CN216531112U - Motor control circuit, driving device and robot - Google Patents
Motor control circuit, driving device and robot Download PDFInfo
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- CN216531112U CN216531112U CN202122284440.2U CN202122284440U CN216531112U CN 216531112 U CN216531112 U CN 216531112U CN 202122284440 U CN202122284440 U CN 202122284440U CN 216531112 U CN216531112 U CN 216531112U
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Abstract
The utility model discloses a motor control circuit, a driving device and a robot, and relates to the technical field of motor control. The motor control circuit comprises a detection sensor, a signal adjusting circuit and a driving circuit; the detection sensor is coupled with the motor and used for detecting the running state of the motor and generating a detection signal according to the running state; the signal adjusting circuit is connected with the detection sensor and used for converting a detection signal into a first signal when the motor is powered off; and the driving circuit is connected with the signal adjusting circuit and used for stopping driving the motor when receiving the first signal. When the signal motor of the embodiment is powered off, the signal fed back to the driving circuit by the detection sensor is adjusted into the first signal through the signal adjusting circuit, so that the driving chip stops driving the motor, the motor pushing resistance is eliminated, and the user experience is improved.
Description
Technical Field
The utility model relates to the technical field of motor control, in particular to a motor control circuit, a driving device and a robot.
Background
After the motor is powered off, induced current can be generated when the motor is manually pushed, and the induced current is fed back to the motor driving circuit to enable the driving circuit to start working. The drive circuit begins the driving motor to produce and promote the resistance, the user need use bigger strength to promote the motor this moment, influences user experience.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a motor control circuit, a driving device and a robot, and aims to solve the technical problem that in the prior art, after a motor is powered off, pushing resistance exists during pushing.
In order to achieve the above object, the present invention provides a motor control circuit, including:
the detection sensor is coupled with the motor and used for detecting the running state of the motor and generating a detection signal according to the running state;
the signal adjusting circuit is connected with the detection sensor and used for converting a detection signal into a first signal when the motor is powered off;
and the driving circuit is connected with the signal adjusting circuit and used for stopping driving the motor when receiving the first signal.
Optionally, the signal conditioning circuit includes:
a reference circuit for generating a preset level signal;
and the signal processing circuit is respectively connected with the reference circuit and the detection sensor and is used for combining the detection signal with the level signal to generate a first signal.
Optionally, the signal processing circuit includes a first switching tube;
the first connection end of the first switching tube is connected with the reference circuit; the second connecting end of the first switching tube is respectively connected with the detection sensor and the driving circuit, and the control end of the first switching tube is connected with the first preset control port; and the first preset control port is used for receiving a second signal when the motor is powered off so as to control the first connecting end and the second connecting end of the first switching tube to be communicated.
Optionally, the reference circuit includes an impedance unit, a first end of the impedance unit is grounded, and a second end of the impedance unit is connected to the signal processing circuit.
Optionally, the motor control circuit further comprises:
and the power supply control circuit is arranged on a power supply loop between the driving circuit and the detection sensor and used for disconnecting the power supply loop when the motor is powered off.
Optionally, the power control circuit includes:
the input end of the switching circuit is connected with the power supply end of the driving circuit, and the output end of the switching circuit is connected with the power supply end of the detection sensor;
and the signal receiving circuit is connected with the switch circuit and used for receiving the third signal and controlling the on-off of the switch circuit according to the third signal.
Optionally, the switching circuit includes a second switching tube and a third switching tube;
the first connecting end of the second switching tube is connected with the driving circuit, the second connecting end of the second switching tube is connected with the detection sensor, the control end of the second switching tube is connected with the first connecting end of the third switching tube, the second connecting end of the third switching tube is grounded, and the control end of the third switching tube is connected with the signal receiving circuit.
Optionally, the signal receiving circuit includes a protection element;
the input end of the protection element is connected with the second preset control port, and the output end of the protection element is connected with the switch circuit.
In order to achieve the above object, the present invention further provides a driving device, which includes the above motor control circuit and a motor connected to the motor control circuit.
In order to achieve the above object, the present invention further provides a robot, which includes the above driving device.
In the utility model, a motor control circuit is formed by arranging a detection sensor, a signal adjusting circuit and a driving circuit; the detection sensor is coupled with the motor and used for detecting the running state of the motor and generating a detection signal according to the running state; the signal adjusting circuit is connected with the detection sensor and used for converting a detection signal into a first signal when the motor is powered off; and the driving circuit is connected with the signal adjusting circuit and used for stopping driving the motor when receiving the first signal. When the motor is powered off, the signal fed back to the driving circuit by the detection sensor is adjusted into the first signal through the signal adjusting circuit, so that the driving circuit stops driving the motor, the motor pushing resistance is eliminated, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic circuit diagram of a first embodiment of a motor control circuit according to the present invention;
FIG. 2 is a schematic circuit diagram of a motor control circuit according to a second embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a signal processing circuit according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a motor control circuit according to a third embodiment of the present invention;
fig. 5 is a circuit diagram of an embodiment of a power control circuit according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
500 | Power |
| 200 | Electric machine | R1～R6 | First to |
| 300 | Signal adjusting circuit | Q1～Q3 | First to |
| 3001 | Reference circuit | C | Capacitor with a |
| 3002 | Signal processing circuit | Z | |
| 400 | Driving circuit |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are 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 at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a circuit structure diagram of a motor control circuit according to a first embodiment of the present invention.
The present invention proposes a first embodiment of a motor control circuit.
In a first embodiment, a motor control circuit includes:
the detection sensor 100 is coupled to the motor 200, and is configured to detect an operation state of the motor 200 and generate a detection signal according to the operation state.
It should be noted that, in order to perform more precise control on the motor 200, a sensor is usually provided to detect the operation process of the motor 200, so as to obtain the operation parameter to determine the control parameter. The detection sensor 100 may be a hall sensor, a pressure sensor, a temperature sensor, or the like, and the corresponding detection signal is a hall signal, a pressure signal, a temperature signal, or the like. The following description will be given taking the detection sensor 100 as a hall sensor as an example.
It is understood that, when the motor 200 is in a normal operation state, i.e., in a power-on state, the hall sensor may be used to detect the N/S poles of the magnets on the rotor of the motor to calculate the rotational speed of the motor, the N/S poles of the magnets can be determined by the hall sensor, two level states, i.e., a high level and a low level, are fed back to the driving circuit 400, and the driving circuit 400 determines the operation state of the motor 200 according to the received level states. In a specific implementation, the motor 200 may be coupled to a plurality of hall sensors, such as two or three, at the same time.
In general, in order to protect the safety of the motor 200, a protection program may be provided inside the driving circuit 400, for example, when the detection sensor 100 is in an abnormal state, the control of the motor 200 may be stopped in order to avoid an adverse effect caused by a control error of the motor 200. The detection sensor 100 is in an abnormal state, which means that a signal fed back by the detection sensor 100 is an abnormal signal; for example, each of the plurality of detection sensors 100 feeds back a high-level signal or a low-level signal. If the signal fed back by the detection sensor 100 is a normal signal, the driving circuit 400 determines that the detection sensor 100 is in a normal state, and continues to control the motor 200, where the normal signal may be a signal waveform other than an abnormal signal.
For example, when the motor is in a power-off state and is pushed, the rotor of the motor 200 rotates, and the hall sensor still feeds back a signal to the driving circuit 400, so that the driving circuit 400 can drive the motor according to a preset control logic. Specifically, the driving circuit 400 outputs a control signal to the inverter circuit of the motor 200 to control the switching of the MOS transistors in the inverter circuit, and if the switching sequence of the MOS transistors is exactly opposite to the current rotation direction, the driving resistance is generated, and if the switching sequence of the MOS transistors is exactly the same as the current rotation direction, the driving resistance is not generated. For example, when the sweeping robot is in an on state, the sweeping robot is driven to move by an internal motor, and at the moment, the sequence of the MOS tube switches is exactly the same as the current rotation direction, so that pushing resistance cannot be generated; after the robot is in a dormant state or in a power-off state, a user needs to manually push the sweeping robot to the base station position, at the moment, as the driving motor is pushed, the sequence of the MOS tube switches is just opposite to the current rotating direction, pushing resistance is generated, so that the user needs to push the robot by using large force, and the user experience is influenced.
And a signal adjusting circuit 300 connected to the detection sensor 100 for converting the detection signal into a first signal when the motor 200 is powered off.
It should be noted that the first signal may also be an electrical signal, and the level state of the first signal needs to be different from the normal signal fed back by the detection sensor 100, that is, the first signal is an abnormal signal. Therefore, the drive circuit 400 determines that the detection sensor 100 is in an abnormal state when receiving the first signal. For example, the first signal may be continuously high level or continuously low level, and of course, the first signal may also be other waveforms, which is not limited in this embodiment.
In a specific implementation, the signal adjusting circuit 300 may adjust the detection signal fed back by the detection sensor 100 according to the power state of the motor 200. For example, when the motor 200 is in the power-on state, the signal conditioning circuit 300 does not process the detection signal, and the driving circuit 400 may receive the detection signal; when the motor 200 is in a power-off state, the signal conditioning circuit 300 processes the detection signal and converts the detection signal into a first signal, which can be received by the driving circuit 400. The power-on state refers to that the motor 200 is powered by an external preset power module, and the power-off state refers to that the motor 200 does not receive power supplied by the external preset power module. Of course, the signal adjusting circuit 300 may be turned on or off in other manners, which is not limited in this embodiment.
The driving circuit 400 is connected to the signal adjusting circuit 300, and stops driving the motor 200 when receiving the first signal.
It will be appreciated that to eliminate the push resistance, it is necessary to ensure that the drive circuit 400 stops driving the motor 200 after the motor is powered down. However, the state of the IO port of the driving circuit 400 is not fixed after power failure, even though the IO port is fixed by an external resistor or other fixed state, only the low state is fixed, the high state cannot be effectively provided, and in the process of power voltage rising, there may be a situation that logic cannot be normally executed, so that it is not possible to directly set the driving circuit 400 to not drive the motor 200 when power failure occurs.
In the present embodiment, the first signal is used to indicate that the detection sensor 100 is in an abnormal state, since the driving circuit 400 needs to rely on the detection signal fed back by the detection sensor 100 when executing the normal control logic. Therefore, when the motor 200 is powered off, the driving circuit 400 receives the abnormal signal fed back by the detection sensor 100, and cannot output a driving signal to drive the motor 200, so that the pushing resistance is eliminated; when the motor 200 is powered on, the driving circuit 400 receives a normal signal fed back by the detection sensor 100, and thus outputs a driving signal to drive the motor 200 normally. The control logic of the driving circuit 400 for driving the motor 200 is well-known in the art, and the detailed description of the embodiment is omitted here.
In the first embodiment, the motor control circuit includes the detection sensor 100, the signal adjusting circuit 300, and the drive circuit 400; a detection sensor 100 coupled to the motor 200, for detecting a magnetic field state of the motor 200 and generating a detection signal according to the magnetic field state; a signal adjusting circuit 300 connected to the detection sensor 100, for converting the detection signal into a first signal when the motor 200 is powered off; the driving circuit 400 is connected to the signal adjusting circuit 300, and stops driving the motor 200 when receiving the first signal. In the present embodiment, when the signal motor 200 is powered down, the signal adjusting circuit 300 adjusts the signal fed back to the driving circuit 400 by the detection sensor 100 into the first signal, so that the driving circuit 400 stops driving the motor 200, thereby eliminating the motor driving resistance and improving the user experience.
Referring to fig. 2, fig. 2 is a circuit structure diagram of a motor control circuit according to a second embodiment of the present invention. Based on the first embodiment described above, the present invention proposes a second embodiment of the motor control circuit.
In the second embodiment, the signal adjusting circuit 300 includes:
the reference circuit 3001 is configured to generate a predetermined level signal.
The preset level signal may be a long low level signal or a long high level signal, where the long low level signal is a signal that is continuously kept at a low level, and the long high level signal is a signal that is continuously kept at a high level. The preset level signal has the same level state as the preset abnormal signal, for example, if the abnormal signal is a long low level signal, the preset level signal can be a long low level signal; if the abnormal signal is a long high level signal, the preset level signal can be a long high level signal.
In a specific implementation, the reference circuit 3001 may include a preset power supply for providing a high level signal; or the reference circuit 3001 may include a ground switch that is grounded when closed to provide a ground signal that is a low level signal. Of course, the providing manner of the preset level signal may be set according to the user requirement, and this embodiment is not limited thereto.
The signal processing circuit 3002 is connected to the reference circuit 3001 and the detection sensor 100, respectively, and combines the detection signal and the level signal to generate a first signal.
In the present embodiment, in order to facilitate conversion of the detection signal, the first signal is formed by directly combining the detection signal and the preset level signal supplied from the reference circuit 3001. If the reference circuit 3001 provides a high level, when the preset level signal is combined with the detection signal, the level of the detection signal is pulled up to a high level state, so as to form a first signal with a long high level; if the reference circuit 3001 provides a low level, the level of the detection signal is pulled down to a low level state when the preset level signal is combined with the detection signal, thereby forming a first signal of a long low level. If the reference circuit 3001 provides a high level, a switch needs to be set inside the signal processing circuit 3002, so as to isolate the preset level signal from the detection signal when the motor 200 is in the power-on state, thereby preventing the driving circuit 400 from receiving the first signal when the motor 200 is in the power-on state. If the reference circuit 3001 provides a low level, the signal processing circuit 3002 may not have a switch therein, and may directly connect the preset level signal to the detection signal, and the detection signal may directly cover the preset level signal when the motor 200 is in a power-on state, and the driving circuit 400 may receive the detection signal; when the motor 200 is in a power-down state, the detection signal cannot be covered, so that the driving circuit 400 receives the first signal.
In a specific implementation, the switch of the signal processing circuit 3002 may be controlled by an external chip. Generally, the driving circuit 400 is controlled by a superior control chip, and the control chip may send a control signal to the driving circuit 400 to make the driving circuit 400 drive the motor 200. The control chip may simultaneously transmit a switching signal to the signal processing circuit 3002 to put the signal processing circuit 3002 in an off state while transmitting the control signal. When the motor 200 is powered off, the switching signal disappears, and the signal processing circuit 3002 is in a closed state, so that the detection signal fed back by the detection sensor 100 is converted. Of course, the signal processing circuit 3002 may be controlled in other manners, and this embodiment is not limited thereto.
Referring to fig. 3, fig. 3 is a schematic circuit diagram of a signal processing circuit according to an embodiment of the present invention. To facilitate control of the signal processing circuit 3002, in the present embodiment, the signal processing circuit 3002 includes a first switching tube Q1; the first connection end of the first switching tube Q1 is connected with the reference circuit 3001; a second connection end of the first switch tube Q1 is respectively connected with the detection sensor 100 and the driving circuit 400, and a control end of the first switch tube Q1 is connected with a first preset control port; and the first preset control port is used for receiving a second signal when the motor is powered off so as to control the first connecting end and the second connecting end of the first switching tube Q1 to be communicated.
In this embodiment, to facilitate the design of the signal processing circuit 3002, the signal processing circuit 3002 may further include a first resistor R1 and a second resistor R2. A first end of the first resistor R1 is connected with a second connection end of the first switch tube Q1, a second end of the first resistor R1 is respectively connected with the detection sensor 100 and the driving circuit 400, a first end of the second resistor R2 is connected with a control end of the first switch tube Q1, and a second end of the second resistor R2 is connected with a first preset control port; and the second end of the first resistor R1 is used for receiving the detection signal.
Accordingly, the reference circuit 3001 includes an impedance unit, a first end of which is grounded and a second end of which is connected to the signal processing circuit. In a specific implementation, the impedance unit may include a third resistor R3. As shown in fig. 3, a first end of the third resistor R3 is grounded, and a second end of the third resistor R3 is connected to the signal processing circuit 3002. Specifically, the second end of the third resistor R3 is connected to the source of the first switch Q1.
It should be noted that the first switch Q1 may be a MOS transistor, the first connection end may be a source, the second connection end may be a drain, and the control end is a gate. A second terminal of the first resistor R1 is connected to a signal feedback port of the detection sensor 100 and to a signal receiving port of the driving circuit 400. When the first switch Q1 is in a closed state, the detection signal fed back from the signal feedback port by the detection sensor 100 is pulled low, so that the signal received by the signal receiving port of the driving circuit 400 is a long low level signal.
In this embodiment, the first predetermined control port is used for receiving a switching signal, and the first switching tube Q1 is turned on when the switching signal is at a high level, and the first switching tube Q1 is turned off when the switching signal is at a low level. Therefore, the first preset control port can be connected to a power supply generated by the motor 200 during power-down pushing, so that the signal processing circuit 3002 is in a conducting state when the motor 200 is in a power-down pushing state; while the motor 200 is in the power-on state, the signal processing circuit 3002 is in the off state.
In the second embodiment, the signal adjustment circuit 300 is configured by providing the reference circuit 3001 and the signal processing circuit 3002; the reference circuit 3001 is configured to generate a preset level signal; and the signal processing circuit 3002 is respectively connected with the reference circuit 3001 and the detection sensor 100, and is used for communicating a loop between the reference circuit 3001 and the detection sensor 100 when the motor 200 is powered off so as to combine the detection signal with the level signal and generate a first signal. In the present embodiment, the level signal provided by the reference circuit 3001 is used to adjust the detection signal fed back by the detection sensor 100, so as to obtain the first signal, so that when the motor 200 is in a power-off state and is being pushed, the driving circuit 400 receives the signal indicating that the detection sensor 100 is in an abnormal state, so as to eliminate the pushing resistance.
Referring to fig. 4, fig. 4 is a schematic circuit structure diagram of a motor control circuit according to a third embodiment of the present invention. Based on the first and second embodiments described above, the present invention proposes a third embodiment of the motor control circuit.
In a third embodiment, the motor control circuit further comprises:
and the power supply control circuit 500, wherein the power supply control circuit 500 is arranged on a power supply loop between the driving circuit 400 and the detection sensor 100 and is used for disconnecting the power supply loop when the motor 200 is powered off.
In order to further prevent the drive circuit 400 from controlling the motor 200 when the motor 200 is in the power-off state, the present embodiment also turns off the power supply of the detection sensor 100 when the motor 200 is in the power-off state.
Typically, the driver circuit 400 integrated with the sensor interface is capable of powering the sensor directly. Therefore, the power supply control circuit 500 has one end connected to the power supply port of the drive circuit 400 and one end connected to the power supply port of the detection sensor 100. Of course, the detection sensor 100 may also use other devices to supply power, and at this time, one end of the power control circuit 500 is connected to the power supply port of the power supply device, and the other end is connected to the power supply port of the detection sensor 100.
It should be noted that, when the motor 200 is in the power-on state, the power control circuit 500 is in the closed state, so that the detection sensor 100 can normally receive power; and is in an off state when the motor 200 is in a power-down state, so that the detection sensor 100 cannot receive power.
In this embodiment, the power supply control circuit includes: and the input end of the switching circuit is connected with the power supply end of the driving circuit 400, and the output end of the switching circuit is connected with the power supply end of the detection sensor 100. And the signal receiving circuit is connected with the switch circuit and used for receiving the third signal and controlling the on-off of the switch circuit according to the third signal.
It should be noted that the switch circuit has two states of on and off, and when the switch circuit is in the on state, the detection sensor 100 normally receives power; when the switching circuit is in the off state, the detection sensor 100 cannot receive power. The signal receiving circuit is used for receiving corresponding switching signals so as to control the state of the second switching circuit.
In this embodiment, the third signal may be a voltage signal or a current signal. Since the state of the switching circuit corresponds to the state of the motor 200, the switching circuit should be in a closed state when the motor 200 is in the power-on state, and the switching circuit should be in an open state when the motor 200 is in the power-off state, a corresponding third signal may be generated according to the state of the motor 200.
In a specific implementation, the third signal may be controlled by an external chip. Referring to the foregoing, the external chip needs to send a control signal to the driving circuit 400 to make the driving circuit 400 drive the motor 200. When the external chip sends the control signal, it indicates that the motor 200 is in the power-on state, and at this time, the external chip simultaneously sends a third signal to the signal receiving circuit. Alternatively, the external chip may transmit a control signal to the driving circuit 400 and multiplex the control signal, and the control signal may be used as the third signal.
Referring to fig. 5, fig. 5 is a circuit diagram of a power control circuit according to an embodiment of the utility model. The present embodiment also proposes a circuit principle of an embodiment of the power control circuit 500 in order to more accurately control the power supply to the detection sensor 100.
In a specific implementation, the switching circuit comprises a second switching tube Q2 and a third switching tube Q3;
the first connection end of the second switch tube Q2 is connected with the driving circuit 400, the second connection end of the second switch tube Q2 is connected with the detection sensor 100, the control end of the second switch tube Q2 is connected with the first connection end of the third switch tube Q3, the second connection end of the third switch tube Q3 is grounded, and the control end of the third switch tube Q3 is connected with the signal receiving circuit.
In this embodiment, to facilitate the design of the switch circuit, the switch circuit may further include a fourth resistor R4, a fifth resistor R5, and a capacitor C. The first end of the fourth resistor R4 is connected to the control end of the second switch Q2, the second end of the fourth resistor R4 is connected to the first connection end of the third switch Q3, the first end of the fifth resistor R5 is connected to the control end of the third switch Q3, the second end of the fifth resistor R5 is connected to the first end of the capacitor C and the signal receiving circuit, respectively, and the second end of the capacitor C is connected to the second connection end of the third switch Q3.
It is understood that the second switch Q2 may be a triode, the first connection terminal of the second switch Q2 may be an emitter, the second connection terminal may be a collector, and the control terminal is a base; the third switching tube Q3 may be an MOS tube, the first connection end may be a drain, the second connection end may be a source, the control end is a gate, when the MOS switching tube is in a conduction state, the base voltage of the transistor T is pulled low, so that the transistor T is turned on, the power supply end of the driving circuit 400 is directly communicated with the power supply end of the detection sensor 100, and the detection sensor 100 normally receives power. When the MOS transistor is in the off state, the transistor T is turned off, and the detection sensor 100 cannot receive power.
In the present embodiment, the signal receiving circuit may include a protection element Z; the input end of the protection element Z is connected with the second preset control port, and the output end of the protection element Z is connected with the switch circuit. The signal receiving circuit may further include a sixth resistor R6, a first terminal of the sixth resistor R6 is connected to the output terminal of the protection element Z, and a second terminal of the sixth resistor R6 is connected to the second switch circuit.
It should be noted that the protection element Z may be a diode, the input terminal is an anode of the diode, and the output terminal is a cathode of the diode. The second preset control port is used for generating a third signal. Specifically, the second preset control port may be an IO port of an external chip, or may be a multiplexing port of a control signal. When the external chip sends a control signal to the driving circuit 400, a third signal is sent to the anode of the diode through the IO port at the same time; or the control signal is transmitted to the anode of the diode as a third signal through a preset multiplexing circuit.
In the third embodiment, the source control circuit 50 is provided between the driving circuit 400 and the detection sensor 100, so that the power supply of the detection sensor 100 is controlled according to the power state of the motor 200, and the detection sensor 100 cannot receive the power supply when the motor 200 is powered off, thereby preventing the driving circuit 400 from driving the motor 200, and eliminating the pushing resistance of the motor 200.
In order to achieve the above object, the present invention further provides a driving device, which includes the above motor control circuit and a motor connected to the motor control circuit. The specific structure of the motor control circuit refers to the above embodiments, and since the driving device can adopt the technical solutions of all the above embodiments, the driving device at least has the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
In order to achieve the above object, the present invention further provides a robot, which includes the above driving device. The specific structure of the driving device refers to the above embodiments, and since the robot can adopt the technical solutions of all the above embodiments, the robot at least has the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A motor control circuit, comprising:
the detection sensor is coupled with the motor and used for detecting the running state of the motor and generating a detection signal according to the running state;
the signal adjusting circuit is connected with the detection sensor and used for converting the detection signal into a first signal when the motor is powered off;
and the driving circuit is connected with the signal adjusting circuit and used for stopping driving the motor when receiving the first signal.
2. The motor control circuit of claim 1 wherein said signal conditioning circuit comprises:
a reference circuit for generating a preset level signal;
and the signal processing circuit is respectively connected with the reference circuit and the detection sensor and is used for combining the detection signal and the level signal to generate a first signal.
3. The motor control circuit of claim 2 wherein said signal processing circuit comprises a first switching tube;
the first connection end of the first switch tube is connected with the reference circuit; the second connecting end of the first switch tube is respectively connected with the detection sensor and the driving circuit, and the control end of the first switch tube is connected with a first preset control port; the first preset control port is used for receiving a second signal when the motor is powered off so as to control the first connecting end and the second connecting end of the first switch tube to be communicated.
4. The motor control circuit of claim 2 wherein said reference circuit comprises an impedance unit, a first end of said impedance unit being connected to ground, a second end of said impedance unit being connected to said signal processing circuit.
5. The motor control circuit of any of claims 1-4, further comprising:
and the power supply control circuit is arranged on a power supply loop between the driving circuit and the detection sensor and used for disconnecting the power supply loop when the motor is powered off.
6. The motor control circuit of claim 5 wherein said power supply control circuit comprises:
the input end of the switch circuit is connected with the power supply end of the driving circuit, and the output end of the switch circuit is connected with the power supply end of the detection sensor;
and the signal receiving circuit is connected with the switch circuit and used for receiving a third signal and controlling the on-off of the switch circuit according to the third signal.
7. The motor control circuit of claim 6 wherein said switching circuit comprises a second switching tube, a third switching tube;
the first connection end of the second switch tube is connected with the driving circuit, the second connection end of the second switch tube is connected with the detection sensor, the control end of the second switch tube is connected with the first connection end of the third switch tube, the second connection end of the third switch tube is grounded, and the control end of the third switch tube is connected with the signal receiving circuit.
8. The motor control circuit of claim 6 wherein said signal receiving circuit includes a protection element;
the input end of the protection element is connected with a second preset control port, and the output end of the protection element is connected with the switch circuit.
9. A drive device characterized by comprising a motor control circuit according to any one of claims 1 to 8 and a motor connected to the motor control circuit.
10. A robot, characterized in that it comprises a drive arrangement according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122284440.2U CN216531112U (en) | 2021-09-18 | 2021-09-18 | Motor control circuit, driving device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122284440.2U CN216531112U (en) | 2021-09-18 | 2021-09-18 | Motor control circuit, driving device and robot |
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Address after: 518000, Building 1, Yunzhongcheng A2901, Wanke Yuncheng Phase 6, Dashi Er Road, Xili Community, Xishan District, Shenzhen City, Guangdong Province Patentee after: Yunjing Intelligent Innovation (Shenzhen) Co.,Ltd. Patentee after: Yunjing intelligent (Shenzhen) Co.,Ltd. Address before: 523808 building 7, No. 4, Xingye Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: YUNJING INTELLIGENCE TECHNOLOGY (DONGGUAN) Co.,Ltd. Patentee before: Yunjing intelligent (Shenzhen) Co.,Ltd. |
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