TWI620389B - Regenerative energy supply device - Google Patents
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Abstract
一種回生能量供電裝置，包含一電源端及一接地端、一整流模組、一降壓模組、一判斷模組，及一開關模組。該整流模組適用以接收一馬達裝置之至少一回生能量及至少一控制信號，並將該回生能量整流濾波後輸出為一穩態電壓。該降壓模組將該穩態電壓降壓後輸出為一回生電壓。該判斷模組根據該穩態電壓輸出一開關信號。該開關模組根據該開關信號切換輸出一系統電壓及該回生電壓其中之一為一工作電壓。藉此，可將方波形式的該回生能量轉變為直流的該穩態電壓，再降為直流低壓，以提供後續電路所需的該工作電壓，不僅可以減少大電阻所佔據的大量空間、避免溫度上升影響電路穩定性，還可達到能源回收再利用、具有節省電源之功效。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
本發明是有關於一種供電裝置，特別是指一種適用於回收馬達之回生能量的回生能量供電裝置。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.
一般馬達在運作時，需要接收電能以進行加速，而突然減速或是急停時則會產生回生能量，目前多是以設置電阻的方式將該回生能量所造成之回生電流轉化為熱能消耗釋放。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.
然而，當應用在多軸多馬達的馬達裝置上時，由於每一軸的馬達都需要搭配一顆大電阻，導致大量的大電阻占據許多空間，且運作時產生的熱能亦會造成溫度上升而影響設備穩定性。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.
因此，本發明之目的，即在提供一種可減少空間、避免溫度上升，並可節省電源之回生能量供電裝置。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.
於是，本發明回生能量供電裝置，適用於電連接一馬達裝置，並包含一電源端及一接地端、一整流模組、一降壓模組、一判斷模組，及一開關模組。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.
該整流模組適用以接收該馬達裝置之至少一回生能量及至少一相關於該回生能量之輸出時間的控制信號，並將該回生能量整流濾波後輸出為一穩態電壓。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.
該降壓模組電連接該整流模組，接收該穩態電壓並將該穩態電壓降壓後輸出為一回生電壓。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.
該判斷模組電連接該整流模組，接收該穩態電壓，並根據該穩態電壓輸出一開關信號。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.
該開關模組電連接該降壓模組及該判斷模組，接收一系統電壓、該回生電壓及該開關信號，並根據該開關信號切換輸出該系統電壓及該回生電壓其中之一為一工作電壓。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.
本發明之功效在於：藉由設置該整流模組、該降壓模組、該判斷模組及該開關模組，可將方波形式的該回生能量，轉變為直流的該穩態電壓，再經該降壓模組降為直流低壓，即可提供後續電路所需的該工作電壓，不僅可以減少大電阻所佔據的大量空間、避免溫度上升影響電路穩定性，還可以達到能源回收再利用、具有節省電源之功效。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.
參閱圖1，本發明回生能量供電裝置之一實施例，適用於電連接一機械手臂(圖未示)的馬達裝置(圖未示)，並包含一電源端VCC、一接地端GND、一整流模組2、一降壓模組3、一判斷模組4，及一開關模組5。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.
值得一提的是，以下是以該馬達裝置具有六軸之馬達(圖未示)作為說明，且該馬達裝置會搭配該等馬達之數量，輸出六個回生能量(於圖1中以回生能量1~6作為標示)及六個分別相關於該等回生能量之輸出時間的控制信號(於圖1中以控制信號1~6作為標示)，但實際應用上，該馬達裝置也可僅具有單一馬達，並僅輸出一回生能量及一個相關於該回生能量之輸出時間的控制信號，並不以此為限。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.
該整流模組2適用以接收該等回生能量1~6及該等控制信號1~6，並將該等回生能量1~6整流濾波後輸出為一穩態電壓。該整流模組2包括一輸入電路21及一整流濾波電路22。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.
該輸入電路21適用以接收該等回生能量1~6及該等控制信號1~6，並根據每一控制信號以將對應之該回生能量輸出及不輸出為一輸入電壓。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.
該輸入電路21具有六個輸入固態繼電器211~216，該等輸入固態繼電器211~216之數量是搭配該等馬達之數量，該等輸入固態繼電器211~216分別適用以接收該等回生能量1~6及該等控制信號1~6，每一輸入固態繼電器211~216具有一接收對應之該回生能量1~6的第一端、一輸出端，及一接收對應的該控制信號1~6的控制端，並受對應的該控制信號1~6控制而導通及不導通，以將對應的該回生能量1~6輸出及不輸出為該輸入電壓。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.
於本實施例中，每一輸入固態繼電器211~216使用固態繼電器(Solid State Relay，縮寫為SSR)實施，具有隔離輸出入及控制高功率輸出電流之效果，但亦可依實際需求而選用其他具有開關導通效果的電子元件，並不限於此。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.
該整流濾波電路22電連接該輸入電路21，接收該輸入電壓，並將該輸入電壓整流濾波後輸出為該穩態電壓。該整流濾波電路22具有一整流濾波電感221及一整流濾波電容222。 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.
該整流濾波電感221具有一電連接所有輸入固態繼電器211~216之輸出端的第一端，及一輸出該穩態電壓的第二端。 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.
該整流濾波電容222具有一電連接該整流濾波電感221之第二端的第一端，及一電連接該接地端GND的第二端。 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.
該降壓模組3電連接該整流模組2，接收該穩態電壓並將該穩態電壓降壓後輸出為一回生電壓。 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.
該判斷模組4電連接該整流模組2與該電源端VCC與該接地端GND，接收該穩態電壓，並根據該穩態電壓輸出一開關信號。該判斷模組4包括一分壓電路41及一判斷電路42。 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.
該分壓電路41電連接該整流模組2，接收該穩態電壓並將該穩態電壓降壓後輸出為一判斷電壓。該分壓電路41具有一第一分壓電阻411及一第二分壓電阻412。 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.
該第一分壓電阻411具有一接收該穩態電壓的第一端，及一輸出該判斷電壓的第二端。 The first voltage dividing resistor 411 has a first end receiving the steady state voltage and a second end outputting the determining voltage.
該第二分壓電阻412具有一電連接該第一分壓電阻411之第二端的第一端，及一電連接該接地端GND的第二端。 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.
該判斷電路42電連接該分壓電路41，並根據該判斷電壓輸出該開關信號，該判斷電路42於該判斷電壓高於一高閾值電壓時，輸出一第一準位的該開關信號，於該判斷電壓低於一低閾值電 壓時，輸出一第二準位的該開關信號。該判斷電路42具有一運算放大器421、一第一判斷電阻422、一第二判斷電阻423、一第三判斷電阻424、一第四判斷電阻425，及一第五判斷電阻426。 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.
該運算放大器421具有一電連接該第一分壓電阻411之第二端的反向輸入端、一正向輸入端，及一放大輸出端。 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.
該第一判斷電阻422具有一電連接該放大輸出端的第一端，及一電連接該正向輸入端的第二端。 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.
該第二判斷電阻423具有一電連接該正向輸入端的第一端，及一第二端。 The second determining resistor 423 has a first end electrically connected to the forward input end and a second end.
該第三判斷電阻424具有一電連接該第二判斷電阻423之第二端的第一端，及一電連接該接地端GND的第二端。 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.
該第四判斷電阻425具有一電連接該第二判斷電阻423之第二端的第一端，及一電連接該電源端VCC的第二端。 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.
該第五判斷電阻426具有一電連接該第一判斷電阻422之第二端的第一端，及一輸出該開關信號的第二端。 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.
該開關模組5電連接該降壓模組3及該判斷模組4，接收一系統電壓、該回生電壓及該開關信號，並根據該開關信號切換輸出該系統電壓及該回生電壓其中之一為一工作電壓。其中，該開關模組5於該開關信號為第一準位時，切換輸出該回生電壓為該工作電壓，於該開關信號為第二準位時，切換輸出該系統電壓為該工作電壓。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.
該開關模組5包括一第一開關電晶體50、一第二開關電晶體51、一第三開關電晶體52、一第一開關電阻53、一第二開關電阻54、一第三開關電阻55、一第一開關電容56、一第二開關電容57、一第一開關二極體58、一第二開關二極體59，及一開關穩態電阻500。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.
該第一開關電晶體50具有一電連接該電源端VCC的第一端、一第二端，及一用以接收該開關信號的控制端，並受該開關信號控制以於其第二端輸出及不輸出一切換信號。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.
該第二開關電晶體51具有一用以由該降壓模組3接收該回生電壓的第一端、一第二端，及一用以接收該切換信號的控制端，並受該切換信號控制以於其第二端輸出及不輸出該回生電壓。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.
該第三開關電晶體52具有一用以接收該系統電壓的第一端、一第二端，及一用以接收該切換信號的控制端，並受該切換信號控制以於其第二端輸出及不輸出該系統電壓。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.
於本實施例中，該第一開關電晶體50、該第三開關電晶體52皆為一P型增強型金氧半場效電晶體(Metal-Oxide-Semiconductor Field-Effect Transistor，縮寫為MOSFET)，且其第一端為源極(Source)、第二端為汲極(Drain)、控制端為閘極(Gate)，該第二開關電晶體51為一N型增強型金氧半場效電晶體，且其第一端為汲極、第二端為源極、控制端為閘極，但可依實際電路設計而搭配變化，並不限於此。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.
該第一開關電阻53具有一電連接該電源端VCC的第一端，及一電連接該第一開關電晶體50之控制端的第二端。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.
該第二開關電阻54具有一電連接第一開關電晶體50之第二端的第一端，及一電連接該第二開關電晶體51之控制端的第二端。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.
該第三開關電阻55具有一電連接第一開關電晶體50之第二端的第一端，及一電連接該第三開關電晶體52之控制端的第二端。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.
該第一開關電容56具有一電連接該第二開關電阻54之第二端的第一端，及一電連接該接地端GND的第二端。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.
該第二開關電容57具有一電連接該第三開關電阻55之第二端的第一端，及一電連接該接地端GND的第二端。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.
該第一開關二極體58具有一電連接該第二開關電晶體51之第二端的陽極端，及一用以輸出該工作電壓的陰極端。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.
該第二開關二極體59具有一電連接該第三開關電晶體52之第二端的陽極端，及一用以輸出該工作電壓的陰極端。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.
該開關穩態電阻500具有一電連接第一開關電晶體50之第二端的第一端，及一電連接該接地端GND的第二端。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.
參閱圖1、圖2~7、圖8~13，實際應用時，該馬達裝置之各軸的馬達所輸出之該等回生能量1~6分別如圖2~7之所示之波形71~76，而在各軸的馬達之運作時間所輸出的該等控制信號1~6分別如圖8~13之所示之波形81~86，亦即，每一控制信號分別只在對應的該回生能量存在時才位於高準位電壓，且由於機械手臂的六軸馬達幾乎不會同時產生回生能量，因此，每一軸之回生能量亦不會同時存在。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.
參閱圖1、圖14及圖15，該輸入電路21之該等輸入固態繼電器211~216分別受該等控制信號1~6控制而導通或不導通，以切換將對應的該回生能量1~6輸出為如圖14波形91所示之該輸入電壓，該整流濾波電路22將該輸入電壓整流濾波後輸出為如圖15所示波形92的該穩態電壓。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.
值得一提的是，本實施例中，以該等馬達為接續不斷運作作為說明，因此所得之該穩態電壓的波形92為持平的直流電壓，但在該等馬達為斷續運行或是停止運行時，該穩態電壓的波形92即會形成類似方波或是下降為低準位電壓。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.
由於一般馬達使用之電壓為大電壓，因此在經整流濾波後之該穩態電壓亦為大電壓，約為400伏特(Volt)左右，而後續之電路的該電源端VCC則通常使用較低之電壓，約為24伏特左右，因此需經由該降壓模組3及該分壓電路41進行降壓以供後續電路使用及進行判斷，其中，該降壓模組3將該穩態電壓降壓至約24伏特，而該分壓電路41則將該穩態電壓降壓至約21伏特。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.
該判斷電路42接收該分壓電路41所輸出的該判斷電壓，並於該判斷電壓高於該高閾值電壓(約為20伏特)時，輸出該第一準位(約為24伏特)的該開關信號，於該判斷電壓低於該低閾值電壓(約為10伏特)時，輸出該第二準位(約為0伏特)的該開關信號。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).
該第一開關電晶體50於該開關信號為第一準位時呈導通狀態，以於其第二端輸出為高準位電壓的該切換信號，使該第二開關電晶體51導通、該第三開關電晶體52不導通，以將該回生電壓輸出為該工作電壓。該第一開關電晶體50於該開關信號為第二準位時呈不導通狀態，此時，透過該開關穩態電阻500將該第二開關電晶體51之控制端的電壓、該第三開關電晶體52之控制端的電壓拉到低準位電壓，以使該第二開關電晶體51不導通、該第三開關電晶體52導通，以切換輸出該系統電壓為該工作電壓。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.
藉此，可以在該等馬達運作而輸出該等回生能量時，將該等回生能量轉換為該回生電壓並輸出為該工作電壓，以供該機械手臂的週邊電路使用，而在該等馬達停止運作時，則切換輸出該系統電壓為該工作電壓，以維持該工作電壓的穩定提供。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.
參閱圖1，經由以上的說明，可將本實施例的優點歸納如下：Referring to FIG. 1, the advantages of this embodiment can be summarized as follows through the above description:
一、藉由設置該整流模組2、該降壓模組3、該判斷模組4及該開關模組5，可將方波形式的該回生能量，轉變為直流的該穩態電壓，再經該降壓模組3降為直流低壓，即可提供後續電路所需的該工作電壓，如此，相較於習知技術，不僅可以減少大電阻所佔據的大量空間、避免溫度上升影響電路穩定性，還可以達到能源回收再利用、具有節省電源之功效。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.
再者，藉由該開關模組5進行切換，可以在具有該回生能量時才輸出該回生電壓，其餘時間則仍是輸出該系統電壓，藉此，可以在回收該等回生能量的情況下，仍維持該工作電壓的穩定提供。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.
二、藉由設計該判斷電路42於該判斷電壓分別高於該高閾值電壓或低於該低閾值電壓時，才切換輸出該第一準位或第二準位的該開關信號，如此，可以有效防止如抖動訊號等雜訊造成的干擾誤判，故能增加電路運行的穩定性。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.
三、藉由設置該第一開關電阻53，可以提供該第一開關電晶體50控制端預設的電壓值，避免該第一開關電晶體50控制端因空接而產生電壓浮動，導致異常的導通或不導通而產生誤判。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.
四、藉由設置該第一開關二極體58及該第二開關二極體59，可以限制該回生電壓及該系統電壓為單向傳輸，避免該回生電壓及該系統電壓的電壓互灌而導致該工作電壓浮動，造成後續電路因供電不穩定而誤動作或損毀。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.
綜上所述，故確實能達成本發明的目的。In summary, the object of the present invention can be achieved.
惟以上所述者，僅為本發明的實施例而已，當不能以此限定本發明實施的範圍，凡是依本發明申請專利範圍及專利說明書內容所作的簡單的等效變化與修飾，皆仍屬本發明專利涵蓋的範圍內。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‧‧‧整流模組2‧‧‧Rectifier Module
21‧‧‧輸入電路21‧‧‧Input circuit
211~216‧‧‧輸入固態繼電器211~216‧‧‧Input solid state relay
22‧‧‧ 整流濾波電路22‧‧‧ Rectifier filter circuit
221‧‧‧整流濾波電感221‧‧‧Rectifier filter inductor
222‧‧‧整流濾波電容222‧‧‧Rectifier filter capacitor
3‧‧‧降壓模組3‧‧‧Buck Module
4‧‧‧判斷模組4‧‧‧Judgement module
41‧‧‧ 分壓電路41‧‧‧ Voltage divider circuit
411‧‧‧第一分壓電阻411‧‧‧First voltage divider resistor
412‧‧‧第二分壓電阻412‧‧‧Second voltage divider resistor
42‧‧‧ 判斷電路42‧‧‧ Judging circuit
421‧‧‧運算放大器421‧‧‧Operational Amplifier
422‧‧‧第一判斷電阻422‧‧‧First judgment resistor
423‧‧‧第二判斷電阻423‧‧‧Second judgment resistor
424‧‧‧第三判斷電阻424‧‧‧ third judgment resistor
425‧‧‧第四判斷電阻425‧‧‧fourth judgment resistor
426‧‧‧第五判斷電阻426‧‧‧ fifth judgment resistor
5‧‧‧開關模組5‧‧‧Switch Module
50‧‧‧ 第一開關電晶體50‧‧‧ First switching transistor
51‧‧‧ 第二開關電晶體51‧‧‧ Second switching transistor
52‧‧‧ 第三開關電晶體52‧‧‧ Third switch transistor
53‧‧‧ 第一開關電阻53‧‧‧ First switch resistance
54‧‧‧ 第二開關電阻54‧‧‧ Second switch resistance
55‧‧‧ 第三開關電阻55‧‧‧ Third switch resistance
56‧‧‧ 第一開關電容56‧‧‧ First switched capacitor
57‧‧‧ 第二開關電容57‧‧‧ Second switched capacitor
58‧‧‧ 第一開關二極體58‧‧‧ First switch diode
59‧‧‧ 第二開關二極體59‧‧‧ Second switch diode
500‧‧‧開關穩態電阻500‧‧‧Switching steady-state resistance
71~76‧‧‧回生能量之波形71~76‧‧‧Regeneration energy waveform
81~86‧‧‧控制信號之波形81~86‧‧‧ Waveform of control signal
91‧‧‧ 輸入電壓之波形91‧‧‧ Input voltage waveform
92‧‧‧ 穩態電壓之波形92‧‧‧ Steady-state voltage waveform
VCC‧‧‧電源端VCC‧‧‧ power terminal
GND‧‧‧接地端GND‧‧‧ ground terminal
本發明的其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是本發明回生能量供電裝置的一實施例的一電路圖； 圖2~7分別是該實施例之複數回生能量的波形示意圖； 圖8~13分別是該實施例之複數控制信號的波形示意圖； 圖14是該實施例之一輸入電路所輸出之一輸入電壓的波形示意圖；及 圖15是該實施例之一整流濾波電路所輸出之一穩態電壓的波形示意圖。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)
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|---|---|---|---|---|
| US20080309301A1 (en) * | 2006-04-14 | 2008-12-18 | Takae Shimada | Didirectional DC-DC converter and power supply apparatus with the same |
| TWI425734B (en) * | 2011-02-11 | 2014-02-01 | Univ Nat Cheng Kung | Hybrid Smart Power Manager and Method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080309301A1 (en) * | 2006-04-14 | 2008-12-18 | Takae Shimada | Didirectional DC-DC converter and power supply apparatus with the same |
| TWI425734B (en) * | 2011-02-11 | 2014-02-01 | Univ Nat Cheng Kung | Hybrid Smart Power Manager and Method |
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