TW201824684A - Regenerative energy supply device capable of converting square wave regenerative energy into a DC steady state voltage by disposing the a rectifier module, the step-down module, the determination module and the switch module - Google Patents

Abstract

A regenerative energy supply device includes a power source end, a grounding end, a rectifier module, a step-down module, a determination module, and a switch module. The rectifier module is adapted to receive at least one regenerative energy and at least one control signal of a motor device and outputs a steady state voltage after rectifying and filtering the regenerative energy. The step-down module outputs as a regenerative voltage after stepping down the steady state voltage. The determination module outputs a switch signal according to the steady state voltage. The switch module switches and outputs a system voltage or one of the regenerative voltages as an operating voltage according to the switch signal. Accordingly, the regenerative energy in the form of a square wave can be converted into the steady state voltage as direct current (DC), which then can be stepped down as DC low voltage in order to provide the operating voltage required for the subsequent circuits. It does not only reduce mass space occupied by a large resistor to avoid raised temperature that affects the stability of the circuit but also achieves recycle and reuse of energy resource to have the efficacy of saving power.

Description

Regenerative energy supply device

The invention relates to a power supply device, in particular to a regenerative energy power supply device suitable for recovering the regenerated energy of a motor.

Generally, when the motor is in operation, it needs to receive electrical energy for acceleration, and it will generate regenerative energy during sudden deceleration or emergency stop. At present, the regenerative current caused by the regenerative energy is mostly converted into heat energy for release by setting a resistor.

However, when it is applied to a multi-axis multi-motor motor device, since each axis of the motor needs to be equipped with a large resistor, a large number of large resistors occupy a lot of space, and the heat generated during operation will also affect the temperature and affect Equipment stability.

Therefore, an object of the present invention is to provide a regenerative energy power supply device that can reduce space, avoid temperature rise, and save power.

Therefore, the regenerative energy power supply device of the present invention is suitable for electrically connecting a motor device, and includes a power terminal and a ground terminal, a rectifier module, a step-down module, a judgment module, and a switch module.

The rectifying module is adapted to receive at least one regenerated energy of the motor device and at least one control signal related to the output time of the regenerated energy, and rectify and filter the regenerated energy to output a steady-state voltage.

The step-down module is electrically connected to the rectifier module, receives the steady-state voltage and reduces the steady-state voltage to output a regenerative voltage.

The judgment module is electrically connected to the rectifier module, receives the steady-state voltage, and outputs a switching signal according to the steady-state voltage.

The switch module is electrically connected to the step-down module and the judgment module, receives a system voltage, the regeneration voltage, and the switching signal, and switches and outputs one of the system voltage and the regeneration voltage according to the switching signal to work. Voltage.

The effect of the present invention is that by setting the rectifier module, the step-down module, the judgment module, and the switch module, the regenerated energy in the form of a square wave can be converted into the steady-state voltage of the direct current, and then After the step-down module is reduced to DC low voltage, the working voltage required for subsequent circuits can be provided, which can not only reduce the large space occupied by large resistors, avoid temperature rise affecting circuit stability, but also achieve energy recovery and reuse, With the effect of saving power.

Referring to FIG. 1, an embodiment of a regenerative energy power supply device according to the present invention is suitable for electrically connecting a motor device (not shown) of a mechanical arm (not shown), and includes a power terminal VCC, a ground terminal GND, and a rectifier Module 2, a step-down module 3, a judgment module 4, and a switch module 5.

It is worth mentioning that the following is a description of the motor device with a six-axis motor (not shown), and the motor device will match the number of these motors to output six regenerative energies (in Fig. 1, the regenerative energies are used) 1 ~ 6 as labels) and six control signals (labeled as control signals 1 ~ 6 in Figure 1) respectively related to the output time of these regenerative energy, but in actual application, the motor device can also have only a single The motor only outputs a regenerative energy and a control signal related to the output time of the regenerative energy, and is not limited thereto.

The rectifier module 2 is adapted to receive the regenerated energy 1 to 6 and the control signals 1 to 6 and rectify and filter the regenerated energy 1 to 6 to output a steady-state voltage. The rectifier module 2 includes an input circuit 21 and a rectifier filter circuit 22.

The input circuit 21 is adapted to receive the regenerated energy 1 to 6 and the control signals 1 to 6, and output and not output the corresponding regenerated energy as an input voltage according to each control signal.

The input circuit 21 has six input solid-state relays 211-216, and the number of the input solid-state relays 211-216 is matched with the number of the motors. The input solid-state relays 211-216 are respectively applicable to receive the regenerative energy 1 ~ 6 and these control signals 1 to 6, each input solid state relay 211 to 216 has a first end that receives the corresponding regenerative energy 1 to 6, an output end, and a corresponding one that receives the corresponding control signals 1 to 6. The control terminal is turned on and off by the corresponding control signals 1 to 6, so as to output and not output the corresponding regenerated energy 1 to 6 as the input voltage.

In this embodiment, each of the input solid state relays 211 to 216 is implemented using a solid state relay (SSR), which has the effect of isolating the input and output and controlling the high power output current, but other options can be selected according to actual needs. The electronic component having the switch conducting effect is not limited to this.

The rectifying and filtering circuit 22 is electrically connected to the input circuit 21, receives the input voltage, and rectifies and filters the input voltage to output the steady-state voltage. The rectifying and filtering circuit 22 includes a rectifying and filtering inductor 221 and a rectifying and filtering capacitor 222.

The rectifying and filtering inductor 221 has a first terminal electrically connected to the output terminals of all the input solid-state relays 211 to 216, and a second terminal that outputs the steady-state voltage.

The rectifying and filtering capacitor 222 has a first terminal electrically connected to the second terminal of the rectifying and filtering inductor 221 and a second terminal electrically connected to the ground terminal GND.

The step-down module 3 is electrically connected to the rectifier module 2, receives the steady-state voltage and reduces the steady-state voltage to output a regenerative voltage.

The judgment module 4 is electrically connected to the rectification module 2, receives the steady-state voltage, and outputs a switching signal according to the steady-state voltage. The judgment module 4 includes a voltage dividing circuit 41 and a judgment circuit 42.

The voltage dividing circuit 41 is electrically connected to the rectifier module 2, receives the steady-state voltage and reduces the steady-state voltage to output a judgment voltage. The voltage dividing circuit 41 has a first voltage dividing resistor 411 and a second voltage dividing resistor 412.

The first voltage dividing resistor 411 has a first terminal for receiving the steady-state voltage, and a second terminal for outputting the judgment voltage.

The second voltage dividing resistor 412 has a first terminal electrically connected to the second terminal of the first voltage dividing resistor 411 and a second terminal electrically connected to the ground terminal GND.

The judging circuit 42 is electrically connected to the voltage dividing circuit 41 and outputs the switching signal according to the judging voltage. The judging circuit 42 outputs a first level of the switching signal when the judging voltage is higher than a high threshold voltage. When the judgment voltage is lower than a low threshold voltage, a switch signal of a second level is output. The judgment circuit 42 includes an operational amplifier 421, a first judgment resistor 422, a second judgment resistor 423, a third judgment resistor 424, a fourth judgment resistor 425, and a fifth judgment resistor 426.

The operational amplifier 421 has a reverse input terminal, a forward input terminal, and an amplified output terminal electrically connected to the second terminal of the first voltage dividing resistor 411.

The first determining resistor 422 has a first terminal electrically connected to the amplified output terminal and a second terminal electrically connected to the forward input terminal.

The second determining resistor 423 has a first terminal electrically connected to the forward input terminal, and a second terminal.

The third judgment resistor 424 has a first terminal electrically connected to the second terminal of the second judgment resistor 423 and a second terminal electrically connected to the ground terminal GND.

The fourth judgment resistor 425 has a first terminal electrically connected to the second terminal of the second judgment resistor 423 and a second terminal electrically connected to the power terminal VCC.

The fifth judgment resistor 426 has a first terminal electrically connected to the second terminal of the first judgment resistor 422, and a second terminal for outputting the switching signal.

The switch module 5 is electrically connected to the step-down module 3 and the judgment module 4, receives a system voltage, the regeneration voltage, and the switching signal, and switches and outputs one of the system voltage and the regeneration voltage according to the switching signal. Is a working voltage. Wherein, the switch module 5 switches and outputs the regenerative voltage to the working voltage when the switching signal is at the first level, and switches to output the system voltage to the working voltage when the switching signal is at the second level.

The switching module 5 includes a first switching transistor 50, a second switching transistor 51, a third switching transistor 52, a first switching resistor 53, a second switching resistor 54, and a third switching resistor 55. A first switching capacitor 56, a second switching capacitor 57, a first switching diode 58, a second switching diode 59, and a switching steady-state resistor 500.

The first switching transistor 50 has a first terminal, a second terminal electrically connected to the power terminal VCC, and a control terminal for receiving the switching signal, and is controlled by the switching signal to output at its second terminal. And does not output a switching signal.

The second switching transistor 51 has a first terminal for receiving the regeneration voltage by the step-down module 3, a second terminal, and a control terminal for receiving the switching signal, and is controlled by the switching signal. Therefore, the regenerative voltage is output and not output at its second terminal.

The third switching transistor 52 has a first terminal for receiving the system voltage, a second terminal, and a control terminal for receiving the switching signal, and is controlled by the switching signal to output at its second terminal. And does not output the system voltage.

In this embodiment, the first switching transistor 50 and the third switching transistor 52 are both P-type enhanced metal-oxide-semiconductor field-effect transistors (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET for short), The first terminal is a source, the second terminal is a drain, and the control terminal is a gate. The second switching transistor 51 is an N-type enhanced metal-oxide half field effect transistor. The first terminal is a drain, the second terminal is a source, and the control terminal is a gate. However, it can be changed according to the actual circuit design and is not limited to this.

The first switching resistor 53 has a first terminal electrically connected to the power terminal VCC, and a second terminal electrically connected to a control terminal of the first switching transistor 50.

The second switching resistor 54 has a first terminal electrically connected to the second terminal of the first switching transistor 50 and a second terminal electrically connected to the control terminal of the second switching transistor 51.

The third switching resistor 55 has a first terminal electrically connected to the second terminal of the first switching transistor 50 and a second terminal electrically connected to the control terminal of the third switching transistor 52.

The first switching capacitor 56 has a first terminal electrically connected to the second terminal of the second switching resistor 54 and a second terminal electrically connected to the ground terminal GND.

The second switching capacitor 57 has a first terminal electrically connected to the second terminal of the third switching resistor 55 and a second terminal electrically connected to the ground terminal GND.

The first switching diode 58 has an anode terminal electrically connected to the second terminal of the second switching transistor 51 and a cathode terminal for outputting the operating voltage.

The second switching diode 59 has an anode terminal electrically connected to the second terminal of the third switching transistor 52 and a cathode terminal for outputting the operating voltage.

The switch steady-state resistor 500 has a first terminal electrically connected to the second terminal of the first switching transistor 50 and a second terminal electrically connected to the ground terminal GND.

Refer to Fig.1, Fig.2 ~ 7, Fig.8 ~ 13. In actual application, the regenerative energy 1 ~ 6 output by the motors of the shafts of the motor device are shown in the waveforms 71 ~ 76 shown in Figs. 2 ~ 7, respectively. , And the control signals 1 to 6 outputted by the operating time of the motors of each axis are respectively shown in the waveforms 81 to 86 shown in FIGS. 8 to 13, that is, each control signal is only at the corresponding regeneration energy. It is only at a high level voltage when it exists, and since the six-axis motor of the robot arm generates almost no regenerating energy at the same time, the regenerating energy of each axis will not exist at the same time.

Referring to FIG. 1, FIG. 14, and FIG. 15, the input solid-state relays 211 to 216 of the input circuit 21 are respectively controlled by the control signals 1 to 6 to be turned on or not to switch the corresponding regenerated energy 1 to 6 The output is the input voltage as shown in waveform 91 in FIG. 14, and the rectifying and filtering circuit 22 rectifies and filters the input voltage and outputs the steady-state voltage as shown in waveform 92 in FIG. 15.

It is worth mentioning that in this embodiment, the motors are described as continuous operation. Therefore, the waveform 92 of the steady-state voltage obtained is a flat DC voltage, but the motors are intermittently running or stopped. During operation, the steady-state voltage waveform 92 will form a similar square wave or drop to a low level voltage.

Because the voltage used by general motors is large, the steady-state voltage after rectification and filtering is also a large voltage, about 400 Volts, and the power supply terminal VCC of subsequent circuits usually uses a lower voltage. The voltage is about 24 volts, so it needs to be stepped down by the step-down module 3 and the voltage-dividing circuit 41 for subsequent circuits to use and judge. Among them, the step-down module 3 reduces the steady-state voltage. Voltage to about 24 volts, and the voltage divider circuit 41 steps down the steady state voltage to about 21 volts.

The judging circuit 42 receives the judging voltage output from the voltage dividing circuit 41 and outputs the first level (approximately 24 volts) when the judging voltage is higher than the high threshold voltage (approximately 20 volts). When the judgment voltage is lower than the low threshold voltage (about 10 volts), the switching signal is output at the second level (about 0 volts).

The first switching transistor 50 is turned on when the switching signal is at the first level, so that the second terminal outputs the switching signal with a high level voltage, so that the second switching transistor 51 is turned on, and the first switching transistor 51 is turned on. The three-switch transistor 52 is not turned on to output the regenerated voltage as the operating voltage. The first switching transistor 50 is in a non-conducting state when the switching signal is at the second level. At this time, the voltage of the control terminal of the second switching transistor 51 and the third switching transistor are passed through the switch steady-state resistor 500. The voltage at the control terminal of the crystal 52 is pulled to a low level voltage, so that the second switching transistor 51 is not turned on and the third switching transistor 52 is turned on, so as to switch and output the system voltage to the working voltage.

With this, when the motors are operated to output the regenerated energy, the regenerated energy can be converted into the regenerated voltage and output as the working voltage for use by the peripheral circuits of the robot arm, and when the motors stop During operation, the system voltage is switched to the working voltage to maintain a stable supply of the working voltage.

Referring to FIG. 1, through the above description, the advantages of this embodiment can be summarized as follows:

1. By setting the rectifier module 2, the step-down module 3, the judgment module 4 and the switch module 5, the regenerated energy in the form of a square wave can be converted into the steady-state voltage of the direct current, and then After the step-down module 3 is reduced to a DC low voltage, the working voltage required for subsequent circuits can be provided. In this way, compared with the conventional technology, it can not only reduce the large space occupied by large resistors, but also avoid the temperature rise affecting the circuit stability. It can also achieve energy recovery and reuse, and has the effect of saving power.

In addition, by switching the switch module 5, the regenerative voltage can be output only when the regenerative energy is available, and the rest of the time is still output the system voltage, whereby the regenerative energy can be recovered, Stable supply of this operating voltage is still maintained.

2. By designing the judging circuit 42, the switching signal of the first level or the second level is switched to be output only when the judging voltage is higher than the high threshold voltage or lower than the low threshold voltage, respectively. Effectively prevent interference misjudgment caused by noise such as jitter signals, so it can increase the stability of circuit operation.

3. By setting the first switching resistor 53, a preset voltage value of the control terminal of the first switching transistor 50 can be provided, so as to avoid the voltage floating of the control terminal of the first switching transistor 50 due to an idle connection, resulting in abnormal voltage. Continuity or non-conduction leads to misjudgment.

4. By setting the first switching diode 58 and the second switching diode 59, it is possible to limit the regenerative voltage and the system voltage to unidirectional transmission, and to avoid mutual recharge of the regenerative voltage and the system voltage. This causes the operating voltage to float, causing subsequent circuits to malfunction or be damaged due to unstable power supply.

In summary, it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the patent specification of the present invention are still Within the scope of the invention patent.

2‧‧‧ Rectifier Module

21‧‧‧input circuit

211 ~ 216‧‧‧Input solid state relay

22‧‧‧ Rectifier Filter Circuit

221‧‧‧Rectifier filter inductor

222‧‧‧Rectifier filter capacitor

3‧‧‧ Buck Module

4‧‧‧ Judgment Module

41‧‧‧Divided voltage circuit

411‧‧‧first voltage dividing resistor

412‧‧‧Second Voltage Divider

42‧‧‧Judgment circuit

421‧‧‧ Operational Amplifier

422‧‧‧The first judgment resistance

423‧‧‧Second judgment resistance

424‧‧‧The third judgment resistance

425‧‧‧Fourth judgment resistance

426‧‧‧Fifth judgment resistance

5‧‧‧Switch Module

50‧‧‧The first switching transistor

51‧‧‧Second Switching Transistor

52‧‧‧Third switching transistor

53‧‧‧The first switch resistance

54‧‧‧Second switch resistance

55‧‧‧Third switch resistance

56‧‧‧The first switching capacitor

57‧‧‧Second switched capacitor

58‧‧‧First switching diode

59‧‧‧Second Switch Diode

500‧‧‧Switch steady-state resistance

71 ~ 76‧‧‧Waveform of regenerative energy

81 ~ 86‧‧‧Control signal waveform

91‧‧‧ Waveform of Input Voltage

Waveform of 92‧‧‧steady-state voltage

VCC‧‧‧Power terminal

GND‧‧‧ ground terminal

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, wherein: FIG. 1 is a circuit diagram of an embodiment of the regenerative energy power supply device of the present invention; and FIGS. 2 to 7 are the embodiments, respectively. Waveforms of complex regenerative energy; Figures 8 to 13 are waveforms of complex control signals of this embodiment; Figure 14 is a waveform of an input voltage output by an input circuit of this embodiment; and Figure 15 is A schematic waveform diagram of a steady-state voltage output by a rectification filter circuit according to one embodiment.

Claims (10)

A regenerative energy power supply device is suitable for electrically connecting a motor device and includes: a power terminal and a ground terminal; a rectification module adapted to receive at least one regenerative energy of the motor device and at least one related to the regenerative energy. Output a time control signal, and rectify and filter the regenerated energy to output a steady-state voltage; a step-down module, electrically connected to the rectifier module, receiving the steady-state voltage and outputting the steady-state voltage as A regeneration voltage; a judgment module, electrically connected to the rectifier module, receiving the steady-state voltage, and outputting a switching signal according to the steady-state voltage; and a switch module, electrically connected to the step-down module and the judgment module The group receives a system voltage, the regenerative voltage, and the switching signal, and switches and outputs one of the system voltage and the regenerative voltage as an operating voltage according to the switch signal. The regenerative energy power supply device according to claim 1, wherein the rectifying module includes: an input circuit adapted to receive a plurality of regenerative energy of the motor device and a plurality of control signals related to output times of the regenerative energy, respectively; According to each control signal, the corresponding regenerated energy is outputted or not outputted as an input voltage, and a rectifying and filtering circuit is electrically connected to the input circuit, receives the input voltage, and rectifies and filters the input voltage and outputs it as the Steady state voltage. The regenerative energy power supply device according to claim 1, wherein the judgment module includes: a voltage dividing circuit electrically connected to the rectifier module, receiving the steady-state voltage and outputting the steady-state voltage as a A judging voltage and a judging circuit are electrically connected to the voltage dividing circuit and output the switching signal according to the judging voltage. The regenerative energy power supply device according to claim 3, wherein the judging circuit outputs a first level of the switching signal when the judging voltage is higher than a high threshold voltage, and the judging voltage is lower than a low threshold voltage When it is, the switch signal with a second level is output. The regenerative energy power supply device according to claim 4, wherein the switch module switches the regenerative voltage to the working voltage when the switch signal is at the first level, and when the switch signal is at the second level, Switch the output system voltage to the working voltage. The regenerative energy power supply device according to claim 1, wherein the rectifier module includes a plurality of input solid-state relays, and the input solid-state relays are respectively adapted to receive the plurality of regenerative energy of the motor device and the plurality of regenerative energy related to the regenerative energy Output time control signals. Each input solid-state relay has a first terminal that receives the corresponding regenerative energy, an output terminal, and a control terminal that receives the corresponding control signal, and is controlled by the corresponding control signal to be turned on. And non-conducting to output and not output the corresponding regenerated energy as an input voltage. The regenerative energy power supply device according to claim 6, wherein the rectifier module further comprises: a rectifier filter inductor having a first terminal electrically connected to the output terminals of all input solid-state relays, and a first terminal outputting the steady-state voltage. The two terminals and a rectifying and filtering capacitor have a first terminal electrically connected to the second terminal of the rectifying and filtering inductor, and a second terminal electrically connected to the ground terminal. The regenerative energy power supply device according to claim 1, wherein the judgment module comprises: a first voltage dividing resistor having a first terminal for receiving the steady-state voltage, and a second terminal for a second voltage dividing A resistor having a first end electrically connected to the second end of the first voltage dividing resistor, and a second end electrically connected to the ground terminal, an operational amplifier having an inverter electrically connected to the second end of the first voltage dividing resistor A forward input terminal, a forward input terminal, and an amplified output terminal, a first judgment resistor, having a first terminal electrically connected to the amplified output terminal, and a second terminal electrically connected to the forward input terminal, a second The judgment resistor has a first terminal electrically connected to the forward input terminal, and a second terminal, a third judgment resistor, a first terminal electrically connected to the second terminal of the second judgment resistor, and an electrical connection to the The second end of the ground terminal, a fourth judging resistor, has a first end electrically connected to the second end of the second judging resistor, and a second end electrically connected to the power terminal, and a fifth judging resistor, has a Connect the first A first end terminal, and an output terminal of the second switching signal. The regenerative energy power supply device according to claim 1, wherein the switch module includes: a first switching transistor having a first terminal, a second terminal electrically connected to the power terminal, and a receiving terminal for receiving the switch The control terminal of the signal is controlled by the switching signal to output and not output a switching signal at its second terminal. A second switching transistor has a first terminal and a second terminal for receiving the regenerative voltage. And a control terminal for receiving the switching signal and controlled by the switching signal to output and not output the regenerative voltage at a second terminal thereof, and a third switching transistor having a first terminal for receiving the system voltage One terminal, a second terminal, and a control terminal for receiving the switching signal are controlled by the switching signal to output and not output the system voltage at its second terminal. The regenerative energy power supply device according to claim 9, wherein the switch module further comprises: a first switch resistor having a first end electrically connected to the power terminal, and a control electrically connected to the first switch transistor A second end of the terminal, a first switching diode, an anode terminal electrically connected to the second terminal of the second switching transistor, a cathode terminal for outputting the working voltage, and a second switching diode It has an anode terminal electrically connected to the second terminal of the third switching transistor, and a cathode terminal for outputting the working voltage.