CN214045478U - Motor drive circuit, device, mechanical arm and robot - Google Patents
Motor drive circuit, device, mechanical arm and robot Download PDFInfo
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- CN214045478U CN214045478U CN202023137771.5U CN202023137771U CN214045478U CN 214045478 U CN214045478 U CN 214045478U CN 202023137771 U CN202023137771 U CN 202023137771U CN 214045478 U CN214045478 U CN 214045478U
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Abstract
The utility model discloses a motor driving circuit, which comprises a power module and a capacitor bank, wherein the positive and negative ends of the power module and the capacitor bank are connected with the two ends of the load of the motor; the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current. The utility model discloses a motor drive circuit has reduced the power expense cost to the high-usage of power output current. Furthermore, the utility model discloses still disclose a motor drive, arm and robot.
Description
Technical Field
The utility model relates to the technical field of motors, in particular to motor drive circuit, device, arm and robot.
Background
At present, for the motor, there are intermittent high peak currents during the driving process, and the high peak currents are generally 3 times of the average current, for example, the average current for the motor operation is 4A, and the high peak currents are about 12A.
At present, in order to meet the requirement of high peak current driven by a motor, a power supply (namely a high-power supply) with rated output current larger than the high peak current driven by the motor is generally directly selected when the power supply is selected, for example, the high peak current driven by the motor is 12A, and the power supply with rated output current larger than 12A is selected, so that the mode is simpler and more trouble-saving, but the high-power supply is used, and the cost is higher; and because the rated output current of the selected power supply is far higher than the average current driven by the motor, the utilization rate of the output current of the power supply is low.
SUMMERY OF THE UTILITY MODEL
The main objective of the present invention is to provide a motor driving circuit, which aims to solve the technical problem in the background art.
In order to achieve the above object, the present invention provides a motor driving circuit, which includes a power module and a capacitor set, wherein both ends of positive and negative electrodes of the power module and the capacitor set are connected to both ends of a load of the motor;
the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.
Preferably, the capacitor bank is further configured to store the rated output current of the power module when the driving current of the motor is smaller than the rated output current of the power module.
Preferably, the storage current is greater than or equal to the high peak current.
Preferably, the capacitor bank comprises a plurality of super capacitors, and internal resistance is arranged in each super capacitor;
every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.
Preferably, the power supply module comprises a current source, a voltage source and a diode;
the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.
The utility model also provides a motor driving device, which comprises a power module and a capacitor group, wherein the positive and negative ends of the power module and the capacitor group are connected with the two ends of the load of the motor;
the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.
Preferably, the capacitor bank is further configured to store the rated output current of the power module when the driving current of the motor is smaller than the rated output current of the power module.
Preferably, the storage current is greater than or equal to the high peak current.
Preferably, the capacitor bank comprises a plurality of super capacitors, and internal resistance is arranged in each super capacitor;
every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.
Preferably, the power supply module comprises a current source, a voltage source and a diode;
the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.
The utility model also provides a mechanical arm, which comprises the motor driving device, wherein the motor driving device comprises a power module and a capacitor group, and the positive and negative ends of the power module and the capacitor group are connected with the two ends of the load of the motor;
the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.
The utility model discloses still provide a robot, this robot includes the arm of aforementioned record.
Compared with the prior art, the embodiment of the utility model provides a technical scheme's beneficial effect lies in:
the rated output current of a power module in the motor driving circuit is less than the high peak current of the motor, and when the driving current required by the motor is equal to or less than the rated output current of the power module, the rated output current of the power module provides electric energy for the motor; when the driving current required by the motor is larger than the rated output current (such as high peak current) of the power module, the capacitor bank outputs the stored current to the motor so as to provide electric energy for the motor together with the power module; based on this, through the capacitor bank, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.
Drawings
Fig. 1 is a circuit diagram of a motor driving circuit according to an embodiment of the present invention;
FIG. 2 is a graph of simulation test results for the motor drive circuit of FIG. 1;
fig. 3 is a block diagram of a motor driving apparatus according to an embodiment of the present invention.
Detailed Description
In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The utility model provides a motor driving circuit, referring to fig. 1, the motor driving circuit comprises a power module 10 and a capacitor bank 20, and the positive and negative terminals of the power module 10 and the capacitor bank 20 are both connected with the load terminals of a motor 30;
the driving current of the motor 30 includes a high peak current, and the rated output current of the power module 10 is smaller than the high peak current; the capacitor bank 20 is configured to output a storage current to the motor 30 when a driving current of the motor 30 is greater than a rated output current of the power module 10, and a current value of the storage current is greater than a difference between the driving current and the rated output current.
In order to provide and satisfy the driving current required by the motor 30 during the driving process, the motor driving circuit in this embodiment is specifically proposed, as shown in fig. 1, the motor driving circuit includes a power module 10 and a capacitor bank 20, and positive and negative terminals of the power module 10 and the capacitor bank 20 are both connected to two terminals of a load of the motor 30.
It is readily understood that the required driving current of the motor 30 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module 10 according to the present embodiment is used for supplying power to the motor 30, and the rated output current of the power module is smaller than the high peak current of the motor 30, while the capacitor bank 20 according to the present embodiment is capable of charging and discharging, and the current value of the storage current of the capacitor bank is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 30 is larger than the rated output current of the power module 10, the capacitor bank 20 outputs the storage current to the motor 30, that is, supplies power to the power module 10 in combination, so as to meet the driving current required by the operation of the motor 30, and ensure the normal operation of the motor 30. The capacitor bank 20 concerned can be connected to a control system and charged by other power sources, which is exemplary and not absolute.
Based on the above, the rated output current of the power module 10 in the motor driving circuit is smaller than the high peak current of the motor 30, and when the driving current required by the motor 30 is equal to or smaller than the rated output current of the power module 10, the rated output current of the power module 10 provides electric energy for the motor 30; when the driving current required by the motor 30 is greater than the rated output current (such as high peak current) of the power module 10, the capacitor bank 20 outputs the stored current to the motor 30 to supply the motor 30 with the power module 10; therefore, through the capacitor bank 20, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor 30, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor 30 is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.
In a preferred embodiment, the capacitor bank 20 is further configured to store the rated output current of the power module 10 when the driving current of the motor 30 is smaller than the rated output current of the power module 10. When the driving current of the motor 30 is smaller than the rated output current of the power module 10, the capacitor bank 20 is charged by inputting the excess current output by the power module 10 except the driving current meeting the requirement of the motor 30 to the capacitor bank 20, so that the utilization rate of the output current of the power supply can be further improved; in addition, no extra power supply or circuit is needed to charge the capacitor bank, so that the cost can be further saved.
In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 20 is disposed, the capacitor bank 20 is used, and the storage current of the capacitor bank 20 is greater than or equal to the high peak current of the motor 30, that is, when the power module 10 is in a power-off state, the capacitor bank 20 can provide the motor 30 with the driving current required for operation, so as to ensure the normal operation of the motor 30. For example, when the power module 10 is suddenly powered off, the joint motors of the robot arm driven by a plurality of joint motors can directly supply power to continue running through the capacitor bank 20, so that the robot arm is prevented from falling off due to power failure, and the safety is improved.
In a preferred embodiment, referring to fig. 1, the capacitor bank 20 includes a plurality of super capacitors 21, and internal resistors 22 are disposed in the super capacitors 21;
every two super capacitors 21 in the capacitor bank 20 are connected in parallel to form a super capacitor bank, the super capacitor banks are connected in series, a first end of the super capacitor banks connected in series is used as a positive electrode of the capacitor bank 20, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 20.
The capacitor bank 20 according to the present embodiment is composed of a plurality of super capacitors 21, the storage capacity is expanded by the super capacitors 21, the super capacitors have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 22 of the super capacitor 21 has a voltage stabilizing function, and is used for assisting the super capacitor 21 to charge and discharge. Further, in this embodiment, a 22F super capacitor 21 with an internal resistance of 18m Ω is selected, and two super capacitors 21 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 20 is 2.2F and the internal resistance is 180m Ω.
In a preferred embodiment, referring to fig. 1, the power module 10 includes a current source 11, a voltage source 12, and a diode 13;
the voltage source 12 and the diode 13 are connected in series, the current source 11 is connected in parallel with the voltage source 12 and the diode 13, a first end of the parallel connection is used as a positive pole of the power module 10, and a second end of the parallel connection is used as a negative pole of the power module 10.
In this embodiment, the driving current of the motor 30 is set to be analog, the high peak current is 12A, and the average current is 4A, that is, the high peak current is three times the average current, the current source 11 in this embodiment outputs the driving current, the voltage source 12 outputs the driving voltage, preferably, the current source 11 is a 5A current source, the voltage source 12 is a 47.4 voltage source, and the diode 13 is a unidirectional conducting diode, so that the power module 10 simulates to form a 48V power source, and the current is limited by 5A for output. Of course, this is merely exemplary and not absolute.
Preferably, the motor driving circuit further includes a voltmeter 40, a first ammeter 50, and a second ammeter 60, wherein the voltmeter 40 is connected in parallel with the power module 10, the first ammeter 50 is connected in series with the power module 10, and the second ammeter 60 is connected in series with the capacitor bank 20. That is, the voltmeter 40, the first ammeter 50, and the second ammeter 60 are provided in the motor driving circuit to measure the voltage value and the current value of the power module 10 through the voltmeter 40 and the first ammeter 50, and to measure the current value of the capacitor bank 20 through the second ammeter 60.
The motor driving circuit was subjected to a simulation test, and the simulation test results are shown in fig. 2, where the X axis represents time (t) and the Y axis represents current (a) and voltage (V). Wherein IG1 represents motor driving current, the high peak current is 12A, and the average current is 4A; AM1, representing the power supply output current, limiting the 5A output; AM2, which indicates the capacitor bank 20, which is discharged when the motor drive current is large and charged when the motor drive current is small; VM1, represents the motor drive voltage, which fluctuates between 48V and 45V. The fluctuation range of the motor driving voltage is related to factors such as the specific type and the volume of the capacitor bank 20, and can be flexibly adjusted during specific design to balance requirements in various aspects.
Of course, it should be noted that the above related values are only analog values or experimental values measured after the simulation, and the specific values thereof should be set and obtained according to the actual situation, and are not limited herein.
The utility model also provides a motor driving device, referring to fig. 3, the motor driving device comprises a power module 10 and a capacitor bank 20, and the positive and negative ends of the power module 10 and the capacitor bank 20 are both connected with the load ends of the motor 30;
the driving current of the motor 30 includes a high peak current, and the rated output current of the power module 10 is smaller than the high peak current; the capacitor bank 20 is configured to output a storage current to the motor 30 when a driving current of the motor 30 is greater than a rated output current of the power module 10, and a current value of the storage current is greater than a difference between the driving current and the rated output current.
In order to provide and satisfy the driving current required by the motor 30 in the driving process, the motor driving circuit in this embodiment is specifically proposed, as shown in fig. 1, the motor driving circuit includes a power module 10 and a capacitor bank 20, and positive and negative terminals of the power module 10 and the capacitor bank 20 are both connected to two terminals of a load of the motor 30.
It is readily understood that the required driving current of the motor 30 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module 10 according to the present embodiment is used for supplying power to the motor 30, and the rated output current of the power module is smaller than the high peak current of the motor 30, while the capacitor bank 20 according to the present embodiment is capable of charging and discharging, and the current value of the storage current of the capacitor bank is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 30 is larger than the rated output current of the power module 10, the capacitor bank 20 outputs the storage current to the motor 30, that is, supplies power to the power module 10 in combination, so as to meet the driving current required by the operation of the motor 30, and ensure the normal operation of the motor 30. The capacitor bank 20 concerned can be connected to a control system and charged by other power sources, which is exemplary and not absolute.
Based on the above, the rated output current of the power module 10 in the motor driving circuit is smaller than the high peak current of the motor 30, and when the driving current required by the motor 30 is equal to or smaller than the rated output current of the power module 10, the rated output current of the power module 10 provides electric energy for the motor 30; when the driving current required by the motor 30 is greater than the rated output current (such as high peak current) of the power module 10, the capacitor bank 20 outputs the stored current to the motor 30 to supply the motor 30 with the power module 10; therefore, through the capacitor bank 20, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor 30, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor 30 is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.
In a preferred embodiment, the capacitor bank 20 is further configured to store the rated output current of the power module 10 when the driving current of the motor 30 is smaller than the rated output current of the power module 10. When the driving current of the motor 30 is smaller than the rated output current of the power module 10, the capacitor bank 20 is charged by inputting the excess current output by the power module except the driving current meeting the requirement of the motor 30 to the capacitor bank 20, so that the utilization rate of the output current of the power supply can be further improved; in addition, no extra power supply or circuit is needed to charge the capacitor bank, so that the cost can be further saved.
In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 20 is disposed, the capacitor bank 20 is used, and the storage current of the capacitor bank 20 is greater than or equal to the high peak current of the motor 30, that is, when the power module 10 is in a power-off state, the capacitor bank 20 can provide the motor 30 with the driving current required for operation, so as to ensure the normal operation of the motor 30. For example, when the power module 10 is suddenly powered off, the joint motors of the robot arm driven by a plurality of joint motors can directly supply power to continue running through the capacitor bank 20, so that the robot arm is prevented from falling off due to power failure, and the safety is improved.
In a preferred embodiment, the capacitor bank 20 includes a plurality of super capacitors 21, and internal resistors 22 are disposed in the super capacitors 21;
every two super capacitors 21 in the capacitor bank 20 are connected in parallel to form a super capacitor bank, the super capacitor banks are connected in series, a first end of the super capacitor banks connected in series is used as a positive electrode of the capacitor bank 20, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 20.
The capacitor bank 20 according to the present embodiment is composed of a plurality of super capacitors 21, the storage capacity is expanded by the super capacitors 21, the super capacitors have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 22 of the super capacitor 21 has a voltage stabilizing function, and is used for assisting the super capacitor 21 to charge and discharge. Further, in this embodiment, a 22F super capacitor 21 with an internal resistance of 18m Ω is selected, and two super capacitors 21 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 20 is 2.2F and the internal resistance is 180m Ω.
In a preferred embodiment, the power module 10 includes a current source 11, a voltage source 12, and a diode 13;
the voltage source 12 and the diode 13 are connected in series, the current source 11 is connected in parallel with the voltage source 12 and the diode 13, a first end of the parallel connection is used as a positive pole of the power module 10, and a second end of the parallel connection is used as a negative pole of the power module 10.
In this embodiment, the driving current of the motor 30 is set to be analog, the high peak current is 12A, and the average current is 4A, that is, the high peak current is three times the average current, the current source 11 in this embodiment outputs the driving current, the voltage source 12 outputs the driving voltage, preferably, the current source 11 is a 5A current source, the voltage source 12 is a 47.4 voltage source, and the diode 13 is a unidirectional conducting diode, so that the power module 10 simulates to form a 48V power source, and the current is limited by 5A for output. Of course, this is merely exemplary and not absolute.
The utility model discloses still provide a mechanical arm, this mechanical arm include the motor drive of aforementioned record, and this motor drive's specific structure refers to above-mentioned embodiment, because this mechanical arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.
The utility model discloses still provide a robot, this robot includes the arm of aforementioned record, and the concrete structure of this arm refers to above-mentioned embodiment, because this robot has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.
What just go up be the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic thought down, utilize the equivalent structure transform that the contents of the description and the drawing do, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.
Claims (12)
1. A motor driving circuit is characterized by comprising a power supply module and a capacitor bank, wherein the positive and negative ends of the power supply module and the capacitor bank are connected with the two ends of a load of a motor;
the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.
2. The motor drive circuit of claim 1 wherein the capacitor bank is further configured to store the rated output current of the power module when the drive current of the motor is less than the rated output current of the power module.
3. The motor drive circuit of claim 1 wherein the stored current is greater than or equal to the high peak current.
4. The motor drive circuit of claim 1, wherein the capacitor bank comprises a plurality of super capacitors, and an internal resistance is provided in each super capacitor;
every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.
5. The motor drive circuit of claim 4, wherein the power module comprises a current source, a voltage source, and a diode;
the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.
6. A motor driving device is characterized by comprising a power supply module and a capacitor bank, wherein the positive and negative ends of the power supply module and the capacitor bank are connected with the two ends of a load of a motor;
the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.
7. The motor drive of claim 6, wherein the capacitor bank is further configured to store the rated output current of the power module when the drive current of the motor is less than the rated output current of the power module.
8. The motor drive of claim 6, wherein the stored current is greater than or equal to the high peak current.
9. The motor drive of claim 6, wherein the capacitor bank comprises a plurality of super capacitors, and an internal resistance is provided in each super capacitor;
every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.
10. The motor drive of claim 9, wherein the power module comprises a current source, a voltage source, and a diode;
the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.
11. A robot arm comprising the motor drive apparatus according to any one of claims 6 to 10.
12. A robot comprising the robot arm of claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202023137771.5U CN214045478U (en) | 2020-12-22 | 2020-12-22 | Motor drive circuit, device, mechanical arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023137771.5U CN214045478U (en) | 2020-12-22 | 2020-12-22 | Motor drive circuit, device, mechanical arm and robot |
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| CN214045478U true CN214045478U (en) | 2021-08-24 |
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| CN202023137771.5U Active CN214045478U (en) | 2020-12-22 | 2020-12-22 | Motor drive circuit, device, mechanical arm and robot |
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