TWM551786U - DC motor control device for robot - Google Patents

Description

Robot DC motor control device

The present invention relates to a control device, and more particularly to a robot DC motor control device.

As shown in FIG. 1 , the design of the general DC motor control circuit 100 has no reverse protection design. When the user reversely connects the DC power supply 200, a large current flows through the diode 101, and the switch 102 and the diode are caused. 101 damaged. Moreover, the DC motor control circuit 100 is designed to cause an excessive change in the amplitude of the current flowing through the motor 103. In addition to causing high EMI radiation interference, the input current ripple is also large, and it is impossible to accurately detect and determine the stall current. The DC motor 103 is damaged due to a misjudgment. Therefore, the current DC motor control circuit 100 still has room for improvement.

Therefore, the object of the present invention is to provide a DC motor control device having reverse connection protection and easy to detect a stall current.

Therefore, the novel DC motor control device is adapted to be electrically connected between a DC power source and a DC motor, and includes: a first switch module, a second switch module, an inductor component, a power storage component, and a first a valve control element and a second valve control element. The first switch module is electrically connected between the positive pole of the DC motor and the first input end, and is electrically connected to the positive pole of the DC power source respectively at the first input end and the second input end. When the negative pole is triggered to be closed, the first input end and the second input end are respectively electrically connected to the negative pole and the positive pole of the DC power source to be triggered to be disconnected. The second switch module is connected in series between the negative pole of the DC motor and the second input end, and can be closed and opened by the pulse width modulation signal. The inductive component is electrically connected to the other end of the first switch module at one end thereof. The power storage element is electrically connected to the other end of the inductance element at one end thereof and electrically connected to the second input end at the other end thereof. The first valve control component is electrically connected between the negative pole of the DC motor and the second switch module, and the other end thereof is electrically connected between the inductor component and the power storage component, and can be connected to the first input When the terminal is connected to the positive pole of the DC power supply and the second switch module is closed, the DC motor negative pole and the power storage component are triggered to be single-passed. The second valve control component is connected in parallel with the second switch module, and can be triggered to directly guide the second input terminal and the DC motor when the positive terminal of the DC power source is connected to the second input terminal.

The effect of the novel is that the circuit design of the DC motor control device can effectively reduce the current ripple and electromagnetic radiation flowing through the DC motor, so that the stall current can be detected more easily and accurately, and Energy efficiency is an innovative DC motor control unit design.

Referring to FIG. 2 and FIG. 3, an embodiment of the present DC motor control device is adapted to be electrically connected between a DC power source 700 and a DC motor 800, and is electrically connected to a speed control device for controlling the speed of the DC motor 800. (not shown).

The DC motor control device comprises a power input unit 31, a first switch module 32, an inductive component 33, a storage component 34, a second switch module 35, a first valve control component 36, and a second Valve control element 37. The power input unit 31 is used The DC power supply 700 is electrically connected to the DC power supply 700 and has a first input terminal 311 and a second input terminal 312.

The first switch module 32 , the inductor element 33 and the power storage element 34 are connected in series between the first input end 311 and the second input end 312 . The first switch module 32 is electrically connected between the first input end 311 and the positive pole of the DC motor 800, and the DC power supply can be respectively connected to the first input end 311 and the second input end 312. When the positive pole and the negative pole of the 700 are connected to the DC power source 700, the LED is triggered to be closed (ON), and when the first input terminal 311 and the second input terminal 312 are respectively connected to the negative pole and the positive pole of the DC power source 700. That is, when the DC power supply 700 is reversely connected, it is triggered to be turned OFF.

In this embodiment, the first switch module 32 is a transistor switch, such as a MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor), an IGBT (Insulated Gate Bipolar Transistor), a GTO (Gate Turn-Offthyristor), or a BJT ( Bipolar junction transistor), etc., but is not limited to the above types when implemented.

The second switch module 35 is a power module that can receive a high frequency signal, is connected in series between the negative pole of the DC motor 800 and the second input end 312, and is electrically connected to the speed control device, and can be connected to the speed The PWM (Pulse Width Modulation) signal control outputted by the control device can be triggered to be closed during the duty cycle of the pulse width modulation signal, so that the pulse width modulation signal is alternately repeated according to the pulse width modulation signal. The switching between the closed state and the disconnected state further modulates the operating voltage of the DC motor 800 when it is driven, and relatively modulates the rotational speed of the DC motor 800. In this embodiment, the second switch module 35 is also made of a transistor switch, such as the above MOSFET, IGBT, GTO or BJ T, but is not limited to the above types.

The first valve control element 36 is electrically connected between the negative pole of the DC motor 800 and the second switch module 35 at one end thereof, and is electrically connected between the inductor element 33 and the power storage element 34 at the other end thereof. In this embodiment, the first valve control component 36 is a diode, and the anode thereof is electrically connected between the negative terminal of the DC motor 800 and the second switch module 35, and the negative electrode thereof is electrically connected to the anode. The inductive component 33 and the storage element 34 can be connected to the DC power source 700 when the power input unit 31 is connected, and the second switch module 35 is driven to be unidirectionally connected to the negative electrode of the DC motor 800 and the storage element. 34, but in implementation, the first valve control element 36 type is not limited thereto.

The second valve control element 37 is connected in parallel with the second switch module 35. In the embodiment, the second valve control element 37 is a diode, and when the power input unit 31 is connected to the DC power supply 700, The second input terminal 312 is triggered to be connected to the negative terminal of the DC motor 800. However, the second valve control element 37 type is not limited thereto.

Referring to FIG. 3 and FIG. 4 , when the DC motor control device is used, the second switch module 35 is connected to the speed control device, and the power input unit 31 is normally connected to the DC power source 700. When the power input unit 31 is connected to the DC power source 700, the first switch module 32 is immediately triggered to be closed (ON). At this time, the second switch module 35 can receive the pulse width of the output of the speed control device. The control of the modulation signal is repeatedly switched between the closed state and the disconnected state, and the time of the duty cycle of the pulse width modulation signal is changed to be in a closed state, thereby designing that the DC motor 800 can be controlled The working voltage level during driving operation, the working voltage level is equal to the working period of the DC power source 700 multiplied by the pulse width modulation signal. Since the speed of the DC motor 800 is regulated by a pulse width modulation signal as a conventional technique, it will not be described in detail.

During the closing of the second switch module 35, that is, during the high period of the pulse width modulation signal, the DC motor 800 is driven to operate and the speed is changed with the duty cycle.

When the second switch module 35 is turned off, that is, during the low level of the pulse width modulation signal, the first valve control element 36 is triggered to unidirectionally pass the DC motor 800 and the power storage element 34, The DC motor 800 is converted to a generator state, and the counter electromotive force generated thereby begins to charge the storage element 34. The current loop is indicated by arrow 301. When the back electromotive force of the DC motor 800 fails to charge the storage element 34. When the DC power supply 700 voltage is greater than the voltage of the storage element 34, the DC power supply 700 also charges the storage element 34 via the first switch module 32 and the inductance element 33, and the current loop is as indicated by an arrow 302. .

When the second switch module 35 is again triggered by the pulse width modulation signal to switch to the closed state, the current loop is as shown by the arrow 303, except that the DC power source 700 is used to provide the power required for the operation of the DC motor 800. The power storage component 34 is also discharged through the inductive component 33 and the first switch module 32 to provide a portion of the electrical energy. The current loop is indicated by the arrow 304. Therefore, the DC power supply 700 does not need to provide the DC motor 800 for operation. All of the electrical energy makes the entire DC motor control device have better energy efficiency.

In addition, when the second switch module 35 is turned off, the power supplied by the DC power source 700 is changed to charge the power storage element 34, so the current flowing through the DC motor 700 will slowly drop without a sudden drop. The chopping current flowing through the DC motor 800 can be effectively reduced, and the Electro Magnetic Interference can be relatively reduced, and the stall current of the DC motor 800 can be detected more easily and accurately.

Referring to FIG. 5, when the user incorrectly reverses the DC power supply 700, the first switch module 32 and the second switch module 35 are immediately triggered to be disconnected, and the second valve control component 37 is triggered to be unidirectional. The second input terminal 312 and the DC motor 800 are turned on to cause a current to flow through the DC motor 800. The current loop is indicated by an arrow 305 to drive the DC motor 800 to reverse. Therefore, when the DC motor control device is reversely connected to the DC power source 700, a large current can be prevented from flowing through the first switch module 32 and the second switch module 35, thereby causing component damage.

In summary, through the circuit design of the DC motor control device, the storage element 34 can be used to effectively reduce the interference of the current flowing through the DC motor 800 and the electromagnetic radiation, so that the locked current can be easier and more accurate. The ground is detected, and the locked current protection is easy, and the storage element 34 can be charged and stored during the disconnection of the second switch module 35, and can be discharged during the closing of the second switch module 35. The design of the electric power supply is such that the DC power supply 700 does not need to provide all the electric energy for driving the DC motor 800, and the energy efficiency of the entire DC motor control device can be improved, and the shortcomings of the control circuit of the existing DC motor 800 can be effectively improved. The innovative DC motor control device design can indeed achieve the purpose of this new model.

However, the above is only the embodiment of the present invention, and when it is not possible to limit the scope of the present invention, all the simple equivalent changes and modifications according to the scope of the patent application and the contents of the patent specification are still This new patent covers the scope.

31‧‧‧Power input unit

35‧‧‧Second switch module

311‧‧‧ first input

36‧‧‧First valve control element

312‧‧‧ second input

37‧‧‧Second valve control element

32‧‧‧First switch module

700‧‧‧DC power supply

33‧‧‧Inductance components

800‧‧‧DC motor

34‧‧‧Power storage components

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a conventional DC motor control circuit; FIG. 2 is a circuit diagram of an embodiment of the novel DC motor control device. The embodiment is mounted on a DC power supply and a DC motor; FIG. 3 is a view similar to FIG. 2, illustrating a first opening The current circuit of the off module and a second switch module being driven closed; FIG. 4 is a view similar to FIG. 2, illustrating that the first switch module is driven to close, and the second switch module is driven to be disconnected The current loop of the time; and FIG. 5 is a view similar to FIG. 2, schematically illustrating the current loop when the embodiment is reversed to the DC power source.

The foregoing embodiments are merely illustrative of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and the details of the present invention are not deviated from the spirit of the present invention.

To sum up, this creation is a practical design. It is a novelty creation. It is a patent application, and the Bureau of Public Security will review it and grant patents as soon as possible.

31‧‧‧Power input unit

311‧‧‧ first input

312‧‧‧ second input

32‧‧‧First switch module

33‧‧‧Inductance components

34‧‧‧Power storage components

35‧‧‧Second switch module

36‧‧‧First valve control element

37‧‧‧Second valve control element

800‧‧‧DC motor

Claims (4)

A robot DC motor control device is electrically connected between a DC power source and a DC motor, and includes: a power input unit having a first input terminal and a second input respectively for electrically connecting to the DC power source a first switch module electrically connected between the positive pole of the DC motor and the first input end, and electrically connected to the positive pole of the DC power supply at the first input end and the second input end respectively When the negative pole is triggered to be closed, the first input end and the second input end are respectively electrically connected to the negative pole and the positive pole of the DC power source to be triggered to be disconnected; a second switch module is connected in series to the DC motor negative pole and the The second input terminal is controlled by the pulse width modulation signal to be closed and disconnected; an inductive component is electrically connected to the other end of the first switch module by one end thereof; and an electric storage component is electrically connected to one end thereof The other end of the inductive component is electrically connected to the second input end; the first valve control component is electrically connected to the DC motor negative pole and the second end The module is connected, and the other end is electrically connected between the inductive component and the storage component, and the positive terminal of the DC power supply is connected to the first input end, and the second switch module is closed. Leading to the DC motor negative pole and the power storage component; and a second valve control component, in parallel with the second switch module, and being triggered when the second input terminal is connected to the positive pole of the DC power source The second input is coupled to the DC motor. The robot DC motor control device according to claim 1, wherein the first valve control element is a diode, and the positive electrode thereof is electrically connected between the negative electrode of the DC motor and the second switch module, and the negative electrode thereof Electrically connected between the inductive component and the electrical storage component. The robot DC motor control device of claim 1, wherein the second valve control element is a diode, and the negative electrode is electrically connected between the second switch module and the first valve control element, Its anode is electrically connected to the second input end. The robot DC motor control device of claim 1, wherein the first switch module and the second switch module are respectively a transistor switch.