TWI620389B - Regenerative energy supply device - Google Patents

Abstract

A regenerative energy power supply device includes a power terminal and a ground terminal, 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 rectify and filter the regenerative energy to output a steady state voltage. The buck module steps down the steady state voltage and outputs the output voltage as a regenerative voltage. The determining module outputs a switching signal according to the steady state voltage. The switch module switches one of the output system voltage and the regenerative voltage according to the switch signal to be an operating voltage. Thereby, the regenerative energy in the form of a square wave can be converted into the steady-state voltage of the direct current, and then reduced to a direct current low voltage to provide the working voltage required by the subsequent circuit, which can not only reduce the large space occupied by the large resistance, but also avoid The temperature rise affects the stability of the circuit, and it can also achieve energy recovery and reuse, and has the effect of saving power.

Description

Regenerative energy supply device

The present invention relates to a power supply device, and more particularly to a retro-energy power supply device suitable for recycling the regenerative energy of a motor.

Generally, when the motor is in operation, it needs to receive electric energy for acceleration, and when it is suddenly decelerated or stopped, it will generate regenerative energy. At present, the regenerative current caused by the regenerative energy is converted into heat energy release by setting the resistance.

However, when applied to a multi-axis multi-motor motor device, since each motor of the shaft needs to be matched with a large resistor, a large amount of large resistance occupies a lot of space, and the heat energy generated during operation also causes an increase in temperature. Equipment stability.

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

Therefore, the regenerative 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 determination module, and a switch module.

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

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

The determining 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 buck module and the determining module, and receives a system voltage, the regenerative voltage and the switch signal, and switches one of the system voltage and the regenerative voltage to work according to the switch signal. Voltage.

The effect of the present invention is that the regenerative energy in the form of a square wave can be converted into the steady state voltage of the direct current by providing the rectifying module, the bucking module, the judging module and the switch module, and then After the step-down module is reduced to a DC low voltage, the working voltage required by the subsequent circuit can be provided, which not only can reduce the large space occupied by the large resistance, prevent the temperature rise from affecting the stability of the circuit, and can also achieve energy recycling and reuse. It has the effect of saving power.

Referring to FIG. 1 , an embodiment of the retro-energy power supply device of the present invention is applicable to a motor device (not shown) electrically connected to a mechanical arm (not shown), and includes a power terminal VCC, a ground terminal GND, and a rectification. The module 2, a step-down module 3, a determination module 4, and a switch module 5.

It is worth mentioning that the following is a description of the six-axis motor (not shown) of the motor device, and the motor device will output six regenerative energies with the number of the motors (in Figure 1 for the regenerative energy). 1~6 is indicated) and six control signals respectively related to the output time of the regenerative energy (indicated by control signals 1~6 in Fig. 1), but in practice, the motor device may have only a single The motor, and only outputs a regenerative energy and a control signal related to the output time of the regenerative energy, is not limited thereto.

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

The input circuit 21 is adapted to receive the regenerative energy 1~6 and the control signals 1~6, and output and output the corresponding regenerative energy as an input voltage according to each control signal.

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

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

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 has a rectifying and filtering inductor 221 and a rectifying and filtering capacitor 222.

The rectifying filter inductor 221 has a first end electrically connected to the output ends of all the input solid state relays 211 to 216, and a second end outputting the steady state voltage.

The rectifying filter capacitor 222 has a first end electrically connected to the second end of the rectifying filter inductor 221, and a second end electrically connected to the ground end GND.

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

The determining module 4 is electrically connected to the rectifier module 2 and the power terminal VCC and the ground GND, receives the steady-state voltage, and outputs a switching signal according to the steady-state voltage. The determining module 4 includes a voltage dividing circuit 41 and a determining circuit 42.

The voltage dividing circuit 41 is electrically connected to the rectifying module 2, receives the steady state voltage, and steps down the steady state voltage to output a determining 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 end receiving the steady state voltage and a second end outputting the determining voltage.

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

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

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

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

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

The third determining resistor 424 has a first end electrically connected to the second end of the second determining resistor 423, and a second end electrically connected to the grounding end GND.

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

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

The switch module 5 is electrically connected to the buck module 3 and the determining module 4, receives a system voltage, the regenerative voltage and the switch signal, and switches and outputs one of the system voltage and the regenerative voltage according to the switch signal. For a working voltage. The switch module 5 switches the output of the regenerative voltage to the operating voltage when the switch signal is at the first level, and switches the output of the system voltage to the operating voltage when the switch signal is at the second level.

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

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

The second switch transistor 51 has a first end, a second end for receiving the regenerative voltage from the buck module 3, and a control end for receiving the switching signal, and is controlled by the switching signal. Therefore, the second terminal outputs and does not output the regenerative voltage.

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

In this embodiment, the first switching transistor 50 and the third switching transistor 52 are both a P-type enhanced metal-oxide field transistor (Metal-Oxide-Semiconductor Field-Effect Transistor, abbreviated as MOSFET). The first end is a source, the second end is a drain, and the control end is a gate. The second switch transistor 51 is an N-type enhanced MOS field-effect transistor. The first end is a drain, the second end is a source, and the control end is a gate, but may be changed according to an actual circuit design, and is not limited thereto.

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

The second switch resistor 54 has a first end electrically connected to the second end of the first switch transistor 50, and a second end electrically connected to the control end of the second switch transistor 51.

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

The first switched capacitor 56 has a first end electrically connected to the second end of the second switch resistor 54 and a second end electrically connected to the ground GND.

The second switched capacitor 57 has a first end electrically connected to the second end of the third switch resistor 55, and a second end electrically connected to the ground GND.

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

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

The switch steady state resistance 500 has a first end electrically connected to the second end of the first switching transistor 50, and a second end electrically connected to the ground GND.

Referring to Fig. 1, Fig. 2~7, Fig. 8~13, in actual application, the regenerative energies 1~6 output by the motors of the shafts of the motor device are waveforms 71~76 as shown in Figs. 2-7, respectively. The control signals 1 to 6 outputted during the operation time of the motors of the respective axes are respectively waveforms 81 to 86 as shown in FIGS. 8 to 13, that is, each control signal is only corresponding to the regenerative energy. It is only at the high level voltage when it exists, and since the six-axis motor of the robot arm hardly generates the regenerative energy at the same time, the regenerative energy of each axis does 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 off, so as to switch the corresponding regenerative energy 1 to 6 . The output is the input voltage as shown by waveform 91 in FIG. 14, and the rectification filter circuit 22 rectifies and filters the input voltage to output the steady state voltage of waveform 92 as shown in FIG.

It should be noted that, in this embodiment, the operation of the motors is continued, and thus the waveform 92 of the steady-state voltage obtained is a flat DC voltage, but the motors are intermittently operated or stopped. During operation, the steady state voltage waveform 92 will form a similar square wave or fall to a low level voltage.

Since the voltage used by the general motor is a large voltage, the steady-state voltage after rectification and filtering is also a large voltage, which is about 400 volts (Volt), and the power supply terminal VCC of the subsequent circuit is generally used lower. The voltage is about 24 volts, so the buck module 3 and the voltage dividing circuit 41 need to be stepped down for use in subsequent circuits and judged. The buck module 3 lowers the steady state voltage. The voltage is applied to about 24 volts, and the voltage dividing circuit 41 steps down the steady state voltage to about 21 volts.

The determining circuit 42 receives the determining voltage output by the voltage dividing circuit 41, and outputs the first level (about 24 volts) when the determining voltage is higher than the high threshold voltage (about 20 volts). The switching signal outputs the second level (about 0 volts) of the switching signal when the determination voltage is lower than the low threshold voltage (about 10 volts).

The first switching transistor 50 is turned on when the switching signal is at the first level, and the switching signal of the high-level voltage is outputted at the second end thereof, so that the second switching transistor 51 is turned on. The three-switch transistor 52 is not turned on to output the regenerative voltage to the operating voltage. The first switch transistor 50 is in a non-conducting state when the switch signal is at the second level. At this time, the voltage of the control terminal of the second switch transistor 51 and the third switch are electrically transmitted through the switch steady-state resistor 500. The voltage of 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 to switch the output of the system voltage to the operating voltage.

Thereby, when the motors are operated to output the regenerative energy, the regenerative energy is converted into the regenerative voltage and output as the operating voltage for use by the peripheral circuit of the robot arm, and the motors are stopped. In operation, the system voltage is switched to the operating voltage to maintain a stable supply of the operating voltage.

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

1. By setting the rectifier module 2, the buck module 3, the judging module 4 and the switch module 5, the regenerative 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 operating voltage required by the subsequent circuit can be provided. Thus, compared with the prior art, not only the large space occupied by the large resistance can be reduced, but also the temperature rise can be prevented from affecting the circuit stability. Sexuality can also achieve energy recycling and energy saving.

Moreover, by switching by the switch module 5, the regenerative voltage can be output when the regenerative energy is provided, and the system voltage is still outputted for the rest of the time, thereby recovering the regenerative energy. The stable supply of this operating voltage is still maintained.

2. The designing the determining circuit 42 switches the output of the first level or the second level when the determining voltage is higher than the high threshold voltage or lower than the low threshold voltage, so that It can effectively prevent the misjudgment caused by noise such as jitter signal, so it can increase the stability of circuit operation.

3. By setting the first switch resistor 53, the preset voltage value of the control end of the first switch transistor 50 can be provided to prevent the voltage of the control end of the first switch transistor 50 from floating due to the empty connection, resulting in abnormality. Mistaken by the conduction or non-conduction.

4. By setting the first switch diode 58 and the second switch diode 59, the regenerative voltage and the system voltage can be limited to one-way transmission, and the regenerative voltage and the voltage of the system voltage are mutually prevented. This causes the operating voltage to float, causing subsequent circuits to malfunction or be damaged due to unstable power supply.

In summary, the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the simple equivalent changes and modifications according to the scope of the patent application and 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‧‧‧Judgement module

41‧‧‧ Voltage divider circuit

411‧‧‧First voltage divider resistor

412‧‧‧Second voltage divider resistor

42‧‧‧ Judging circuit

421‧‧‧Operational Amplifier

422‧‧‧First judgment resistor

423‧‧‧Second judgment resistor

424‧‧‧ third judgment resistor

425‧‧‧fourth judgment resistor

426‧‧‧ fifth judgment resistor

5‧‧‧Switch Module

50‧‧‧ First switching transistor

51‧‧‧ Second switching transistor

52‧‧‧ Third switch transistor

53‧‧‧ First switch resistance

54‧‧‧ Second switch resistance

55‧‧‧ Third switch resistance

56‧‧‧ First switched capacitor

57‧‧‧ Second switched capacitor

58‧‧‧ First switch diode

59‧‧‧ Second switch diode

500‧‧‧Switching steady-state resistance

71~76‧‧‧Regeneration energy waveform

81~86‧‧‧ Waveform of control signal

91‧‧‧ Input voltage waveform

92‧‧‧ Steady-state voltage waveform

VCC‧‧‧ power terminal

GND‧‧‧ ground terminal

Other features and advantages of the present invention will be apparent from the embodiments of the present invention, wherein: FIG. 1 is a circuit diagram of an embodiment of a retrospective power supply device of the present invention; FIGS. 2-7 are respectively the embodiment. FIG. 8 to FIG. 13 are waveform diagrams of a plurality of control signals of the embodiment; FIG. 14 is a waveform diagram of an input voltage outputted by an input circuit of the embodiment; and FIG. 15 is A waveform diagram of a steady state voltage outputted by a rectifying and filtering circuit of one of the embodiments.

Claims (9)

A regenerative energy supply device is adapted to electrically connect a motor device and includes: a power terminal and a ground terminal; and a rectifier module adapted to receive at least one regenerative energy of the motor device and at least one related to the regenerative energy Outputting a time control signal, and rectifying and filtering the regenerative energy to output a steady state voltage; a step-down module electrically connecting the rectifying module, receiving the steady-state voltage, and stepping down the steady-state voltage to output a returning voltage; a determining module electrically connecting the rectifying module to the power terminal and the grounding end, receiving the steady state voltage, and outputting a switching signal according to the steady state voltage; and a switch module electrically connecting the The step-down module and the determining module receive a system voltage, the regenerative voltage and the switch signal, and switch one of the system voltage and the regenerative voltage to be an operating voltage according to the switch signal; the rectifier module includes An input circuit adapted to receive a plurality of regenerative energies of the motor device and a plurality of control signals respectively associated with output times of the regenerative energies, and according to each control After a corresponding signal to the regenerative energy output is not output and an input voltage, a rectifier and filter circuit electrically connected to the input circuit receiving the input voltage, the input voltage is rectified and filtered output for the steady state voltage. The regenerative power supply device of claim 1, wherein the determining module The method includes: a voltage dividing circuit electrically connecting the rectifier module, receiving the steady state voltage, and stepping down the steady state voltage to output a determining voltage, and a determining circuit electrically connecting the voltage dividing circuit, and according to The determination voltage outputs the switching signal. The regenerative power supply device of claim 2, wherein the determining circuit outputs a first level of the switching signal when the determining voltage is higher than a high threshold voltage, wherein the determining voltage is lower than a low threshold voltage At the time, the switch signal of the second level is output. The regenerative power supply device of claim 3, wherein the switch module switches the output of the regenerative voltage to the operating voltage when the switch signal is at a first level, and when the switch signal is at a second level, Switching the output of the system voltage to the operating voltage. The regenerative power supply device of claim 1, wherein the rectification module comprises a plurality of input solid state relays, wherein the input solid state relays are respectively adapted to receive the plurality of regenerative energies of the motor device and the complex numbers are respectively related to the regenerative energy a control signal for outputting time, each input solid state relay has a first end, an output end for receiving the corresponding regenerative energy, and a control end for receiving the corresponding control signal, and is controlled by the corresponding control signal And not conducting, so that the corresponding regenerative energy output and non-output are an input voltage. The regenerative power supply device of claim 5, wherein the rectifier module further comprises: a rectifying filter inductor having an electrical connection to all input solid state relays a first end of the output end, and a second end outputting the steady-state voltage, and a rectifying filter capacitor having a first end electrically connected to the second end of the rectifying filter inductor, and a second end electrically connected to the ground end end. The regenerative power supply device of claim 1, wherein the determining module comprises: a first voltage dividing resistor having a first end receiving the steady state voltage, and a second end, a second partial voltage The resistor has a first end electrically connected to the second end of the first voltage dividing resistor, and a second end electrically connected to the ground end, and an operational amplifier having an opposite end electrically connected to the second end of the first voltage dividing resistor a first determining resistor having a first end electrically connected to the amplified output end, and a second end electrically connected to the positive input end, and a second end to the input end, a forward input end, and an amplified output end The determining resistor has a first end electrically connected to the forward input end, and a second end, a third determining resistor having a first end electrically connected to the second end of the second determining resistor, and an electrical connection a second end of the grounding end, a fourth determining resistor having a first end electrically connected to the second end of the second determining resistor, and a second end electrically connected to the power end, and a fifth determining resistor having an electric Connecting the second end of the first determining resistor a first end, and a second end that outputs the switching signal. The regenerative power supply device of claim 1, wherein the switch module comprises: a first switch transistor having a first electrical connection to the power terminal a second switching end, a second end, and a control end for receiving the switching signal, and controlled by the switching signal to output and not output a switching signal at the second end thereof, and a second switching transistor having a Receiving the first end of the regenerative voltage, a second end, and a control end for receiving the switching signal, and being controlled by the switching signal to output and not output the regenerative voltage at the second end thereof, and a third The switching transistor has a first end for receiving the voltage of the system, a second end, and a control end for receiving the switching signal, and is controlled by the switching signal to output and not output at the second end thereof The system voltage. The regenerative power supply device of claim 8, wherein the switch module further comprises: a first switch resistor having a first end electrically connected to the power terminal, and a control for electrically connecting the first switch transistor a second end of the terminal, a first switching diode having an anode end electrically connected to the second end of the second switching transistor, a cathode end for outputting the operating voltage, and a second switching diode And having an anode end electrically connected to the second end of the third switching transistor, and a cathode end for outputting the operating voltage.