CN215471256U - Motor protection circuit and device of mechanical arm, mechanical arm and robot - Google Patents
Motor protection circuit and device of mechanical arm, mechanical arm and robot Download PDFInfo
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- CN215471256U CN215471256U CN202023121702.5U CN202023121702U CN215471256U CN 215471256 U CN215471256 U CN 215471256U CN 202023121702 U CN202023121702 U CN 202023121702U CN 215471256 U CN215471256 U CN 215471256U
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Abstract
The utility model discloses a motor protection circuit of a mechanical arm, which comprises a capacitor bank, wherein the positive and negative ends of the capacitor bank are connected with the two ends of a load of a motor; the capacitor bank is used for storing electric energy generated by the back electromotive force generated when the motor decelerates and outputting the electric energy to the motor when the motor accelerates. The motor protection circuit of the mechanical arm can realize the recovery and high-efficiency utilization of energy, is convenient to use and has low cost. In addition, the utility model also discloses a motor protection device of the mechanical arm, the mechanical arm and the robot.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a motor protection circuit and device of a mechanical arm, the mechanical arm and a robot.
Background
As is well known, an electric motor is widely used in various fields as a power source for various machines to generate a driving torque. When the motor operates, the electric energy is consumed in the acceleration process, and the reverse electromotive force is generated in the deceleration process and is superposed on the bus voltage, so that the bus voltage is raised, and the overvoltage damage of electronic components is easily caused.
In the field of robots, for a motor for driving a mechanical arm to move, a power resistor is generally used for releasing generated reverse electromotive force, when the motor decelerates and the bus voltage rises to an upper limit, the power resistor is connected between a bus and a ground wire by controlling an electronic switch, and the generated energy generated by the reverse electromotive force is released to the ground wire, so that the bus voltage is prevented from being continuously raised; and when the bus voltage falls back to a certain threshold value, the electronic switch is correspondingly controlled to disconnect the power resistor. However, the power resistor is adopted to discharge energy, and the generated electric energy generated by the back electromotive force is completely converted into heat energy, so that energy waste is caused; and the power resistor generates heat seriously after long-term operation, needs to be provided with a fan for cooling, and is inconvenient to use and high in cost.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a motor protection circuit for a robot arm, and aims to solve the technical problems in the background art.
In order to achieve the purpose, the utility model provides a motor protection circuit of a mechanical arm, which comprises a capacitor bank, wherein the positive and negative ends of the capacitor bank are connected with the two ends of a load of a motor;
the capacitor bank is used for storing electric energy generated by the back electromotive force generated when the motor decelerates and outputting the electric energy to the motor when the motor accelerates.
Preferably, the motor protection circuit of the mechanical arm further comprises a power module, and the positive and negative ends of the power module 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 further 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.
The utility model also provides a motor protection device of the mechanical arm, which comprises a capacitor bank, wherein the positive and negative ends of the capacitor bank are connected with the two ends of the load of the motor;
the capacitor bank is used for storing electric energy generated by the back electromotive force generated when the motor decelerates and outputting the electric energy to the motor when the motor accelerates.
Preferably, the motor protection circuit of the mechanical arm further comprises a power module, and the positive and negative ends of the power module 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 further 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.
The utility model also provides a mechanical arm, which comprises the motor protection device of the mechanical arm, wherein the motor protection device of the mechanical arm comprises a capacitor bank, and the positive and negative ends of the capacitor bank are connected with the two ends of the load of the motor;
the capacitor bank is used for storing electric energy generated by the back electromotive force generated when the motor decelerates and outputting the electric energy to the motor when the motor accelerates.
The utility model also provides a robot, which comprises the mechanical arm.
Compared with the prior art, the technical scheme of the embodiment of the utility model has the beneficial effects that:
when the motor of the mechanical arm decelerates, the electric energy generated by the reverse electromotive force generated by the motor is stored through the capacitor bank; when the motor is accelerated, electric energy is output to the motor through the capacitor bank; the motor protection circuit of the mechanical arm can realize the recovery and high-efficiency utilization of energy, is convenient to use and has low cost.
Drawings
FIG. 1 is a circuit diagram of a motor protection circuit for a robotic arm in accordance with an embodiment of the present invention;
FIG. 2 is a diagram of simulation test results for a motor protection circuit of the robot of FIG. 1;
fig. 3 is a block diagram of a motor protection device of a robot arm 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 drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model provides a motor protection circuit of a mechanical arm, and referring to fig. 1, the motor protection circuit of the mechanical arm comprises a capacitor group 10, wherein the positive and negative ends of the capacitor group 10 are connected with the two ends of a load of a motor 20;
the capacitor bank 10 is used for storing electric energy generated by the back electromotive force generated when the motor 20 is decelerated and outputting electric energy to the motor 20 when the motor is accelerated.
When the motor 20 operates, electric energy is consumed in an acceleration process, and a reverse electromotive force is generated in a deceleration process to generate electricity and is superposed on a bus voltage, so that the bus voltage is raised, and overvoltage damage to electronic components is easily caused.
In the motor protection circuit of the mechanical arm, when the motor 20 of the mechanical arm decelerates, the electric energy generated by the back electromotive force generated by the motor 20 is stored through the capacitor bank 10; when the motor 20 accelerates, the capacitor bank 10 outputs electric energy to the motor 20; the motor protection circuit of the mechanical arm can realize the recovery and high-efficiency utilization of energy, is convenient to use and has low cost.
In a preferred embodiment, the motor protection circuit of the mechanical arm further includes a power module, and the positive and negative terminals of the power module are connected to the two ends of the load of the motor 20;
the drive current of the motor 20 includes a high peak current, and the rated output current of the power supply module is less than the high peak current; the capacitor bank 10 is further configured to output a storage current to the motor 20 when the driving current of the motor 20 is greater than the rated output current of the power module, and the current value of the storage current is greater than the difference between the driving current and the rated output current.
It is readily understood that the required driving current of the motor 20 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module in the present embodiment is used for providing electric energy for the motor 20, and the rated output current of the power module is smaller than the high peak current of the motor 20, while the capacitor bank 10 can be charged and discharged, and the current value of the stored current is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 20 is larger than the rated output current of the power module, the capacitor bank 10 outputs the stored current to the motor 20, that is, supplies power to the power module in cooperation, so as to meet the driving current required by the operation of the motor 20, and ensure the normal operation of the motor 20. The capacitor bank 10 concerned can also be connected to a control system, and the charging can be realized by other power sources, which is only exemplary and not absolute.
Based on the above, the rated output current of the power module is smaller than the high peak current of the motor 20, and when the driving current required by the motor 20 is equal to or smaller than the rated output current of the power module, the rated output current of the power module provides the motor 20 with electric energy; when the driving current required by the motor 20 is greater than the rated output current (such as high peak current) of the power module, the capacitor bank 10 may further output the stored current to the motor 20 to supply the motor 20 with the power module; therefore, through the capacitor bank 10, 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 20, 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 20 is not required to be selected, so that the cost is reduced, and the utilization rate of the output current of the power supply is high.
In a preferred embodiment, the capacitor bank 10 is further configured to store the rated output current of the power module when the driving current of the motor 20 is smaller than the rated output current of the power module. When the driving current of the motor 20 is smaller than the rated output current of the power module, the capacitor bank 10 is charged by inputting the redundant current output by the power module except the driving current meeting the requirement of the motor 20 to the capacitor bank 10, so that the utilization rate of the current output by the power supply can be further improved; in addition, no additional power supply or circuit is required to charge the capacitor bank 10, thereby further saving the cost.
In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 10 is disposed, the capacitor bank 10 is used, and the storage current of the capacitor bank 10 is greater than or equal to the high peak current of the motor 20, that is, when the power module is in a power-off state, the capacitor bank 10 can provide the motor 20 with the driving current required for operation, so as to ensure the normal operation of the motor 20. For example, when the power module of the mechanical arm is suddenly powered off, the joint motor can be directly powered on by the capacitor bank 10 to continue running, so that the mechanical 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 10 includes a plurality of super capacitors 11, and internal resistors 12 are disposed in the super capacitors 11;
every two super capacitors 11 in the capacitor bank 10 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 10, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 10.
The capacitor bank 10 according to the present embodiment is composed of a plurality of super capacitors 11, the storage capacity is expanded by the super capacitors 11, the super capacitors 11 have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 12 of the super capacitors 11 has a voltage stabilizing function, and is used for assisting the super capacitors 11 to charge and discharge. Further, in this embodiment, a 22F super capacitor 11 with an internal resistance of 18m Ω is selected, and two super capacitors 11 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 10 is 2.2F and the internal resistance is 180m Ω.
Referring to fig. 1, as an advantageous configuration, the motor protection circuit of the robot arm further includes a voltmeter 30 and an ammeter 40, wherein the voltmeter 30 is connected in parallel with the capacitor bank 10, and the ammeter 40 is connected in series with the capacitor bank 10. Namely, a voltmeter 30 and an ammeter 40 are provided in a motor protection circuit of the robot arm, so that the voltage value and the current value of the capacitor bank 10 are measured by the voltmeter 30 and the ammeter 40, respectively.
In combination with the above embodiments, the power module in the motor protection circuit of the robot arm may be composed of a current source and a voltage source, and the current source outputs a driving current and the voltage source outputs a driving voltage. The current source selects a 5A current source, and the voltage source selects a 48V voltage source, so that the power module simulates to form a 48V power source, and the current is limited to be output by 5A. Of course, this is merely exemplary and not absolute.
The motor protection circuit of the mechanical arm is subjected to simulation test, and the simulation test result is shown in fig. 2, wherein the X axis is time (t), and the Y axis is current (A) or voltage (V). Wherein IG1 represents the deceleration back electromotive force generation current of the motor 20 and the acceleration consumption current of the motor 20, both of which are set to 5A; AM2 represents a supercapacitor pack 10 which absorbs energy when the motor 20 decelerates and releases energy when the motor 20 accelerates; VM1, which represents the motor drive voltage, fluctuates between 47V and 50V. Therefore, in the process of generating power by using the motor 20 of the mechanical arm to decelerate and reverse electromotive force, the capacitor bank 10 can effectively absorb energy, and the continuous rising of the bus voltage is avoided; while during acceleration of the motor 20, the capacitor bank 10 can release energy to power the motor 20. The fluctuation range of the motor driving voltage is related to factors such as the specific type, the capacity and the volume of the capacitor bank 10, and can be flexibly adjusted during specific design so as 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 protection device of the mechanical arm, and referring to fig. 3, the motor protection device of the mechanical arm comprises a capacitor group 10, wherein the positive and negative ends of the capacitor group 10 are connected with the two ends of the load of a motor 20;
the capacitor bank 10 is used for storing electric energy generated by the back electromotive force generated when the motor 20 is decelerated and outputting electric energy to the motor 20 when the motor is accelerated.
When the motor 20 operates, electric energy is consumed in an acceleration process, and a reverse electromotive force is generated in a deceleration process to generate electricity and is superposed on a bus voltage, so that the bus voltage is raised, and overvoltage damage to electronic components is easily caused.
In the motor protection device of the mechanical arm, when a motor 20 of the mechanical arm decelerates, electric energy generated by the back electromotive force generated by the motor 20 is stored through a capacitor bank 10; when the motor 20 accelerates, the capacitor bank 10 outputs electric energy to the motor 20; the motor protection device of the mechanical arm can realize the recovery and high-efficiency utilization of energy, is convenient to use and has low cost.
In a preferred embodiment, the motor protection device of the mechanical arm further comprises a power module, wherein the positive and negative ends of the power module are connected with the two ends of the load of the motor 20;
the drive current of the motor 20 includes a high peak current, and the rated output current of the power supply module is less than the high peak current; the capacitor bank 10 is further configured to output a storage current to the motor 20 when the driving current of the motor 20 is greater than the rated output current of the power module, and the current value of the storage current is greater than the difference between the driving current and the rated output current.
It is readily understood that the required driving current of the motor 20 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module in the present embodiment is used for providing electric energy for the motor 20, and the rated output current of the power module is smaller than the high peak current of the motor 20, while the capacitor bank 10 can be charged and discharged, and the current value of the stored current is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 20 is larger than the rated output current of the power module, the capacitor bank 10 outputs the stored current to the motor 20, that is, supplies power to the power module in cooperation, so as to meet the driving current required by the operation of the motor 20, and ensure the normal operation of the motor 20. The capacitor bank 10 concerned can also be connected to a control system, and the charging can be realized by other power sources, which is only exemplary and not absolute.
Based on the above, the rated output current of the power module is smaller than the high peak current of the motor 20, and when the driving current required by the motor 20 is equal to or smaller than the rated output current of the power module, the rated output current of the power module provides the motor 20 with electric energy; when the driving current required by the motor 20 is greater than the rated output current (such as high peak current) of the power module, the capacitor bank 10 may further output the stored current to the motor 20 to supply the motor 20 with the power module; therefore, through the capacitor bank 10, 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 20, 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 20 is not required to be selected, so that the cost is reduced, and the utilization rate of the output current of the power supply is high.
In a preferred embodiment, the capacitor bank 10 is further configured to store the rated output current of the power module when the driving current of the motor 20 is smaller than the rated output current of the power module. When the driving current of the motor 20 is smaller than the rated output current of the power module, the capacitor bank 10 is charged by inputting the redundant current output by the power module except the driving current meeting the requirement of the motor 20 to the capacitor bank 10, so that the utilization rate of the current output by the power supply can be further improved; in addition, no additional power supply or circuit is required to charge the capacitor bank 10, thereby further saving the cost.
In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 10 is disposed, the capacitor bank 10 is used, and the storage current of the capacitor bank 10 is greater than or equal to the high peak current of the motor 20, that is, when the power module is in a power-off state, the capacitor bank 10 can provide the motor 20 with the driving current required for operation, so as to ensure the normal operation of the motor 20. For example, when the power module of the mechanical arm is suddenly powered off, the joint motor can be directly powered on by the capacitor bank 10 to continue running, so that the mechanical arm is prevented from falling off due to power failure, and the safety is improved.
In a preferred embodiment, the capacitor bank 10 includes a plurality of super capacitors 11, and internal resistors 12 are disposed in the super capacitors 11;
every two super capacitors 11 in the capacitor bank 10 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 10, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 10.
The capacitor bank 10 according to the present embodiment is composed of a plurality of super capacitors 11, the storage capacity is expanded by the super capacitors 11, the super capacitors 11 have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 12 of the super capacitors 11 has a voltage stabilizing function, and is used for assisting the super capacitors 11 to charge and discharge. Further, in this embodiment, a 22F super capacitor 11 with an internal resistance of 18m Ω is selected, and two super capacitors 11 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 10 is 2.2F and the internal resistance is 180m Ω.
The present invention further provides a mechanical arm, where the mechanical arm includes the aforementioned motor protection device for the mechanical arm, and the specific structure of the motor protection device for the mechanical arm refers to the above embodiments, and since the mechanical arm employs all technical solutions of all the above embodiments, the mechanical arm at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated here.
The present invention further provides a robot, which includes the aforementioned mechanical arm, and the specific structure of the mechanical arm refers to the above embodiments, and since the robot employs all technical solutions of all the above embodiments, the robot at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A motor protection device of a mechanical arm is characterized by comprising a capacitor bank, wherein the positive and negative ends of the capacitor bank are connected with the two ends of a load of a motor;
the capacitor bank is used for storing electric energy generated by the generated back electromotive force when the motor decelerates and outputting the electric energy to the motor when the driving current of the motor is larger than the supply current in the acceleration process of the motor.
2. The motor protection device of the mechanical arm according to claim 1, further comprising a power module, wherein the positive and negative ends of the power module 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 further 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.
3. The motor protection device of a robot arm of claim 2, wherein the capacitor bank is further configured to store the rated output current of the power module when the driving current of the motor is less than the rated output current of the power module.
4. A motor protection arrangement for a robot arm as claimed in claim 2, characterized in that the stored current is greater than or equal to the high peak current.
5. The motor protection device of the mechanical arm according to claim 1, wherein 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.
6. A robot arm comprising the motor protector for a robot arm according to any one of claims 1 to 5.
7. A robot comprising the robot arm of claim 6.
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| CN202023121702.5U CN215471256U (en) | 2020-12-22 | 2020-12-22 | Motor protection circuit and device of mechanical arm, mechanical arm and robot |
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| CN202023121702.5U CN215471256U (en) | 2020-12-22 | 2020-12-22 | Motor protection circuit and device of mechanical arm, mechanical arm and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621816A (en) * | 2020-12-22 | 2021-04-09 | 深圳市越疆科技有限公司 | Motor protection circuit, device and method of mechanical arm, mechanical arm and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621816A (en) * | 2020-12-22 | 2021-04-09 | 深圳市越疆科技有限公司 | Motor protection circuit, device and method of mechanical arm, mechanical arm and robot |
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