CN212114771U - Motor control circuit and robot - Google Patents
Motor control circuit and robot Download PDFInfo
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- CN212114771U CN212114771U CN202020961936.1U CN202020961936U CN212114771U CN 212114771 U CN212114771 U CN 212114771U CN 202020961936 U CN202020961936 U CN 202020961936U CN 212114771 U CN212114771 U CN 212114771U
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Abstract
The utility model provides a motor control circuit and robot, wherein, this motor control circuit includes controller, motor drive circuit, power control circuit and protection circuit, and motor drive circuit passes through the wire and connects the controller, and power control circuit is connected with motor drive circuit, and protection circuit connects between wire and power control circuit; when a high-low level alternating signal output by the controller is received, the protection circuit is conducted, and the power supply control circuit is conducted to enable the motor driving circuit to be connected with a power supply; when a continuous high level signal or a continuous low level signal output by the controller is received, the protection circuit is cut off, and the power supply control circuit is cut off to enable the motor driving circuit to cut off the power supply. The motor control circuit solves the problem that the robot acts abnormally due to failure and runaway of a controller.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a motor control circuit and robot.
Background
As more and more mobile robots are used, the size of the robot is larger and larger, and the risk of the robot losing control of motion is also larger and larger. The motor is used as a power source of the robot, and is required to be subjected to runaway protection, and the existing motor is basically controlled by a controller (such as an MCU). The controller is used as an electronic component, the risk of failure and runaway exists, once the controller fails or is short-circuited, the motor can be out of control, the robot is driven to run and move randomly, and then danger is generated and even harm is caused to human beings.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a motor control circuit aims at solving the controller and has the inefficacy and the problem that leads to the robot action unusual out of control.
The utility model discloses a first aspect of the embodiment provides a motor control circuit, include:
a controller;
the motor driving circuit is connected with the controller through a lead and is used for driving a motor;
the power supply control circuit is connected with the motor driving circuit; and
a protection circuit connected between the lead and the power control circuit;
when a high-low level alternating signal output by the controller is received, the protection circuit is conducted, and the power supply control circuit is conducted to enable the motor driving circuit to be connected with a power supply;
when a continuous high level signal or a continuous low level signal output by the controller is received, the protection circuit is cut off, and the power supply control circuit cuts off to enable the motor driving circuit to cut off the power supply.
Optionally, the conductive line includes a first signal line and a second signal line; the protection circuit comprises a first blocking capacitor, a first diode, a second blocking capacitor and a second diode, wherein one end of the first blocking capacitor is connected with the first signal line, and the other end of the first blocking capacitor is connected with the anode of the first diode; one end of the second blocking capacitor is connected with the second signal line, and the other end of the second blocking capacitor is connected with the anode of the second diode; and the cathode of the first diode is connected with the cathode of the second diode and is connected with the power supply control circuit.
Optionally, the protection circuit is a switch chip.
Optionally, the power control circuit is a triode, a MOS transistor, or a relay.
The utility model discloses the second aspect of the embodiment still provides a motor control circuit, include:
a controller;
the motor driving circuit is connected with the controller and used for driving a motor; and
a protection circuit connected between the controller and the motor driving circuit;
when receiving a high-low level alternating signal output by the controller, the protection circuit is communicated with the controller and the motor driving circuit and transmits the high-low level alternating signal to the motor driving circuit;
when receiving a continuous high level signal or a continuous low level signal output by the controller, the protection circuit cuts off the controller and the motor driving circuit.
Optionally, a third signal line and a fourth signal line are connected between the controller and the motor driving circuit, the protection circuit includes a third blocking capacitor and a fourth blocking capacitor, the third blocking capacitor is connected to the third signal line, and the fourth blocking capacitor is connected to the fourth signal line.
Optionally, the motor control circuit further comprises: and the power supply control circuit is connected with the motor driving circuit and is used for accessing a power supply to the motor driving circuit.
Optionally, the power control circuit is a triode, a MOS transistor, or a relay.
The utility model discloses the third aspect of embodiment provides a robot, including motor and motor control circuit, its characterized in that, motor control circuit is as above motor control circuit, motor drive circuit with the motor is connected.
The utility model discloses an adopt controller, motor drive circuit, power control circuit and protection circuit to constitute motor control circuit, normal during operation, the controller will be normal PWM control signal, high-low level signal in turn promptly, exports to motor drive circuit, and protection circuit and power control circuit switch on, and motor drive circuit inserts the power to control motor work. When the controller fails or is short-circuited, the controller outputs an abnormal PWM control signal, namely a continuous high level signal or a continuous low level signal to the motor drive circuit, the protection circuit and the power supply control circuit are cut off, the motor drive circuit does not have a power supply input to stop working, and the motor stops rotating, so that the problem of abnormal robot action caused by failure or short circuit of the controller is solved, and the reliability of motor drive and the safety of the robot are improved.
Drawings
Fig. 1 is a schematic view of a first structure of a motor control circuit according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a second structure of a motor control circuit according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a third structure of a motor control circuit according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a fourth structure of a motor control circuit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a fifth structure of a motor control circuit according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a sixth structure of a motor control circuit according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a seventh structure of a motor control circuit according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The utility model provides a first aspect provides a motor control circuit.
As shown in fig. 1, fig. 1 is a schematic diagram of a first structure of a motor control circuit according to an embodiment of the present invention, and in this embodiment, the motor control circuit 100 includes a controller 10, a motor driving circuit 20, a power control circuit 30, and a protection circuit 40. The motor driving circuit 20 is connected to the controller 10 through a wire for driving the motor 200. The power supply control circuit 30 is connected to the motor drive circuit 20. The protection circuit 40 is connected between the lead and the power control circuit 30, and its operation principle is as follows:
when receiving the high-low level alternating signal output by the controller 10, the protection circuit 40 is turned on, and the power control circuit 30 is turned on to enable the motor driving circuit 20 to access the power VIN;
when receiving the continuous high level signal or continuous low level signal outputted from the controller 10, the protection circuit 40 is turned off, and the power control circuit 30 is turned off to turn off the power of the motor drive circuit 20.
In view of circuit equivalence, referring to fig. 1, the signal output by the controller 10 may be a signal output by an output terminal of the controller 10, a signal output by a wire between the controller 10 and the motor drive circuit 20, or a signal input by an input terminal of the motor drive circuit 20.
In this embodiment, the motor control circuit 100 is suitable for a robot, and controls the motor 200 to work, so as to control the robot to move. The controller 10 of the motor control circuit 100 is an MCU. However, in other embodiments, the controller 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In this embodiment, when the controller 10 normally works, the normal PWM control signal, that is, the high-low level alternating signal, is output to the motor driving circuit 20 to control the motor driving circuit 20, the motor driving circuit 20 may be a motor driving IC or an H-bridge, the motor driving circuit 20 works according to the received normal PWM control signal and the power VIN accessed by the power control circuit 30, and outputs the motor driving signal to control the motor 200 to rotate forward and backward, idle, brake, and adjust speed, the input end of the power control circuit 30 may be connected to a battery or a power conversion circuit, and the specific connection manner is not limited. When the controller 10 fails or is short-circuited, the output level of the controller 10 is converted into a continuous high level signal or a continuous low level signal, at this time, the protection circuit 40 is cut off, the power control circuit 30 is cut off to disconnect the power VIN from the motor driving circuit 20, and the motor driving circuit 20 stops working without an input power, so that the motor driving circuit 20 is prevented from working in an abnormal state of the controller, and the driving reliability of the motor driving circuit 20 is improved.
As shown in fig. 2, in the present embodiment, the conductive line includes a first signal line L1 and a second signal line L2. The protection circuit 40 comprises a first dc blocking component 41 and a second dc blocking component 42. The first end of the first blocking element 41 is connected to the first signal line L1, the first end of the second blocking element 42 is connected to the second signal line L2, and the second end of the first blocking element 41 is connected to the second end of the second blocking element 42 and to the power control circuit 30. However, in other embodiments, the protection circuit 40 may be a switch chip, a transformer, a level detection component, or other circuits, and may act according to a level state, and the specific structure may be selected according to requirements.
When the controller 10 is not failed or short-circuited, the controller 10 normally outputs two paths of high-low level alternating signals to the motor driving circuit 20, the PWM control signal is an ac signal and is output to the power protection circuit 30 through the first dc blocking component 41 and the second dc blocking component 42, the power protection circuit 30 is turned on and outputs the power VIN to the motor driving circuit 20, the motor driving circuit 20 receives the PWM control signal and the power VIN at the same time, and the motor driving circuit 20 receives a high-low level combination (00/01/10/11) through two signal lines to control the motion states of the motor 200, such as forward and reverse rotation, idling, braking, and the like. When the controller 10 fails or is short-circuited, the continuous high level signal or the continuous low level signal is on the first signal line L1 and the second signal line L2, and the continuous high level signal or the continuous low level signal is a dc signal, and cannot pass through the first dc blocking component 41 and the second dc blocking component 42, the power protection circuit 30 is turned off, the power is cut off and output to the motor driving circuit 20, the motor driving circuit 20 stops working, and the motor 200 stops rotating.
As shown in fig. 3, in the present embodiment, the first dc blocking assembly 41 includes a first dc blocking capacitor C1 and a first diode D1, and the second dc blocking assembly 42 includes a second dc blocking capacitor C2 and a second diode D2. One end of the first dc blocking capacitor C1 is connected to the first signal line L1, and the other end is connected to the positive electrode of the first diode D1. One end of the second dc blocking capacitor C2 is connected to the second signal line L2, the other end is connected to the anode of the second diode D2, and the cathode of the first diode D1 is connected to the cathode of the second diode D2 and to the power control circuit 30. However, in other embodiments, the first dc blocking component 41 and the second dc blocking component 42 may be transformer or capacitor components, and are selected according to requirements.
The first dc blocking capacitor C1 and the second dc blocking capacitor C2 are dc blocking capacitors, when the controller 10 is not disabled or short-circuited, the controller 10 outputs a normal PWM control signal, i.e., two high-low level alternating signals, to the motor driving circuit 20, the PWM control signal is an ac signal and can be output to the power protection circuit 30 through the first dc blocking capacitor C1 and the second dc blocking capacitor C2, the ac signal is output to the power protection circuit 30 through the first diode D1 and the second diode D2, and the power protection circuit 30 is turned on. When the controller 10 fails or is short-circuited, a continuous high level signal or a continuous low level signal is present on the first signal line L1 and on the second signal line L2, the continuous high level signal or the continuous low level signal is a dc signal, and cannot pass through the first dc blocking capacitor C1 and the second dc blocking capacitor C2, so that the power protection circuit 30 is turned off, and meanwhile, the first diode D1 and the second diode D2 can also avoid signal crosstalk between the first dc blocking capacitor C1 and the second dc blocking capacitor C2.
Meanwhile, in order to avoid abnormal driving of the motor 200 caused by partial failure of the controller 10 or short-circuiting of a single signal line, when the level of one signal line is a continuous high level signal or a continuous low level signal, and the level of the other signal line is a high-low level alternating signal, the controller 10 controls the high-low level alternating signal to be converted into a continuous high level signal or a continuous low level signal, so that normal cutoff of the protection circuit 40 is ensured, and abnormal operation of the motor driving circuit 20 is avoided.
In this embodiment, the power control circuit 30 is correspondingly turned on or off according to the on/off of the protection circuit 40, and may be a controlled switch component, and the power control circuit 30 may be a triode, an MOS transistor, or a relay.
As shown in fig. 4, the second aspect of the embodiment of the present invention further provides a motor control circuit 100, where the motor control circuit 100 includes a controller 10, a motor driving circuit 20, and a protection circuit 40. The motor driving circuit 20 is connected to the controller 10 for driving the motor. The protection circuit 40 is connected between the controller 10 and the motor drive circuit 20, and operates according to the following principle:
when receiving the high-low level alternating signal output by the controller 10, the protection circuit 40 communicates the controller 10 and the motor driving circuit 20 and transmits the high-low level alternating signal to the motor driving circuit 20;
the protection circuit 40 interrupts the controller 10 and the motor driving circuit 20 when receiving the continuously high signal or the continuously low signal outputted from the controller 10.
In this embodiment, the motor control circuit 100 is suitable for a robot, and controls the motor 200 to work, so as to control the robot to move, and the controller 10 of the motor control circuit 100 is preferably an MCU. However, in other embodiments, the controller 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
When the controller 10 works normally, the normal PWM control signal, i.e. the high-low level alternating signal, is output to the motor driving circuit 20 to control the motor driving circuit 20, the motor driving circuit 20 may be a motor driving IC or an H-bridge, and the motor driving circuit 20 controls the motor 200 to rotate forward and backward, idle, brake, adjust speed, etc. according to the received normal PWM control signal. When the controller 10 fails or is short-circuited, the output signal of the controller 10 is changed into a continuous high level signal or a continuous low level signal, at this time, the protection circuit 40 is cut off, and the level signal is cut off and output to the motor driving circuit 20, and the motor driving circuit 20 stops working, so that the abnormal working of the motor driving circuit 20 under the continuous high level signal or the continuous low level signal is avoided, and the driving reliability of the motor driving circuit 20 is improved.
As shown in fig. 5, in the present embodiment, a third signal line L3 and a fourth signal line L4 are connected between the controller 10 and the motor drive circuit 20. The protection circuit 40 includes a third dc blocking component 43 and a fourth dc blocking component 44, the third dc blocking component 43 is connected to the third signal line L3, and the fourth dc blocking component 44 is connected to the fourth signal line L4. However, in other embodiments, the protection circuit 40 may be a combination circuit of a switch chip, a transformer, a blocking component and a switch component, and may act according to a level state, and a specific structure may be selected according to a requirement.
When the controller 10 is not failed or short-circuited, the controller 10 normally outputs two paths of high-low level alternating signals to the motor driving circuit 20, the PWM control signal is an ac signal and can be output to the motor driving circuit 20 through the third dc blocking assembly 43 and the fourth dc blocking assembly 44, the motor driving circuit 20 receives the two paths of high-low level alternating signals at the same time, and the motor driving circuit 20 receives a high-low level combination (00/01/10/11) through two signal lines to control the motion states of the motor 200, such as forward and reverse rotation, idle rotation, and braking. When the controller 10 fails or the signal lines are short-circuited, a continuous high level signal or a continuous low level signal is provided on the third signal line L1 and the fourth signal line L4, the continuous high level signal or the continuous low level signal is a direct current signal, and cannot pass through the dc blocking component, the motor driving circuit 20 does not receive the level signal, the motor driving circuit 20 stops working, and the motor 200 stops rotating.
As shown in fig. 6, in the present embodiment, the third dc blocking assembly 43 includes a third dc blocking capacitor C3, the fourth dc blocking assembly 44 includes a fourth dc blocking capacitor C4, the third dc blocking capacitor C3 is connected in series to the third signal line L3, and the fourth dc blocking capacitor C4 is connected in series to the fourth signal line L4. However, in other embodiments, the third dc blocking assembly 43 and the fourth dc blocking assembly 44 may be transformer or capacitor assemblies, and are selected according to requirements.
The third dc blocking capacitor C3 and the fourth dc blocking capacitor C4 are dc blocking capacitors, and have a characteristic of blocking dc current and alternating current, when the controller 10 is not in failure or short-circuited, the controller 10 outputs a normal PWM control signal, i.e., two high-low level alternating signals, to the motor driving circuit 20, and the PWM control signal is an alternating current signal and can be output to the motor driving circuit 20 through the third dc blocking capacitor C3 and the fourth dc blocking capacitor C4. When the controller 10 fails or is short-circuited, the continuous high level signal or the continuous low level signal is present on the third signal line L3 and the fourth signal line L4, and the continuous high level signal or the continuous low level signal is a dc signal, and cannot pass through the third dc blocking capacitor C3 and the fourth dc blocking capacitor C4, so that the motor driving circuit 20 does not receive the level signal, and the motor driving circuit 20 stops operating.
Meanwhile, in order to avoid abnormal driving of the motor 200 caused by partial failure of the controller 10 or short-circuiting of a single signal line, when the level of one signal line is a continuous high level signal or a continuous low level signal, and the level of the other signal line is a high-low level alternating signal, the controller 10 controls the high-low level alternating signal to be converted into a continuous high level signal or a continuous low level signal, so that normal cutoff of the protection circuit 40 is ensured, and abnormal operation of the motor driving circuit 20 is avoided.
As shown in fig. 7, in the present embodiment, the motor control circuit 100 further includes a power control circuit 30, and the power control circuit 30 is connected to the motor driving circuit 20 and is configured to access a power VIN to the motor driving circuit 20. The power input end of the power control circuit 30 is connected to the power VIN, the power output end of the power control circuit 30 is connected to the power end of the motor driving circuit 20, the controlled end of the power control circuit 30 may be connected to the controller 10 or other control modules, the specific control mode is not limited, and when the motor control circuit 100 works, the power control circuit 30 is turned on and connected to the power VIN to the motor driving circuit 20.
The power control circuit 30 may be a controlled switch element, and the power control circuit 30 may also be a transistor, a MOS transistor, or a relay.
As shown in fig. 8, the utility model discloses still provide a robot, this robot includes motor 200 and motor control circuit 100, and the concrete structure of this motor control circuit 100 refers to above-mentioned embodiment, because this robot has adopted all technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, and the repeated description is not repeated here one by one.
In this embodiment, the motor control circuit 100 is suitable for a robot, and the motor control circuit 100 is electrically connected to the motor 200 and outputs a motor driving signal to control the motor 200 to rotate forward and backward, idle, brake, adjust speed, and the like.
The above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A motor control circuit, comprising:
a controller;
the motor driving circuit is connected with the controller through a lead and is used for driving a motor;
the power supply control circuit is connected with the motor driving circuit; and
a protection circuit connected between the lead and the power control circuit;
when a high-low level alternating signal output by the controller is received, the protection circuit is conducted, and the power supply control circuit is conducted to enable the motor driving circuit to be connected with a power supply;
when a continuous high level signal or a continuous low level signal output by the controller is received, the protection circuit is cut off, and the power supply control circuit cuts off to enable the motor driving circuit to cut off the power supply.
2. The motor control circuit of claim 1,
the conductive line includes a first signal line and a second signal line;
the protection circuit comprises a first blocking capacitor, a first diode, a second blocking capacitor and a second diode, wherein one end of the first blocking capacitor is connected with the first signal line, and the other end of the first blocking capacitor is connected with the anode of the first diode; one end of the second blocking capacitor is connected with the second signal line, and the other end of the second blocking capacitor is connected with the anode of the second diode; and the cathode of the first diode is connected with the cathode of the second diode and is connected with the power supply control circuit.
3. The motor control circuit of claim 1 wherein the protection circuit is a switch chip.
4. The motor control circuit of claim 1 wherein the power control circuit is a transistor, a MOS transistor, or a relay.
5. A motor control circuit, comprising:
a controller;
the motor driving circuit is connected with the controller and used for driving a motor; and
a protection circuit connected between the controller and the motor driving circuit;
when receiving a high-low level alternating signal output by the controller, the protection circuit is communicated with the controller and the motor driving circuit and transmits the high-low level alternating signal to the motor driving circuit;
when receiving a continuous high level signal or a continuous low level signal output by the controller, the protection circuit cuts off the controller and the motor driving circuit.
6. The motor control circuit according to claim 5, wherein a third signal line and a fourth signal line are connected between the controller and the motor drive circuit,
the protection circuit comprises a third blocking capacitor and a fourth blocking capacitor, the third blocking capacitor is connected to the third signal line, and the fourth blocking capacitor is connected to the fourth signal line.
7. The motor control circuit of claim 5 wherein the protection circuit is a switch chip.
8. The motor control circuit of claim 5, further comprising:
and the power supply control circuit is connected with the motor driving circuit and is used for accessing a power supply to the motor driving circuit.
9. The motor control circuit of claim 8 wherein the power control circuit is a transistor, a MOS transistor, or a relay.
10. A robot comprising a motor and a motor control circuit, wherein the motor control circuit is the motor control circuit of any one of claims 1 to 9, and the motor drive circuit is connected to the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020961936.1U CN212114771U (en) | 2020-05-29 | 2020-05-29 | Motor control circuit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020961936.1U CN212114771U (en) | 2020-05-29 | 2020-05-29 | Motor control circuit and robot |
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| CN212114771U true CN212114771U (en) | 2020-12-08 |
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| CN202020961936.1U Active CN212114771U (en) | 2020-05-29 | 2020-05-29 | Motor control circuit and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113644849A (en) * | 2021-07-28 | 2021-11-12 | 深圳市银星智能科技股份有限公司 | Motor forward and reverse rotation control circuit and robot |
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2020
- 2020-05-29 CN CN202020961936.1U patent/CN212114771U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113644849A (en) * | 2021-07-28 | 2021-11-12 | 深圳市银星智能科技股份有限公司 | Motor forward and reverse rotation control circuit and robot |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |