CN212305030U - Motor driver - Google Patents

Abstract

The utility model relates to the technical field of motors, a motor driver is provided. Including metal casing and the motor system who sets up in metal casing, motor system includes: an interface circuit; the Can bus circuit is electrically connected with the interface circuit and is used for receiving the communication signal sent by the host and generating a Can signal according to the communication signal; the controller is electrically connected with the interface circuit and the Can bus circuit and is used for generating a driving signal according to the Can signal; the motor is electrically connected with the interface circuit; the motor driving circuit is respectively electrically connected with the interface circuit and the controller and is used for driving the motor to operate through the interface circuit according to the driving signal; the sensor assembly is respectively electrically connected with the interface circuit and the motor and is used for detecting working information of the motor during operation so that the controller controls the operation of the motor through the motor driving circuit according to the working information; and a power supply circuit. In this way, the embodiment of the utility model provides a can reduce the signal interference that the motor operation leads to.

Description

Motor driver

[ technical field ] A method for producing a semiconductor device

The embodiment of the utility model provides a relate to motor technical field, especially, relate to a motor driver.

[ background of the invention ]

With the development of scientific technology and the improvement of medical level, various medical devices are gradually emerging. The motor is a relatively common component of medical equipment, and the working voltage and the working current of the motor are relatively large, so that when the driving circuit drives the motor to operate, weak signals in the circuit are easily interfered.

[ Utility model ] content

The embodiment of the utility model provides a aim at providing a motor drive, it can reduce the signal interference that the motor operation leads to.

In order to solve the above technical problem, an embodiment of the utility model provides a motor driver, include metal casing with set up in motor system in the metal casing, wherein, motor system includes:

an interface circuit;

the Can bus circuit is electrically connected with the interface circuit and is used for receiving a communication signal sent by a host through the interface circuit and generating a Can signal according to the communication signal;

the controller is electrically connected with the interface circuit and the Can bus circuit and is used for generating a driving signal according to the Can signal;

a motor electrically connected to the interface circuit;

the motor driving circuit is respectively electrically connected with the interface circuit and the controller and is used for driving the motor to operate through the interface circuit according to the driving signal;

the sensor assembly is respectively electrically connected with the interface circuit and the motor and is used for detecting working information when the motor runs and sending the working information to the controller through the interface circuit, so that the controller controls the running of the motor through the motor driving circuit according to the working information; and the number of the first and second groups,

and the power supply circuit is electrically connected with the Can bus circuit, the controller and the sensor assembly respectively and is used for providing working voltage.

Optionally, the Can bus circuit comprises:

the common-mode inductor is electrically connected with the interface circuit and used for receiving a communication signal sent by a host through the interface circuit and filtering the communication signal;

and the Can driving chip is respectively and electrically connected with the common-mode inductor and the controller and is used for generating a Can signal according to the filtered communication signal.

Optionally, the Can bus circuit further includes a surge protection circuit, where the surge protection circuit is electrically connected to the input end of the common mode inductor and is configured to stabilize a communication signal input to the common mode inductor within a preset voltage range.

Optionally, the surge protection circuit comprises a first transient diode and a second transient diode;

one end of the first transient diode is connected with the first input end of the common-mode inductor, and the other end of the first transient diode is grounded;

one end of the second transient diode is connected with the second input end of the common mode inductor, and the other end of the second transient diode is grounded.

Optionally, the motor system further includes a signal isolation circuit electrically connected between the interface circuit and the controller, and further electrically connected to the power circuit, for isolating noise signals contained in the operation information.

Optionally, the sensor assembly comprises several types of sensors;

the signal isolation circuit comprises a plurality of isolation units which are consistent with the number of the sensors, and each isolation unit is electrically connected between the corresponding sensor and the controller.

Optionally, each isolation unit includes a first resistor, a diode, an optical coupler isolator, a capacitor, and a second resistor;

one end of the first resistor is used for receiving an external power supply, and the other end of the first resistor is connected with the cathode of the diode and the first primary side input end of the optocoupler isolator;

a second primary side input end of the optocoupler isolator is connected with the anode of the diode and a sensor;

the output end of the first secondary side of the optical coupler isolator is grounded, and the output end of the second secondary side of the optical coupler isolator is connected with one end of the second resistor, one end of the capacitor and the controller;

the other end of the capacitor is grounded;

the other end of the second resistor is used for receiving the working voltage.

Optionally, the sensor assembly includes an encoder, an origin switch, and a limit switch.

Optionally, the power supply circuit comprises:

the first voltage reduction circuit is electrically connected with the signal isolation circuit and used for reducing the external voltage to obtain a first voltage;

and the second voltage reduction circuit is respectively electrically connected with the first voltage reduction circuit, the Can bus circuit, the controller and the sensor assembly and is used for reducing the first voltage to obtain a second voltage serving as the working voltage.

Optionally, the motor is a stepper motor.

The utility model has the advantages that: compared with the prior art, the embodiment of the utility model provides a motor driver sets up in metal casing through the motor system who constitutes interface circuit, Can bus circuit, controller, motor drive circuit, sensor module and power supply circuit, utilizes metal casing's signal shielding characteristic to voltage, the current signal of shield motor normal during operation avoid the large signal to produce the interference to other weak signals in the circuit, thereby reduced the signal interference that the motor operation leads to.

[ description of the drawings ]

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural diagram of a motor driver according to an embodiment of the present invention;

fig. 2 is a schematic circuit diagram of a Can bus circuit according to an embodiment of the present invention;

fig. 3 is a schematic circuit diagram of a power circuit according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a motor driver according to another embodiment of the present invention;

fig. 5 is a schematic circuit diagram of a sensor assembly and a signal isolation circuit according to an embodiment of the present invention;

fig. 6a is a schematic circuit connection diagram of one of the interface circuits according to the embodiment of the present invention;

fig. 6b is a schematic circuit connection diagram of one of the interface circuits according to the embodiment of the present invention;

fig. 7 is a schematic circuit connection diagram of a Can bus circuit according to an embodiment of the present invention;

fig. 8 is a schematic circuit connection diagram of a controller according to an embodiment of the present invention;

fig. 9 is a schematic circuit connection diagram of a power circuit according to an embodiment of the present invention;

fig. 10 is a schematic circuit connection diagram of a signal isolation circuit according to an embodiment of the present invention.

[ detailed description ] embodiments

To facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "left," "right," "inner," "outer," and the like are used in the positional or orientational relationships as shown in the drawings for the purpose of convenience in describing the application and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.

An embodiment of the utility model provides a medical equipment, including following arbitrary embodiment motor driver for through motor driver, drive medical equipment's target mechanical parts is according to predetermineeing the path motion, and can reduce the signal interference that the motor operation leads to, promotes medical equipment's operational reliability.

The medical device is an instrument, device, instrument, material, or other article used alone or in combination in a human body, and includes necessary software. The medical equipment is the most basic element of medical treatment, scientific research, teaching, institutions and clinical discipline work, namely professional medical equipment and household medical equipment. The therapeutic effect on the body surface and the body is not obtained by means of pharmacology, immunology or metabolism, but the medical appliance product plays a certain auxiliary role. During use, the following intended purposes are intended to be achieved: prevention, diagnosis, treatment, monitoring and alleviation of diseases; diagnosis, treatment, monitoring, mitigation, compensation of injury or disability; research, substitution, regulation of anatomical or physiological processes; and (4) controlling pregnancy.

Medical devices include three broad categories, diagnostic devices, therapeutic devices, and auxiliary devices. The diagnostic device class can be divided into eight classes: an X-ray diagnostic apparatus, an ultrasonic diagnostic apparatus, a functional examination apparatus, an endoscopy apparatus, a nuclear medicine apparatus, an experimental diagnostic apparatus, and a pathological diagnosis apparatus. The therapeutic device classes can be divided into 10 classes: ward care equipment (sickbeds, carts, oxygen bottles, gastric lavage machines, needleless injectors, etc.); surgical equipment (operating tables, lighting, surgical instruments and various tables, racks, stools, cabinets, including microsurgical equipment); radiotherapy equipment (contact therapy machine, superficial therapy machine, deep therapy machine, accelerator, 60 cobalt therapy machine, radium or 137 cesium intracavity therapy, after loading device therapy, etc.); the nuclear medicine treatment equipment-treatment method comprises three types of internal irradiation treatment, application treatment and colloid treatment; physiochemical devices (broadly classified into phototherapy business, electrotherapy devices, ultrasound therapy, and sulfur therapy devices 4); laser equipment-medical laser generator (ruby laser, helium neon laser, carbon dioxide laser, argon ion laser, YAG laser, etc. are commonly used); dialysis treatment equipment (common artificial kidneys include two types, namely a flat-plate type artificial kidney and a tubular type artificial kidney); body temperature freezing equipment (semiconductor cold knife, gas cold knife, solid cold knife, etc.); emergency equipment (cardiac defibrillation pacing equipment, artificial ventilators, ultrasonic nebulizers, etc.); other therapeutic devices (hyperbaric oxygen chambers, high-frequency electro-chromic devices for ophthalmology, electromagnetic iron absorbers, vitreous cutters, blood adult separators, etc.). The treatment devices belong to special treatment equipment of each department, and can be independently divided into one type if necessary. The class of auxiliary equipment can be divided into the following classes: the medical image processing system comprises disinfection and sterilization equipment, refrigeration equipment, a central suction and oxygen supply system, air conditioning equipment, pharmaceutical machinery equipment, blood bank equipment, medical data processing equipment, medical video and photographic equipment and the like.

Fig. 1 is a schematic structural diagram of a motor driver according to an embodiment of the present invention. As shown in fig. 1, the motor driver 100 includes a metal housing 10 and a motor system 20 disposed in the metal housing 10.

The metal housing 10 is made of a metallic material having luster, ductility, and easy electrical and thermal conductivity, has an accommodating space for accommodating the motor system 20, and is provided with a plurality of interfaces (not shown) adapted to the motor system 20.

The motor system 20 includes an interface circuit 201, a Can bus circuit 202, a controller 203, a motor 204, a motor drive circuit 205, a sensor assembly 206, and a power supply circuit 207.

In the present embodiment, the interface circuit 201 includes an encoder interface circuit, a communication interface circuit, an origin switch and limit switch interface circuit, and a motor interface circuit.

As shown in fig. 6a, an encoder interface circuit, a communication interface circuit, an origin switch, and a limit switch interface circuit are provided to the connector J1.

The encoder interface circuit corresponds to pin 1, pin 2, pin 3, pin 4, pin 5 and pin 6 of the connector J1, pin 1, pin 2 and pin 3 are all 24V _ IN terminals, pin 4, pin 5 and pin 6 are all GND terminals, and the encoder interface circuit is used for receiving 24V working voltage provided by external equipment for the encoder.

The communication interface circuit corresponds to pin 7, pin 8, pin 9, and pin 10 of the connector J1, where pin 7 is a CANH terminal, pin 9 is a CANL terminal, and pin 8 and pin 10 are GND terminals, and is used to implement data transmission between the host and the controller 203. The CANH end and the CANL end are respectively connected with a Can bus, the voltage difference between the CANH end and the CANL end forms a differential signal, when the host sends data to the controller 203 through the communication interface circuit, the differential signal is converted into a TTL level signal which Can be identified by the controller 203 through the Can bus circuit 202, and the Can bus circuit 202 controls the controller 203 to receive serial port data sent by the communication interface circuit; when the controller 203 sends data to the host through the communication interface circuit, the controller 203 outputs a TTL level signal, the TTL level signal is converted into a differential signal recognizable by the Can interface chip through the Can bus circuit 202, and the Can bus circuit 202 controls the controller 203 to send serial data to the communication interface circuit.

The origin switch and limit switch interface circuit correspond to pin 11, pin 12 and pin 14 of the connector J1, wherein pin 11 is the IN3 terminal, pin 12 is the IN4 terminal, pin 13 is the IN1 terminal and pin 14 is the IN2 terminal. The IN3 end corresponds to an ENCB/CCWL interface outside the metal shell 10, the IN4 end corresponds to an ENCA interface outside the metal shell 10, the IN1 end corresponds to a CWL interface outside the metal shell 10, and the IN2 end corresponds to an ORG interface outside the metal shell 10. The ENCB/CCWL interface is connected with a limit switch IN the anticlockwise direction, a first limit signal is output through an IN3 end of a connector J1, the CWL interface is connected with the limit switch IN the clockwise direction, a second limit signal is output through an IN1 end of a connector J1, the ORG interface is connected with an origin switch, and an origin signal is output through an IN2 end of a connector J1.

As shown in fig. 6b, the motor interface circuit is disposed on the connector J2, the connector J2 includes a U1_ OUTA1 terminal, a U1_ OUTA2 terminal, a U1_ OUTB2 terminal, a U1_ OUTB1 terminal, a U1_ OUTA1 terminal, a U1_ OUTA2 terminal, a U1_ OUTB2 terminal, and a U1_ OUTB1 terminal, and the motor 204 and the motor driving circuit 205 are connected through the motor driving line to realize the forward rotation and the reverse rotation of the motor 204. The terminals U1_ OUTA1 and U1_ OUTA2 correspond to one phase of the motor 204, and the terminals U1_ OUTB2 and U1_ OUTB1 correspond to one phase of the motor 204. It is understood that when the motor 204 is a multi-phase motor, the connector J2 is not limited to the number of ports of the connector J2, and when the motor 204 is a three-phase motor, the connector J2 includes a U1_ OUTA1 terminal, a U1_ OUTA2 terminal, a U1_ OUTB2 terminal, a U1_ OUTB1 terminal, a U1_ OUTC1 terminal, and a U1_ OUTC2 terminal.

The Can bus circuit 202 is electrically connected to the interface circuit 201, and is configured to receive a communication signal sent by the host through the interface circuit 201 and generate a Can signal according to the communication signal.

As shown in fig. 2, Can bus circuit 202 includes a common mode inductor 2021 and a Can driver chip 2022.

The common mode inductor 2021 is electrically connected to the interface circuit 201, and is configured to receive a communication signal sent by the host through the interface circuit 201 and perform filtering processing on the communication signal.

The Can driver chip 2022 is electrically connected to the common mode inductor 2021 and the controller 203, respectively, and is configured to generate a Can signal according to the filtered communication signal.

In some embodiments, Can bus circuit 202 also includes surge protection circuit 2023. The surge protection circuit 2023 is electrically connected to the input terminal of the common mode inductor 2021, and is configured to stabilize the communication signal input to the common mode inductor 2021 within a preset voltage range.

As shown in fig. 7, the common mode inductor 2021 includes a common mode inductor L1, the Can driver chip 2022 includes a Can driver chip U1, and the surge protection circuit 2023 includes a first transient diode D1 and a second transient diode D2.

One end of the first transient diode D1 is connected to the first input terminal of the common mode inductor L1 and the CANH terminal of the connector J1, and the other end of the first transient diode D1 is grounded. One end of the second transient diode D2 is connected to the second input terminal of the common mode inductor L1 and the CANL terminal of the connector J1, and the other end of the second transient diode D2 is grounded. In the present embodiment, the first transient diode D1 and the second transient diode D2 are packaged in a transient suppression diode DL to increase the breakdown voltage and the clamping voltage of the transient diodes.

Taking Can drive chip SN65HVD230D as an example, Can drive chip SN65HVD230D includes a TXD pin, a GND pin, a VCC pin, an RXD pin, a SPLIT pin, a CANL pin, a CANH pin, and a STB pin. A first output terminal of the common mode inductor L1 is connected to a CANH pin of the Can driver chip SN65HVD230D, and a second output terminal of the common mode inductor L1 is connected to a CANL pin of the Can driver chip SN65HVD 230D. The TXD pin of the Can driver chip SN65HVD230D is connected to the Can _ TX pin of the controller 203, the GND pin of the Can driver chip SN65HVD230D is connected to ground, the VCC pin of the Can driver chip SN65HVD230D is used for receiving the 3.3V operating voltage provided by the power supply circuit 207, the RXD pin of the Can driver chip SN65HVD230D is connected to the Can _ RX pin of the controller 203, the SPLIT pin of the Can driver chip SN65HVD230D is floating, and the STB pin of the Can driver chip SN65HVD230D is connected to ground.

The common mode inductor L1 is used to filter the communication signal sent by the host through the interface circuit 201, and the communication signal sent by the host through the Can bus is represented as a voltage difference between the CANH terminal and the CANL terminal. The Can driver chip SN65HVD230D is a Can transceiver between the controller 203 and the interface circuit 201, and is used for controlling data transmission and reception of the communication interface circuit.

Referring to fig. 7 again, the Can bus circuit 202 further includes a capacitor C1, one end of the capacitor C1 is used for receiving the operating voltage of 3.3V, and the other end of the capacitor C1 is grounded, that is, the capacitor C1 is electrically connected between the VCC pin and the GND pin of the Can driver chip SN65HVD230D, and is used for performing noise reduction processing on the Can driver chip SN65HVD 230D.

It Can be appreciated that the Can bus circuit 202 supports the Can communication protocol, which Can reduce the number of wire harnesses and improve the reliability of data communication.

The controller 203 is electrically connected to the interface circuit 201 and the Can bus circuit 202 for generating a driving signal according to the Can signal.

As shown in fig. 8, the controller 203 includes a single chip microcomputer U2 and its peripheral circuits, and the single chip microcomputer U2 may adopt 51 series, Arduino series, STM32 series, and the like.

In some embodiments, the controller 203 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), an ARM (Acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components; but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine; or as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

By taking the single chip microcomputer U2 as an example of adopting an STM32F103 microcontroller chip, the STM32F103 microcontroller chip integrates various peripheral functions such as Timer, CAN, ADC, SPI, I2C, USB, UART and the like. Capacitor C2, capacitor C5, capacitor C6, capacitor C7, resistor R2 and capacitor C8 are filter elements of the STM32F103 microcontroller chip. The capacitor C3, the capacitor C4, the resistor R1 and the crystal oscillator Y1 form a clock circuit of the STM32F103 microcontroller chip. Resistor R6 is the current limiting resistor of the STM32F103 microcontroller chip. The dial switch S1, the integrated resistor RP1, the resistor R5 and the light-emitting diode LED1 form a key circuit of an STM32F103 microcontroller chip. The resistor R3, the resistor R4 and the connector J3 form a reset circuit of the STM32F103 microcontroller chip. Please refer to fig. 8 for a specific connection relationship between the STM32F103 microcontroller chip and its peripheral circuits, which is not described in detail herein.

The motor 204 is electrically connected to the interface circuit 201.

In this embodiment, the motor 204 is a stepper motor, which is connected to the connector J2 (i.e., the motor interface circuit). A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor rotates an angle or one step before inputting a pulse signal, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency.

The number of the stepping motors and the number of the dial switches are in positive correlation, and the target stepping motor can be selected to be driven by setting the dial switches. In the present embodiment, the motor driver 100 can simultaneously drive 64 stepping motors.

The motor driving circuit 205 is electrically connected to the interface circuit 201, the controller 203, and the motor 204, respectively, and is configured to drive the motor 204 to operate through the interface circuit 201 according to the driving signal.

In the present embodiment, the motor drive circuit 205 includes a motor drive chip. POWERSTEP01 motor driver chip can be selected for use to the motor driver chip, carries out SPI communication through the SPI interface of STM32F103 microcontroller chip, realizes step motor's position control and speed control. Specifically, the driving signal includes current information, voltage information, acceleration information, and other motor state parameters, the SPI interface of the STM32F103 microcontroller chip transmits the driving signal to the POWERSTEP01 motor driving chip, the POWERSTEP01 motor driving chip is connected to the U1_ OUTA1 terminal, the U1_ OUTA2 terminal, the U1_ OUTB2 terminal, and the U1_ OUTB2 terminal of the motor interface circuit through driving cables, the U1_ OUTA1 terminal, the U1_ OUTA2 terminal, the U1_ OUTB2 terminal, and the U1_ OUTB2 terminal respectively correspond to the a-interface, the a + interface, the B + interface, and the B-interface outside the metal shell 10, and the POWERSTEP01 motor driving chip drives the stepping motor to operate according to the current information, the voltage information, the acceleration information, and other motor state parameters in the driving signal.

The sensor assembly 206 is electrically connected to the interface circuit 201 and the motor 204, and is configured to detect operation information of the motor 204 during operation, and send the operation information to the controller 203 through the interface circuit 201, so that the controller 203 controls the operation of the motor 204 through the motor driving circuit 205 according to the operation information.

The sensor assembly 206 includes an encoder, an origin switch, and a limit switch.

Wherein the encoder converts angular or linear displacement into an electrical signal. The origin switch may include position sensors such as a proximity switch, a photoelectric switch, a micro switch, a non-contact switch, and a hall sensor, for detecting an origin signal of the stepping motor, and when the stepping motor rotates in one direction and detects the origin signal, the stepping motor stops rotating. The limit switch is also called as a travel switch, and the limit switch is used for converting mechanical displacement into an electric signal so that the running state of the stepping motor can be changed (forward rotation or reverse rotation), thereby controlling mechanical action or being used for program control.

In this embodiment, the encoder is an incremental encoder, and the limit switch includes a left limit switch and a right limit switch, or includes an upper limit switch and a lower limit switch.

The power circuit 207 is electrically connected to the Can bus circuit 202, the controller 203, and the sensor assembly 206, respectively, for providing an operating voltage.

Referring to fig. 3, 9, and 10, the power circuit 207 includes a first step-down circuit 2071 and a second step-down circuit 2072.

The first voltage dropping circuit 2071 is electrically connected to the signal isolation circuit 208, and is configured to drop an external voltage to obtain a first voltage.

As shown in fig. 9, the first voltage-dropping circuit 2071 includes an EMI filter FIL, a diode D3, a transient diode TVS1, a capacitor C9, a resistor R7, a voltage-dropping chip U3, a resistor R8, a resistor R9, a capacitor C10, a diode D4, an inductor L2 and a capacitor C11.

Taking the example that the buck chip U3 adopts the ETA2843 buck chip, the first terminal of the EMI filter FIL is used for receiving the external voltage 24V, the second terminal of the EMI filter FIL is connected with the anode of the diode D3, and the third terminal of the EMI filter FIL is grounded. The cathode of the diode D3 is connected to the cathode of the transient diode TVS1, one end of the capacitor C9, one end of the resistor R7, and the VIN pin of the ETA2843 buck chip, the cathode of the transient diode TVS1 is used to output the clamped voltage U1_ VS, and the voltage U1_ VS is used to provide an external power supply for the signal isolation circuit 208. The anode of the transient diode TVS1 and the other end of the capacitor C9 are both grounded. The other end of the resistor R7 is connected with the EN pin of the ETA2843 voltage reduction chip. The GND pin of the ETA2843 voltage reduction chip is grounded, the FB pin of the ETA2843 voltage reduction chip is connected with one end of a resistor R8 and one end of a resistor R9, the SW pin of the ETA2843 voltage reduction chip is connected with one end of a capacitor C10, the cathode of a diode D4 and one end of an inductor L2, and the BST pin of the ETA2843 voltage reduction chip is connected with the other end of a capacitor C10. The other end of the resistor R8 is connected to the other end of the inductor L2 and one end of the capacitor C11, and is configured to output a voltage 5V after voltage stabilization and filtering, and send the voltage to the second voltage dropping circuit 2072. The other end of the resistor R9, the anode of D4 and the other end of the capacitor C11 are all grounded.

The second voltage-reducing circuit 2072 is electrically connected to the first voltage-reducing circuit 2071, the Can bus circuit 202, the controller 203 and the sensor module 206, respectively, and is configured to reduce the first voltage to obtain a second voltage as the operating voltage.

As shown in fig. 9, the second voltage dropping circuit 2072 includes a capacitor C12, a low dropout linear regulator chip U4, a capacitor C13 and a capacitor C14.

One end of the capacitor C12 is connected to the first voltage-dropping circuit 2071 and the VIN pin of the low dropout linear regulator chip U4, and is configured to receive the voltage 5V output by the first voltage-dropping circuit 2071, and the other end of the capacitor C12 is grounded. The GND pin of the low dropout linear regulator chip U4 is grounded, the VOUT pin of the low dropout linear regulator chip U4 is connected with one end of a capacitor C13 and one end of a capacitor C14, and the other end of the capacitor C13 and the other end of the capacitor C14 are both grounded. The voltage 5V output by the first voltage-dropping circuit 2071 is regulated and dropped by the low-dropout linear regulator chip U4, and then is filtered by the filter circuit composed of the capacitor C13 and the capacitor C14, so as to provide the working voltage 3.3V for the first voltage-dropping circuit 2071, the Can bus circuit 202, the controller 203 and the sensor module 206.

In some embodiments, referring to fig. 4, the electromechanical system 100 further includes a signal isolation circuit 208.

The signal isolation circuit 208 is electrically connected between the interface circuit 201 and the controller 203, and is also electrically connected to the power supply circuit 207, for isolating a noise signal contained in the operation information.

Referring to fig. 5, the sensor assembly 206 includes a plurality of sensors 2061, the signal isolation circuit 208 includes a plurality of isolation units 2081 corresponding to the plurality of sensors 2061, and each isolation unit 2081 is electrically connected between the corresponding sensor 2061 and the controller 203.

As shown in fig. 10, each isolation unit 2081 includes a first resistor, a diode, an opto-isolator, a capacitor, and a second resistor. One end of the first resistor is used for receiving an external power supply, and the other end of the first resistor is connected with the cathode of the diode and the first primary side input end of the optocoupler isolator; the second primary side input end of the optical coupler isolator is connected with the anode of the diode and a sensor; the output end of the first secondary side of the optical coupler isolator is grounded, and the output end of the second secondary side of the optical coupler isolator is connected with one end of a second resistor, one end of a capacitor and the controller; the other end of the capacitor is grounded; the other end of the second resistor is used for receiving the working voltage.

Taking the example that the plurality of isolation units 2081 include 4 isolation units 2081, the first resistor RP2 includes 4 resistors connected in parallel, and the second resistor RP3 includes 4 resistors connected in parallel, the first isolation unit 2081 includes a first resistor RP2, a diode D5, an opto-isolator U5, a capacitor C15, and a second resistor RP 3. One end of a first resistor of the first resistor RP2 is used for receiving an external power supply U1_ VS, the other end of the first resistor RP2 is connected with the cathode of the diode D5 and the first primary side input end of the optocoupler isolator U5, and the anode of the diode D5 is connected with the IN1 end of the connector J1 and the second primary side input end of the optocoupler isolator U5. The first secondary side output end of the optical coupler isolator U5 is grounded, and the second secondary side output end of the optical coupler isolator U5 is connected with one end of the first resistor of the second resistor RP3, one end of the capacitor C15 and the I1 pin of the single chip microcomputer U2. The other terminal of the capacitor C15 is connected to ground. The other end of the first resistor of the second resistor RP3 is used for receiving the operating voltage of 3.3V.

The second isolation unit 2081 includes a first resistor RP2, a diode D6, an opto-isolator U6, a capacitor C16, and a second resistor RP 3. One end of a second resistor of the first resistor RP2 is used for receiving an external power supply U1_ VS, the other end of the second resistor of the first resistor RP2 is connected with the cathode of the diode D6 and the first primary side input end of the optocoupler isolator U6, and the anode of the diode D6 is connected with the IN2 end of the connector J1 and the second primary side input end of the optocoupler isolator U6. The first secondary output end of the optical coupler isolator U6 is grounded, and the second secondary output end of the optical coupler isolator U6 is connected with one end of a second resistor of the second resistor RP3, one end of the capacitor C16 and an I2 pin of the single chip microcomputer U2. The other terminal of the capacitor C16 is connected to ground. The other end of the second resistor RP3 is used for receiving the operating voltage of 3.3V.

The third isolation unit 2081 includes a first resistor RP2, a diode D7, an opto-isolator U7, a capacitor C17, and a second resistor RP 3. One end of a third resistor of the first resistor RP2 is used for receiving an external power supply U1_ VS, the other end of the third resistor of the first resistor RP2 is connected with the cathode of the diode D7 and the first primary side input end of the optocoupler isolator U7, and the anode of the diode D7 is connected with the IN3 end of the connector J1 and the second primary side input end of the optocoupler isolator U7. The first secondary side output end of the optical coupler isolator U7 is grounded, and the second secondary side output end of the optical coupler isolator U7 is connected with one end of a third resistor of the second resistor RP3, one end of the capacitor C17 and an I3 pin of the single chip microcomputer U2. The other terminal of the capacitor C17 is connected to ground. The other end of the third resistor of the second resistor RP3 is used for receiving the operating voltage of 3.3V.

The fourth isolation unit 2081 includes a first resistor RP2, a diode D8, an opto-isolator U8, a capacitor C18, and a second resistor RP 3. One end of a fourth resistor of the first resistor RP2 is used for receiving an external power supply U1_ VS, the other end of the fourth resistor of the first resistor RP2 is connected with the cathode of the diode D8 and the first primary side input end of the optocoupler isolator U8, and the anode of the diode D8 is connected with the IN4 end of the connector J1 and the second primary side input end of the optocoupler isolator U8. The first secondary side output end of the optical coupler isolator U8 is grounded, and the second secondary side output end of the optical coupler isolator U8 is connected with one end of a fourth resistor of the second resistor RP3, one end of the capacitor C18 and an I4 pin of the single chip microcomputer U2. The other terminal of the capacitor C18 is connected to ground. The other end of the fourth resistor of the second resistor RP3 is used for receiving the operating voltage of 3.3V.

It can be understood that the origin switch and the limit switch are integrated in the motor driver 100 through the isolation units 2081 with the same number as the origin switch and the limit switch, so that each stepping motor in the motor driver 100 can be connected with the host through cables with the same number as the isolation units 2081, thereby greatly reducing the number of cables.

The embodiment of the utility model provides a motor driver sets up in metal casing through the electrical machinery system who constitutes interface circuit, Can bus circuit, controller, motor drive circuit, sensor module and power supply circuit, utilizes metal casing's signal shielding characteristic to voltage, the current signal of shield motor normal during operation avoid the big signal to produce the interference to other weak signals in the circuit, thereby reduced the signal interference that the motor operation leads to.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; 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 depart from the spirit and scope of the present invention.

Claims (10)

1. A motor driver comprising a metal housing and a motor system disposed within the metal housing, wherein the motor system comprises:

an interface circuit;

the Can bus circuit is electrically connected with the interface circuit and is used for receiving a communication signal sent by a host through the interface circuit and generating a Can signal according to the communication signal;

the controller is electrically connected with the interface circuit and the Can bus circuit and is used for generating a driving signal according to the Can signal;

a motor electrically connected to the interface circuit;

the motor driving circuit is respectively electrically connected with the interface circuit and the controller and is used for driving the motor to operate through the interface circuit according to the driving signal;

the sensor assembly is respectively electrically connected with the interface circuit and the motor and is used for detecting working information when the motor runs and sending the working information to the controller through the interface circuit, so that the controller controls the running of the motor through the motor driving circuit according to the working information; and the number of the first and second groups,

and the power supply circuit is electrically connected with the Can bus circuit, the controller and the sensor assembly respectively and is used for providing working voltage.

2. The motor drive of claim 1, wherein the Can bus circuit comprises:

the common-mode inductor is electrically connected with the interface circuit and used for receiving a communication signal sent by a host through the interface circuit and filtering the communication signal;

and the Can driving chip is respectively and electrically connected with the common-mode inductor and the controller and is used for generating a Can signal according to the filtered communication signal.

3. The motor drive of claim 2, wherein the Can bus circuit further comprises a surge protection circuit electrically connected to the input of the common mode inductor for stabilizing the communication signal input to the common mode inductor within a predetermined voltage range.

4. The motor driver of claim 3, wherein the surge protection circuit comprises a first transient diode and a second transient diode;

one end of the first transient diode is connected with the first input end of the common-mode inductor, and the other end of the first transient diode is grounded;

one end of the second transient diode is connected with the second input end of the common mode inductor, and the other end of the second transient diode is grounded.

5. The motor driver of any of claims 1-4, wherein the motor system further comprises a signal isolation circuit electrically connected between the interface circuit and the controller and further electrically connected to the power circuit for isolating noise signals contained within the operational information.

6. The motor driver according to claim 5,

the sensor assembly comprises a plurality of sensors;

the signal isolation circuit comprises a plurality of isolation units which are consistent with the number of the sensors, and each isolation unit is electrically connected between the corresponding sensor and the controller.

7. The motor driver of claim 6, wherein each of the isolation units comprises a first resistor, a diode, an opto-isolator, a capacitor, and a second resistor;

one end of the first resistor is used for receiving an external power supply, and the other end of the first resistor is connected with the cathode of the diode and the first primary side input end of the optocoupler isolator;

a second primary side input end of the optocoupler isolator is connected with the anode of the diode and a sensor;

the output end of the first secondary side of the optical coupler isolator is grounded, and the output end of the second secondary side of the optical coupler isolator is connected with one end of the second resistor, one end of the capacitor and the controller;

the other end of the capacitor is grounded;

the other end of the second resistor is used for receiving the working voltage.

8. The motor drive of claim 6 wherein the sensor assembly comprises an encoder, an origin switch, and a limit switch.

9. The motor driver of claim 5, wherein the power circuit comprises:

the first voltage reduction circuit is electrically connected with the signal isolation circuit and used for reducing the external voltage to obtain a first voltage;

and the second voltage reduction circuit is respectively electrically connected with the first voltage reduction circuit, the Can bus circuit, the controller and the sensor assembly and is used for reducing the first voltage to obtain a second voltage serving as the working voltage.

10. A motor driver according to claim 1, wherein the motor is a stepper motor.

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