuit 20, the driving signal is also a PWM signal, and after the PWM signal driven by the driving circuit 20 is sent to the voltage regulating circuit 30, the control of the regulated voltage output by the voltage regulating circuit 30 can be realized to obtain the regulated voltage meeting the requirement. Further, the regulated voltage outputted from the voltage regulating circuit 30 is used as an operating voltage for the first motor, the second motor and the second motor, which is a variable value, and is specifically controlled by the PWM control signal outputted from the controller 10.

Optionally, the speed signals output by the controller 10 include a first speed signal, a second speed signal and a third speed signal, which are respectively provided to the first switch circuit 40, the second switch circuit 50 and the third switch circuit 60, so as to control forward/reverse rotation and driving speed of the first motor, the second motor and the third motor respectively through the first speed signal, the second speed signal and the third speed signal. Further, the first speed signal, the second speed signal, and the third speed signal may be the same or different, and are specifically determined by the controller 10 according to an external input command.

Further, as shown in fig. 2, the three-axis motor driving control circuit further includes: first ranging module 70, second ranging module 80, third ranging module 90, and first data collection module 13 connected with first ranging module 70, second ranging module 80, and third ranging module 90, respectively.

The first ranging module 70 detects a moving distance of the first motor in the first direction and outputs the first moving distance of the first motor in the first direction to the first data collecting module 13; the second distance measurement module detects the movement distance of the second motor along the second direction and outputs the second movement distance of the second motor in the second direction to the first data collection module 13; the third distance measuring module 90 detects a movement distance of the third motor in the third direction, and outputs the third movement distance of the third motor in the third direction to the first data collecting module 13; the first data collection module 13 receives the first movement distance, the second movement distance, and the third movement distance, and outputs corresponding distance data to the controller 10.

The first direction is an X-axis direction, the second direction is a Y-axis direction, and the third direction is a Z-axis direction. For example, during the movement of the driven device along the X-axis direction, the first distance measuring module 70 may detect the first movement distance of the first motor in the first direction in real time, so as to detect the first movement distance of the driven device in the first direction, and the first data collecting module 13 may feed back the detected distance data of the first movement distance to the controller 10, and the controller 10 may analyze and determine whether the driven device moves to the predetermined position in the first direction according to the fed back distance data. Similarly, when the driven device moves in the second direction and/or the third direction, the principle is the same as that of the first direction.

Optionally, the first distance measurement module 70, the second distance measurement module 80, and the third distance measurement module 90 may be grating scales; alternatively, the first ranging module 70, the second ranging module 80, and the third ranging module 90 are all photoelectric encoders. The first data collection module 13 may be implemented by an integrated chip.

further, as shown in fig. 2, the three-axis motor driving control circuit further includes: a first position detection circuit 11, a second position detection circuit 12, and a second data collection module 14 connected to the first position detection circuit 11 and the second position detection circuit 12, respectively.

the first position detection circuit 11 is configured to detect origin positions of the first motor, the second motor, and the third motor, and output first origin information, second origin information, and third origin information to the second data collection module 14; the second position detection circuit 12 is configured to detect maximum position points of the first motor, the second motor, and the third motor, and output first maximum information, second maximum information, and third maximum information to the second data collection module 14; the second data collection module 14 receives the first origin information, the second origin information, the third origin information, the first maximum information, the second maximum information, and the third maximum information, and outputs corresponding position information to the controller 10.

Optionally, the maximum position point of the first motor is a position of a maximum range in which the first motor is movable in the first direction; likewise, the maximum position point of the second motor is the position of the maximum range in which the second motor is movable in the second direction; the maximum position point of the third motor is the position of the maximum range in which the third motor can move in the third direction. The first position detection circuit 11 can detect the position information of the origin of the first motor, the second motor, and the third motor, respectively, and the second position detection circuit 12 can detect the position information of the maximum position of the first motor, the second motor, and the third motor, respectively.

alternatively, the second data collection module 14 may be implemented by an integrated chip. The utility model discloses drive circuit 20 can be MOS drive circuit 20, and it can comprise MOS pipe and diode, and wherein, the quantity of MOS pipe and the quantity of diode and MOS pipe and diode are connected and can adopt the drive circuit 20 that current MOS pipe and diode formed, the utility model discloses do not specifically limit.

as shown in fig. 2, the three-axis motor drive control circuit may further include: and a memory 17 connected to the controller 10 for receiving the position information and/or the state information of the first resistor, the second resistor, and the third motor outputted from the controller 10. Including but not limited to ROM memory, RAM memory, etc.

Further, as shown in fig. 2, the three-axis motor driving control circuit further includes: a man-machine interaction module 16 connected to the controller 10 for outputting an external input command according to an operation command input by a user; and a power input module 15 connected to the controller 10 for supplying power to the controller 10.

optionally, the human-computer interaction module 16 may include a display screen capable of human-computer interaction, including but not limited to a touch display screen, a flexible touch display screen, and the like.

The power input module 15 may be a dc power input module 15, or an ac power input module 15, wherein when the power input module 15 is an ac power input module, the ac power input module 15 needs to convert ac to dc, and then outputs dc to the controller 10.

referring to fig. 3 and 4, the present invention provides a schematic circuit diagram of a preferred embodiment of the three-axis motor driving control circuit.

As shown in fig. 3, the first data collection module 13 includes an integrated chip U2, the controller 10 includes a single chip controller U1, and the driving circuit 20 includes a MOS driving circuit 20. The first data collection module 13 includes a second collection chip U2, a first motor such as the X-axis motor 1 shown in fig. 4, a second motor such as the Y-axis motor 1 shown in fig. 4, and a third motor such as the Z-axis motor 1 shown in fig. 4.

The voltage regulating circuit 30 includes: ninth capacitor C9, tenth capacitor C10 and thirteenth MOS transistor Q13.

The gate of the thirteenth MOS transistor Q13 is connected to the third port of the driving circuit 20, the drain of the thirteenth MOS transistor Q13 is connected to the supply voltage, and the source of the thirteenth MOS transistor Q13 is connected to the fourth port of the driving circuit 20; a first end of a ninth capacitor C9 is connected to the source of the thirteenth MOS transistor Q13, a second end of the ninth capacitor C9 is grounded, a first end of a tenth capacitor C10 is connected to the source of the thirteenth MOS and the first end of the ninth capacitor C9, and a second end of the tenth capacitor C10 is grounded; the gate of the thirteenth MOS transistor Q13 is a voltage control interface of the voltage regulating circuit 30, the third port of the driving circuit 20 is an output interface of the driving circuit 20, and the second terminal of the tenth capacitor C10 is a voltage output interface of the voltage regulating circuit 30.

the first switching circuit 40 includes: the circuit comprises a first triode Q1, a second triode Q2, a third triode Q3, a fourth triode Q4, a first resistor R1 and a second resistor R2.

The base of the first triode Q1 is connected with the nineteenth pin of the controller 10 through a first resistor R1, the emitter of the first triode Q1 and the emitter of the second triode Q2 are connected with the voltage output interface of the voltage regulating circuit 30, the collector of the first triode Q1 is connected with the collector of the third triode Q3, the connecting end of the collector of the first triode Q1 and the collector of the third triode Q3 is also connected with the first end of the first motor, the base of the third triode Q3 is connected with the eighteenth pin of the controller 10 through a second resistor R2, and the emitter of the third triode Q3 and the emitter of the fourth triode Q4 are grounded; the collector of the second triode Q2 is connected with the collector of the fourth triode Q4, and the connection end of the collector of the second triode Q2 and the collector of the fourth triode Q4 is also connected with the second end of the first motor, the base of the second triode Q2 is connected with the eighteenth pin of the controller 10, and the base of the fourth triode Q4 is connected with the nineteenth pin of the controller 10.

the second switching circuit 50 includes: a fifth transistor Q5, a sixth transistor Q6, a seventh transistor Q7, an eighth transistor Q8, a third resistor R3 and a fourth resistor R4.

The base of the fifth triode Q5 is connected with the seventeenth pin of the controller 10 through a third resistor R3, the emitter of the fifth triode Q5 and the emitter of the sixth triode Q6 are connected with the voltage output interface of the voltage regulating circuit 30, the collector of the fifth triode Q5 is connected with the collector of the seventh triode Q7, the connecting end of the collector of the fifth triode Q5 and the collector of the seventh triode Q7 is also connected with the first end of the second motor, the base of the seventh triode Q7 is connected with the sixteenth pin of the controller 10 through a fourth resistor R4, and the emitter of the seventh triode Q7 and the emitter of the eighth triode Q8 are grounded; a collector of the sixth triode Q6 is connected to a collector of the eighth triode Q8, a connection terminal of the collector of the sixth triode Q6 and the collector of the eighth triode Q8 is further connected to the second end of the second motor, a base of the sixth triode Q6 is connected to the sixteenth pin of the controller 10, and a base of the eighth triode Q8 is connected to the seventeenth pin of the controller 10.

The third switch circuit 60 includes: a ninth transistor Q9, a thirteenth diode Q10, an eleventh transistor Q11, a twelfth transistor Q12, an eleventh resistor R11 and a twelfth resistor R12.

The base of the ninth triode Q9 is connected with the fifteenth pin of the controller 10 through an eleventh resistor R11, the emitter of the ninth triode Q9 and the emitter of the thirteenth triode Q10 are connected with the voltage output interface of the voltage regulating circuit 30, the collector of the ninth triode Q9 is connected with the collector of the eleventh triode Q11, the connection end of the collector of the ninth triode Q9 and the collector of the eleventh triode Q11 is also connected with the first end of the third motor, the base of the eleventh triode Q11 is connected with the fourteenth pin of the controller 10 through a twelfth resistor R12, and the emitter of the eleventh triode Q11 and the emitter of the twelfth triode Q12 are grounded; the collector of the thirteenth diode Q10 is connected to the collector of the twelfth transistor Q12, and the connection end of the collector of the thirteenth diode Q10 and the collector of the twelfth transistor Q12 is further connected to the second end of the third motor, the base of the thirteenth diode Q10 is connected to the fourteenth pin of the controller 10, and the base of the twelfth diode Q12 is connected to the fifteenth pin of the controller 10.

The first position detection circuit 11 includes: a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a first tact switch S1, a third tact switch S3, a fifth tact switch S5, a first capacitor C1, a second capacitor C2 and a third capacitor C3; the second data collection module 14 includes a third collection chip U3.

The first end of the fifth resistor R5, the first end of the sixth resistor R6 and the first end of the seventh resistor R7 are connected to VCC, the second end of the fifth resistor R5 is grounded through the first capacitor C1, the second end of the sixth resistor R6 is grounded through the second capacitor C2, the second end of the seventh resistor R7 is grounded through the third capacitor C3, the second end of the fifth resistor R5 is further connected to the twelfth pin of the third collecting chip U3 through the first tact switch S1, the second end of the sixth resistor R6 is further connected to the first pin of the third collecting chip U3 through the third tact switch S3, the second end of the seventh resistor R7 is further connected to the fifth pin of the third collecting chip U3 through the fifth tact switch S5, and the third pin of the third collecting chip U3 is connected to the tenth pin of the controller 10.

The second position detection circuit 12 includes: an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a second tact switch S2, a fourth tact switch S4, a sixth tact switch S6, a fourth capacitor C4, a fifth capacitor C5 and a sixth capacitor C6; the second data collection module 14 includes a third collection chip U3.

a first end of an eighth resistor R8, a first end of a ninth resistor R9 and a first end of a tenth resistor R10 are connected to VCC, a second end of the eighth resistor R8 is grounded through a fourth capacitor C4, a second end of the ninth resistor R9 is grounded through a fifth capacitor C5, a second end of the tenth resistor R10 is grounded through a sixth capacitor C6, a second end of the eighth resistor R8 is further connected to the thirteenth pin of the third collecting chip U3 through a second tact switch S2, a second end of the ninth resistor R9 is further connected to the fourteenth pin of the third collecting chip U3 through a fourth tact switch S4, a second end of the tenth resistor R10 is further connected to the fifteenth pin of the third collecting chip U3 through a sixth tact switch S6, and a third pin of the third collecting chip U3 is connected to the tenth pin of the controller 10.

In a specific embodiment, such as an automatic cooker, as shown in fig. 5 and 6, fig. 5 is a path diagram of the movement of the cutting tool, i.e. the driven device, in the X-axis and Y-axis directions, and fig. 6 is a path diagram of the movement of the cutting tool in the Z-axis direction. In fig. 5, 1, 2, 3, and 4 indicate four material loading boxes in an automatic cooker, the openings of the four material loading boxes face to the cooker, in 1, 2, 3, and 4 boxes, a dotted line with an arrow is a path of the cutting tool along the X-axis and Y-axis directions, wherein a small dot on the dotted line is an origin, the arrow is a forward direction of the cutting tool, and an arrow at the end is an end point. The big round points are the points of the cutting tool ejection box which generates vibration.

As shown in fig. 5 and 6, the specific control principle is as follows: the human-computer interaction module 16 receives an operation instruction input by a user and outputs a corresponding external input instruction to the controller 10, and after the controller 10 receives the external input instruction output by the human-computer interaction module 16, outputs control signals to the driving circuit 20, outputs driving signals to the voltage regulating circuit 30 by the driving circuit 20, the voltage regulating circuit 30 further outputs corresponding regulating voltages to the first motor, the second motor and the third motor so as to provide working voltages for the first motor, the second motor and the third motor, meanwhile, the controller 10 outputs the first speed signal, the second speed signal and the third speed signal to the first switch circuit 40, the second switch circuit 50 and the third switch circuit 60, respectively, so as to adjust the driving speeds of the first motor, the second motor and the third motor and further control the cutting tool to move along the first direction, the second direction and the third direction.

Further, through the utility model discloses a triaxial motor drive control circuit can make cutting tool can be by initial position, through X axle and Y axle direction removal back, reachs and predetermines the position (the initial position of the magazine that corresponds promptly), wherein, whether reachs and predetermines the position and can detect through first position detection module, through the real-time information feedback of first position detection module, can accurately control cutting tool and reachs and predetermine the position. After the preservative film cutting device reaches the preset position, the cutting tool is enabled to start to move according to the set path by controlling the movement of the cutting tool in the Z-axis direction, namely, the movement in the X-axis direction and the Y-axis direction shown in fig. 5 is executed, the preservative film cutting action is completed, and the preservative film cutting device runs to the end point. The position of the end point can be detected by the second position detection module. After the final position is reached, the controller 10 outputs a corresponding control signal to the third motor again, the third motor is controlled to drive the cutting tool to move to the position of the vibration point, and then the controller 10 controls the third motor to move in the Z-axis direction, so that the aim of generating vibration on the material box is fulfilled, and the food materials in the material box smoothly fall into the cooking pan.

referring to fig. 7, the utility model also provides a triaxial motor drive control method, this control method can be applied to the embodiment of the utility model provides a triaxial motor drive control circuit.

As shown in fig. 7, the three-axis motor driving control method includes the steps of:

s1, receiving an external input instruction;

S2, the controller 10 outputs a control signal to the driving circuit 20 according to the external input command, so as to output a driving signal to the voltage regulating circuit 30 through the driving circuit 20;

S3, the voltage regulating circuit 30 outputs regulated voltages to the first switch circuit 40, the second switch circuit 50 and the third switch circuit 60 according to the driving signals to start the first motor, the second motor and the third motor;

s4, the controller 10 further outputs speed signals to the first switch circuit 40, the second switch circuit 50 and the third switch circuit 60 to adjust the driving speeds of the first motor, the second motor and the third motor, so that the driven device driven by the first motor, the second motor and the third motor moves to a first preset position;

And S5, driving the driven device to move along a preset track by the first motor and the second motor according to a preset command signal output by the controller 10.

further, in order to ensure that the driven device can move along the preset trajectory, the following steps are performed before step S5:

s5-1, judging whether the driven device is at the first preset position, if so, executing step S5, and if not, adjusting the driving speeds of the first motor and the second motor to enable the driven device to reach the first preset position. Optionally, the first preset position is the aforementioned origin position.

Further, after step S5, the method further includes:

And S6, judging whether the driven device reaches a second preset position, if so, stopping the adjustment control, and if not, continuing to control and adjust the driven device to move. When the driven device reaches the second preset position, the driving control of the first motor and the second motor can be stopped, so that the driven device can stay at the second preset position. Optionally, the second preset position is the aforementioned end position.

Further, after step S6, the following actions are also performed: the controller 10 outputs a control signal to the third motor again, controls the third motor to drive the vibration point position to which the driven device runs, and controls the third motor to move in the Z-axis direction after the driven device reaches the vibration point position, so that the driven device can vibrate the material box, and the food materials in the material box can completely and smoothly fall into the cooking pan.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and implement the present invention accordingly, which can not limit the protection scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention shall fall within the scope of the claims of the present invention.

it will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.

Claims

1. a three-axis motor drive control circuit, comprising: the device comprises a controller, a driving circuit, a voltage regulating circuit, a first switch circuit, a second switch circuit, a third switch circuit, a first motor, a second motor and a third motor;

2. The tri-axial motor drive control circuit of claim 1, further comprising: the system comprises a first ranging module, a second ranging module, a third ranging module and a first data collecting module which is respectively connected with the first ranging module, the second ranging module and the third ranging module;

3. The three-axis motor drive control circuit according to claim 2, wherein the first ranging module, the second ranging module and the third ranging module are all grating scales;

4. the tri-axial motor drive control circuit of claim 1, further comprising: the device comprises a first position detection circuit, a second position detection circuit and a second data collection module which is respectively connected with the first position detection circuit and the second position detection circuit;

5. The tri-axial motor drive control circuit of claim 1, wherein the voltage regulation circuit comprises: a ninth capacitor, a tenth capacitor and a thirteenth MOS tube;

6. The tri-axial motor drive control circuit of claim 1, wherein the first switching circuit comprises: the circuit comprises a first triode, a second triode, a third triode, a fourth triode, a first resistor and a second resistor;

7. the tri-axial motor drive control circuit of claim 1, wherein the second switching circuit comprises: the third triode is connected with the fourth resistor;

8. the tri-axial motor drive control circuit of claim 1, wherein the third switching circuit comprises: a ninth triode, a thirteenth triode, an eleventh triode, a twelfth triode, an eleventh resistor and a twelfth resistor;

9. the tri-axial motor drive control circuit of claim 4, wherein the first position detection circuit comprises: the first light touch switch is connected with the first resistor, the second light touch switch is connected with the second resistor, and the third light touch switch is connected with the second capacitor; the second data collection module comprises a third collection chip;

10. The tri-axial motor drive control circuit of claim 4, wherein the second position detection circuit comprises: the circuit comprises an eighth resistor, a ninth resistor, a tenth resistor, a second light touch switch, a fourth light touch switch, a sixth light touch switch, a fourth capacitor, a fifth capacitor and a sixth capacitor; the second data collection module comprises a third collection chip;

11. The tri-axial motor drive control circuit of claim 6, further comprising: and the memory is connected with the controller and is used for receiving the position information and/or the state information of the first resistor, the second resistor and the third motor output by the controller.

12. The tri-axial motor drive control circuit of claim 1, further comprising: