TWI766621B - Motor braking device and method - Google Patents

Motor braking device and method Download PDF

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TWI766621B
TWI766621B TW110109736A TW110109736A TWI766621B TW I766621 B TWI766621 B TW I766621B TW 110109736 A TW110109736 A TW 110109736A TW 110109736 A TW110109736 A TW 110109736A TW I766621 B TWI766621 B TW I766621B
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brake
terminal
current
voltage
brake coil
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TW110109736A
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TW202239106A (en
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江崞瑤
蔡清雄
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台達電子工業股份有限公司
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Abstract

A motor braking device includes a brake, a power supply unit and a braking circuit. The brake includes an armature plate, a bottom plate, a pad, and a brake coil. The brake coil is configured to generate a magnetic force to attract the armature plate and separate the armature plate from the pad. The power supply unit provides an input voltage. The braking circuit is used to boost the input voltage to generate an output voltage, supply the output voltage to the brake coil to generate the magnetic force, and reduce a current flowing through the brake coil after the output voltage is supplied for a period of time.

Description

馬達剎車裝置與馬達剎車方法Motor braking device and motor braking method

本揭露是關於使用線圈的馬達剎車裝置與馬達剎車方法。The present disclosure relates to a motor braking device and a motor braking method using coils.

在習知的一種馬達剎車裝置中是使用線圈來產生磁力以作為剎車的制動力，當需要更大的制動力時可增加線圈的圈數或是線圈的電流。然而，增加線圈的圈數會增加裝置的體積。另一方面，如果要改變線圈電流則需要改變輸入電壓或是增加線徑，由於輸入電壓通常為固定，且增加線經則同樣的會增加裝置的體積，這都無法有效提升磁力。如何解決此問題，為此領域技術人員所關心的議題。In a conventional motor braking device, a coil is used to generate a magnetic force as a braking force for braking. When a larger braking force is required, the number of turns of the coil or the current of the coil can be increased. However, increasing the number of turns of the coil increases the bulk of the device. On the other hand, if you want to change the coil current, you need to change the input voltage or increase the wire diameter. Since the input voltage is usually fixed, and increasing the wire diameter will also increase the volume of the device, which cannot effectively improve the magnetic force. How to solve this problem is a topic of concern to those skilled in the art.

本發明的實施例提出一種馬達剎車裝置，包括剎車器、電源供應單元與剎車電路。剎車器包括電樞板、底板、來令片、剎車線圈，其中來令片設置於電樞板與底板之間，剎車線圈用以產生一磁力以吸引電樞板，使電樞板與來令片分開。電源供應單元用以提供一輸入電壓。剎車電路電性連接至電源供應單元與剎車線圈，用以對輸入電壓進行升壓以產生一輸出電壓，將輸出電壓供應至剎車線圈以產生磁力，並在供應輸出電壓一時間以後降低流經剎車線圈的電流。剎車電路包括升壓電路及電流控制電路。升壓電路電性連接至電源供應單元用以產生輸出電壓。電流控制電路電性連接至剎車線圈，用以根據脈寬調變訊號控制流經剎車線圈的電流維持在剎車線圈的維持電流，其中維持電流小於剎車線圈的激磁電流。An embodiment of the present invention provides a motor braking device, which includes a brake, a power supply unit and a braking circuit. The brake includes an armature plate, a bottom plate, a brake pad, and a brake coil, wherein the brake pad is arranged between the armature plate and the bottom plate, and the brake coil is used to generate a magnetic force to attract the armature plate, so that the armature plate and the brake coil are formed. slices apart. The power supply unit is used for providing an input voltage. The brake circuit is electrically connected to the power supply unit and the brake coil for boosting the input voltage to generate an output voltage, supplying the output voltage to the brake coil to generate a magnetic force, and reducing the output voltage to flow through the brake after supplying the output voltage for a period of time coil current. The braking circuit includes a boost circuit and a current control circuit. The boosting circuit is electrically connected to the power supply unit for generating an output voltage. The current control circuit is electrically connected to the brake coil, and is used for controlling the current flowing through the brake coil according to the pulse width modulation signal to maintain the maintenance current of the brake coil, wherein the maintenance current is smaller than the excitation current of the brake coil.

在一些實施例中，其中維持電流小於等於激磁電流的25%。In some embodiments, wherein the holding current is less than or equal to 25% of the magnetizing current.

在一些實施例中，升壓電路包括以下元件。電感的第一端連接至電源供應單元的電壓正端。第一開關的第一端連接至電感的第二端，第一開關的第二端連接至電源供應單元的電壓負端。二極體的正極連接至電感的第二端，二極體的負極連接至剎車線圈的第一端以輸出輸出電壓。In some embodiments, the boost circuit includes the following elements. The first end of the inductor is connected to the positive voltage end of the power supply unit. The first end of the first switch is connected to the second end of the inductor, and the second end of the first switch is connected to the negative voltage end of the power supply unit. The positive pole of the diode is connected to the second terminal of the inductor, and the negative pole of the diode is connected to the first terminal of the brake coil to output the output voltage.

在一些實施例中，電流控制電路包括以下元件。第二開關的第一端連接至剎車線圈的第二端。電阻的第一端連接至第二開關的第二端，電阻的第二端連接至電源供應單元的電壓負端。差動放大器的第一輸入端連接至電阻的第一端，差動放大器的第二輸入端連接至一參考電壓。脈寬調變電路的一端電性連接至差動放大器的輸出端，另一端電性連接至第二開關的控制端，用以根據差動放大器的輸出端上的電壓產生脈寬調變訊號，並施加脈寬調變訊號至第二開關的控制端。In some embodiments, the current control circuit includes the following elements. The first end of the second switch is connected to the second end of the brake coil. The first end of the resistor is connected to the second end of the second switch, and the second end of the resistor is connected to the negative voltage end of the power supply unit. The first input terminal of the differential amplifier is connected to the first terminal of the resistor, and the second input terminal of the differential amplifier is connected to a reference voltage. One end of the pulse width modulation circuit is electrically connected to the output end of the differential amplifier, and the other end is electrically connected to the control end of the second switch, for generating a pulse width modulation signal according to the voltage on the output end of the differential amplifier , and apply a pulse width modulation signal to the control terminal of the second switch.

在一些實施例中，馬達剎車裝置設置於機械手臂上。In some embodiments, the motor braking device is provided on the robotic arm.

在一些實施例中，輸入電壓為24伏特且輸出電壓為48伏特。In some embodiments, the input voltage is 24 volts and the output voltage is 48 volts.

以另一個角度來說，本發明的實施例提出一種馬達剎車方法，適用於上述的剎車器。此馬達剎車方法包括：對輸入電壓進行升壓以產生輸出電壓，將輸出電壓供應至剎車線圈以產生磁力以吸引電樞板，使電樞板與來令片分開；以及在供應輸出電壓一時間以後降低流經剎車線圈的電流。From another perspective, an embodiment of the present invention provides a motor braking method, which is applicable to the above-mentioned brake. The motor braking method includes: boosting an input voltage to generate an output voltage, supplying the output voltage to a braking coil to generate a magnetic force to attract the armature plate, and separating the armature plate from the brake pad; and supplying the output voltage for a period of time Reduce the current flowing through the brake coil later.

在一些實施例中，上述的馬達剎車方法還包括：根據脈寬調變訊號控制流經剎車線圈的電流維持在剎車線圈的一維持電流，其中維持電流小於剎車線圈的激磁電流。In some embodiments, the above-mentioned motor braking method further includes: controlling the current flowing through the braking coil to maintain a holding current of the braking coil according to the PWM signal, wherein the holding current is smaller than the exciting current of the braking coil.

在上述的裝置與方法中，可以提高剎車的制動力同時減少功率的消耗。In the above-mentioned device and method, the braking force of the brake can be improved and the power consumption can be reduced.

關於本文中所使用之「第一」、「第二」等，並非特別指次序或順位的意思，其僅為了區別以相同技術用語描述的元件或操作。The terms "first", "second", etc. used in this document do not mean a particular order or order, but are only used to distinguish elements or operations described in the same technical terms.

圖1是一種剎車器的分解示意圖。請參照圖1，剎車器100包括了剎車線圈110、複數個彈簧120、軸套130、電樞板140、來令片150與底板160。電樞板140設置在剎車線圈110與來令片150之間，來令片150設置在電樞板140與底板160之間。軸套130是安裝在馬達軸心(未繪示)上，複數個彈簧120用以推壓電樞板140，使得電樞板140壓住來令片150，而來令片150被夾在電樞板140與底板160之間，靠著來令片150產生的摩擦力來對馬達軸心進行剎車。Figure 1 is an exploded schematic view of a brake. Referring to FIG. 1 , the brake 100 includes a brake coil 110 , a plurality of springs 120 , a bushing 130 , an armature plate 140 , a pad 150 and a bottom plate 160 . The armature plate 140 is disposed between the brake coil 110 and the comer plate 150 , and the comer plate 150 is disposed between the armature plate 140 and the bottom plate 160 . The shaft sleeve 130 is installed on the motor shaft (not shown), and a plurality of springs 120 are used to push the armature plate 140, so that the armature plate 140 is pressed against the plate 150, and the plate 150 is clamped in the electric motor. Between the pivot plate 140 and the bottom plate 160, the friction force generated by the pad 150 is used to brake the motor shaft.

當剎車線圈110通電以後，所產生的磁力會吸引電樞板140以抵抗複數個彈簧120的推力，使得電樞板140與來令片150分開同時使來令片150成為自由狀態，馬達軸心進而被釋放。換言之，在此實施例中未通電時馬達處於剎車狀態，通電時馬達則是自由狀態。當馬達需要很大的剎車制動力時可設置較為強力的彈簧120，但此時則需要剎車線圈110產生更大的磁力，透過以下提出的剎車電路可以在不改變輸入電壓的前提下增加磁力。When the brake coil 110 is energized, the generated magnetic force will attract the armature plate 140 to resist the pushing force of the plurality of springs 120, so that the armature plate 140 is separated from the brake pad 150 and the brake pad 150 is in a free state. thus released. In other words, in this embodiment, the motor is in a braking state when not powered on, and is in a free state when powered on. When the motor needs a large braking force, a relatively strong spring 120 can be provided, but at this time, the brake coil 110 needs to generate a larger magnetic force. Through the braking circuit proposed below, the magnetic force can be increased without changing the input voltage.

圖2是根據一實施例繪示馬達剎車裝置的電路示意圖。請參照圖2，馬達剎車裝置200包括了圖1的剎車器100(為了簡化起見，在圖2中僅繪示剎車線圈110)、電源供應單元210與剎車電路220。FIG. 2 is a schematic circuit diagram illustrating a motor braking device according to an embodiment. Referring to FIG. 2 , the motor braking device 200 includes the brake 100 of FIG. 1 (for simplicity, only the braking coil 110 is shown in FIG. 2 ), a power supply unit 210 and a braking circuit 220 .

電源供應單元210用以提供直流的輸入電壓V in，在一些實施例中此輸入電壓V in為24伏特。剎車電路220電性連接至電源供應單元210與剎車線圈110，用以對輸入電壓V in進行升壓以產生輸出電壓V out，並且將輸出電壓V out供應至剎車線圈110以產生磁力。特別的是，剎車電路220會在供應輸出電壓V out一段時間以後降低流經剎車線圈110的電流I以維持磁力同時減少消耗的功率。 The power supply unit 210 is used to provide a DC input voltage Vin , in some embodiments, the input voltage Vin is 24 volts. The braking circuit 220 is electrically connected to the power supply unit 210 and the braking coil 110 for boosting the input voltage V in to generate the output voltage V out , and supplying the output voltage V out to the braking coil 110 to generate magnetic force. Specifically, the braking circuit 220 reduces the current I flowing through the braking coil 110 after supplying the output voltage V out for a period of time to maintain the magnetic force and reduce the power consumption.

具體來說，剎車電路220包括升壓電路221與電流控制電路222。升壓電路221電性連接至電源供應單元210，用以產生輸出電壓V out。電流控制電路222電性連接至剎車線圈110，在激磁剎車電圈110一段時間以後，電流控制電路222根據脈寬調變訊號控制流經剎車線圈110的電流I維持在剎車線圈110的維持電流，此維持電流小於剎車線圈110的激磁電流。 Specifically, the braking circuit 220 includes a boost circuit 221 and a current control circuit 222 . The boosting circuit 221 is electrically connected to the power supply unit 210 for generating the output voltage V out . The current control circuit 222 is electrically connected to the brake coil 110. After the brake coil 110 is excited for a period of time, the current control circuit 222 controls the current I flowing through the brake coil 110 according to the pulse width modulation signal to maintain the maintenance current of the brake coil 110. The holding current is smaller than the excitation current of the brake coil 110 .

舉例來說，升壓電路221包括了電感L、二極體D及開關SW1。電感L的第一端L1電性連接至電源供應單元210的電壓正端2101。二極體D的正極D1電性連接至電感L的第二端L2，二極體D的負極D2電性連接至剎車線圈110的第一端1101以輸出電壓V out。開關SW1的第一端SW11電性連接至電感L的第二端L2與二極體D的正極D1，開關SW1的第二端SW12電性連接至電源供應單元210的電壓負端2102，開關SW1的控制端SW13電性連接至一控制訊號(圖未示)，例如為脈寬調變訊號以調整電壓上升的比率。 For example, the boost circuit 221 includes an inductor L, a diode D and a switch SW1. The first terminal L1 of the inductor L is electrically connected to the positive voltage terminal 2101 of the power supply unit 210 . The positive electrode D1 of the diode D is electrically connected to the second end L2 of the inductor L, and the negative electrode D2 of the diode D is electrically connected to the first end 1101 of the brake coil 110 to output the voltage V out . The first terminal SW11 of the switch SW1 is electrically connected to the second terminal L2 of the inductor L and the positive terminal D1 of the diode D, the second terminal SW12 of the switch SW1 is electrically connected to the negative voltage terminal 2102 of the power supply unit 210, and the switch SW1 The control terminal SW13 is electrically connected to a control signal (not shown), such as a pulse width modulation signal to adjust the voltage rise ratio.

電流控制電路222包括了開關SW2、電阻R、差動放大器223及脈寬調變電路224。開關SW2的第一端SW21電性連接至剎車線圈110的第二端1102。電阻R的第一端R1電性連接至開關SW2的第二端SW22，電阻R的第二端R2電性連接至電源供應單元210的電壓負端2102。差動放大器223的第一輸入端2231電性連接至電阻R的第一端R1及開關SW2的第二端SW22。差動放大器223的第二輸入端2232電性連接至一參考電壓REF，差動放大器223的輸出端2233電性連接至脈寬調變電路224的一端。當開關SW2導通時，電流I會經過電阻R產生壓降，當電流I大於剎車線圈110的維持電流時，電阻R的第一端R1上的電位會大於參考電壓REF。脈寬調變電路224根據差動放大器223的輸出端2233上的電壓產生脈寬調變訊號，另一端施加此脈寬調變訊號至開關SW2的控制端SW23，藉此透過調整占空比(duty cycle)來調整電流I的大小，例如在電流I大於剎車線圈110的維持電流時降低開關SW2的占空比，而電流I小於剎車線圈110的維持電流時增加開關SW2的占空比。The current control circuit 222 includes a switch SW2 , a resistor R, a differential amplifier 223 and a pulse width modulation circuit 224 . The first terminal SW21 of the switch SW2 is electrically connected to the second terminal 1102 of the brake coil 110 . The first terminal R1 of the resistor R is electrically connected to the second terminal SW22 of the switch SW2 , and the second terminal R2 of the resistor R is electrically connected to the negative voltage terminal 2102 of the power supply unit 210 . The first input terminal 2231 of the differential amplifier 223 is electrically connected to the first terminal R1 of the resistor R and the second terminal SW22 of the switch SW2. The second input terminal 2232 of the differential amplifier 223 is electrically connected to a reference voltage REF, and the output terminal 2233 of the differential amplifier 223 is electrically connected to one end of the PWM circuit 224 . When the switch SW2 is turned on, the current I will generate a voltage drop through the resistor R. When the current I is greater than the holding current of the brake coil 110 , the potential on the first end R1 of the resistor R will be greater than the reference voltage REF. The pulse width modulation circuit 224 generates a pulse width modulation signal according to the voltage on the output terminal 2233 of the differential amplifier 223, and the other terminal applies the pulse width modulation signal to the control terminal SW23 of the switch SW2, thereby adjusting the duty ratio by adjusting the duty cycle (duty cycle) to adjust the magnitude of the current I. For example, when the current I is greater than the holding current of the brake coil 110 , the duty cycle of the switch SW2 is decreased, and when the current I is less than the holding current of the brake coil 110 , the duty cycle of the switch SW2 is increased.

圖3是根據一實施例繪示電壓與電流的時序圖。請參照圖2與圖3，曲線310代表輸出電壓V out，曲線320代表電流I。在通電以後升壓電路221開始運作，將輸出電壓V out從24伏特(V)提升至48V，而電流I開始增加達到激磁電流I PEAK。然而，在剎車線圈110被激磁以後不需要這麼大的電流就可以維持相同的磁力，因此在經過一段時間T 1以後電流控制電路222將電流I的大小降低至剎車線圈110的維持電流I HOLD。在一些實施例中，維持電流I HOLD小於等於激磁電流I PEAK的25%，但本發明並不在此限。由於功率消耗的公式為

Figure 02_image001
，因此當電流I降低至25%時，功率的消耗可以降低至原本的10%以下，進而降低熱的問題。 FIG. 3 is a timing diagram illustrating voltage and current according to an embodiment. Please refer to FIG. 2 and FIG. 3 , the curve 310 represents the output voltage V out , and the curve 320 represents the current I. The boost circuit 221 starts to operate after power-on, boosting the output voltage V out from 24 volts (V) to 48 V, and the current I starts to increase to the excitation current I PEAK . However, such a large current is not required to maintain the same magnetic force after the brake coil 110 is energized, so the current control circuit 222 reduces the magnitude of the current I to the holding current I HOLD of the brake coil 110 after a period of time T 1 . In some embodiments, the holding current I HOLD is less than or equal to 25% of the excitation current I PEAK , but the invention is not limited thereto. Since the formula for power consumption is
Figure 02_image001
, so when the current I is reduced to 25%, the power consumption can be reduced to less than 10% of the original, thereby reducing the heat problem.

在一實驗中，剎車器的功率消耗原本是16瓦特(W)，在經過上述的改善以後功率消耗變為1.85W，而馬達的功率消耗約為25W，因此剎車功耗除以馬達功耗的比率從64%降低至7.2%，這樣可以大幅降低功率消耗，也可以幫助馬達的溫度降低。此外，因為提高了剎車的電壓，剎車制動力可以提升，或是可以在縮小體積的情況下維持原本的剎車制動力。In an experiment, the power consumption of the brake was originally 16 watts (W). After the above improvement, the power consumption became 1.85W, and the power consumption of the motor was about 25W. Therefore, the brake power consumption was divided by the motor power consumption. The ratio is reduced from 64% to 7.2%, which can greatly reduce power consumption and also help reduce the temperature of the motor. In addition, because the braking voltage is increased, the braking force can be increased, or the original braking force can be maintained in the case of reducing the size.

在一些實施例中，上述的馬達剎車裝置是設置在一機械手臂上，但在其他實施例中也可以設置在任意的裝置上，本揭露並不在此限。In some embodiments, the above-mentioned motor braking device is disposed on a robotic arm, but in other embodiments, it can also be disposed on any device, and the disclosure is not limited thereto.

圖4是根據一實施例繪示馬達剎車方法的流程圖，請參照圖4，此方法可用於圖1的剎車器。在步驟401，對一輸入電壓進行升壓以產生一輸出電壓，將輸出電壓供應至剎車線圈以產生磁力以吸引電樞板，使電樞板與來令片分開。在步驟402，在供應輸出電壓一時間以後降低流經剎車線圈的電流。然而，圖4中各步驟已詳細說明如上，在此便不再贅述。值得注意的是，圖4中各步驟可以實作為多個程式碼或是電路，本發明並不在此限。此外，圖4的方法可以搭配以上實施例使用，也可以單獨使用。換言之，圖4的各步驟之間也可以加入其他的步驟。FIG. 4 is a flow chart illustrating a motor braking method according to an embodiment. Please refer to FIG. 4 . This method can be applied to the brake of FIG. 1 . In step 401, an input voltage is boosted to generate an output voltage, and the output voltage is supplied to the brake coil to generate a magnetic force to attract the armature plate, so as to separate the armature plate from the brake pad. At step 402, the current through the brake coil is reduced after supplying the output voltage for a period of time. However, each step in FIG. 4 has been described in detail as above, and will not be repeated here. It should be noted that each step in FIG. 4 can be implemented as a plurality of codes or circuits, and the present invention is not limited thereto. In addition, the method of FIG. 4 may be used in conjunction with the above embodiments, or may be used alone. In other words, other steps may be added between the steps in FIG. 4 .

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed above by the embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the scope of the appended patent application.

100:剎車器 110:剎車線圈 120:彈簧 130:軸套 140:電樞板 150:來令片 160:底板 200:馬達剎車裝置 210:電源供應單元 2101:電壓正端 2102:電壓負端 V in:輸入電壓 V out:輸出電壓 220:剎車電路 221:升壓電路 222:電流控制電路 223:差動放大器 2231:第一輸入端 2232:第二輸入端 2233:輸出端 224:脈寬調變電路 L:電感 D:二極體 D1:正極 D2:負極 SW1,SW2:開關 R:電阻 L1,SW11,1101,SW21,R1:第一端 L2,SW12,1102,SW22,R2:第二端 SW13,SW23:控制端 I:電流 REF:參考電壓 310,320:曲線 T 1:時間 I PEAK:激磁電流 I HOLD:維持電流 401,402:步驟 100: Brake 110: Brake Coil 120: Spring 130: Bushing 140: Armature Plate 150: Rear Pad 160: Bottom Plate 200: Motor Brake Device 210: Power Supply Unit 2101: Voltage Positive Terminal 2102: Voltage Negative Terminal V in : Input voltage V out : Output voltage 220: Brake circuit 221: Booster circuit 222: Current control circuit 223: Differential amplifier 2231: First input terminal 2232: Second input terminal 2233: Output terminal 224: PWM power conversion Road L: Inductance D: Diode D1: Positive D2: Negative SW1, SW2: Switch R: Resistor L1, SW11, 1101, SW21, R1: First Terminal L2, SW12, 1102, SW22, R2: Second Terminal SW13 , SW23: Control terminal I: Current REF: Reference voltage 310, 320: Curve T 1 : Time I PEAK : Exciting current I HOLD : Holding current 401, 402: Step

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。 圖1是一種剎車器的分解示意圖。 圖2是根據一實施例繪示馬達剎車裝置的電路示意圖。 圖3是根據一實施例繪示電壓與電流的時序圖。 圖4是根據一實施例繪示馬達剎車方法的流程圖。 In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows. Figure 1 is an exploded schematic view of a brake. FIG. 2 is a schematic circuit diagram illustrating a motor braking device according to an embodiment. FIG. 3 is a timing diagram illustrating voltage and current according to an embodiment. FIG. 4 is a flowchart illustrating a motor braking method according to an embodiment.

110:剎車線圈 110: Brake coil

200:馬達剎車裝置 200: Motor brake device

210:電源供應單元 210: Power Supply Unit

2101:電壓正端 2101: Voltage positive terminal

2102:電壓負端 2102: Voltage negative terminal

Vin:輸入電壓 V in : input voltage

Vout:輸出電壓 V out : output voltage

220:剎車電路 220: Brake circuit

221:升壓電路 221: Boost circuit

222:電流控制電路 222: Current control circuit

223:差動放大器 223: Difference Amplifier

2231:第一輸入端 2231: the first input

2232:第二輸入端 2232: The second input

2233:輸出端 2233: output terminal

224:脈寬調變電路 224: Pulse Width Modulation Circuit

L:電感 L: Inductance

D:二極體 D: Diode

D1:正極 D1: positive electrode

D2:負極 D2: negative pole

SW1,SW2:開關 SW1, SW2: switch

R:電阻 R: resistance

L1,SW11,1101,SW21,R1:第一端 L1, SW11, 1101, SW21, R1: the first end

L2,SW12,1102,SW22,R2:第二端 L2, SW12, 1102, SW22, R2: the second terminal

SW13,SW23:控制端 SW13, SW23: Control terminal

I:電流 I: current

REF:參考電壓 REF: Reference voltage

Claims (8)

一種馬達剎車裝置，包括：一剎車器，包括：一電樞板；一底板；一來令片，設置於該電樞板與該底板之間；以及一剎車線圈，用以產生一磁力以吸引該電樞板，使該電樞板與該來令片分開，一電源供應單元，用以提供一輸入電壓；以及一剎車電路，電性連接至該電源供應單元與該剎車線圈，用以對該輸入電壓進行升壓以產生一輸出電壓，將該輸出電壓供應至該剎車線圈以產生該磁力，並在供應該輸出電壓一時間以後降低流經該剎車線圈的電流，其中該剎車電路包括：一升壓電路，包括：一電感，其第一端連接至該電源供應單元的電壓正端；一第一開關，其第一端連接至該電感的第二端，該第一開關的第二端連接至該電源供應單元的電壓負端；以及二極體，其正極連接至該電感的該第二端，該二極體的負極連接至該剎車線圈的第一端以輸出該輸出電壓；以及一電流控制電路，電性連接至該剎車線圈，用以根據 一脈寬調變訊號控制流經該剎車線圈的該電流維持在該剎車線圈的一維持電流，其中該維持電流小於該剎車線圈的一激磁電流。 A motor braking device, comprising: a brake, including: an armature plate; a bottom plate; a pad, arranged between the armature plate and the bottom plate; and a brake coil for generating a magnetic force to attract the armature plate, which separates the armature plate from the brake pad, a power supply unit for providing an input voltage; and a brake circuit electrically connected to the power supply unit and the brake coil for pairing The input voltage is boosted to generate an output voltage, the output voltage is supplied to the brake coil to generate the magnetic force, and the current flowing through the brake coil is reduced after the output voltage is supplied for a period of time, wherein the brake circuit includes: A booster circuit includes: an inductor, the first terminal of which is connected to the positive voltage terminal of the power supply unit; a first switch, the first terminal of which is connected to the second terminal of the inductor, and the second terminal of the first switch The terminal is connected to the voltage negative terminal of the power supply unit; and a diode, the positive pole of which is connected to the second terminal of the inductor, and the negative pole of the diode is connected to the first terminal of the brake coil to output the output voltage; and a current control circuit electrically connected to the brake coil for A pulse width modulation signal controls the current flowing through the brake coil to maintain a hold current of the brake coil, wherein the hold current is smaller than an excitation current of the brake coil. 如請求項1所述之馬達剎車裝置，其中該維持電流小於等於該激磁電流的25%。 The motor braking device of claim 1, wherein the holding current is less than or equal to 25% of the exciting current. 如請求項1所述之馬達剎車裝置，其中該電流控制電路包括：一第二開關，其第一端連接至該剎車線圈的第二端；一電阻，其第一端連接至該第二開關的第二端，該電阻的第二端連接至該電源供應單元的該電壓負端；一差動放大器，其第一輸入端連接至該電阻的該第一端，該差動放大器的第二輸入端連接至一參考電壓；以及一脈寬調變電路，一端電性連接至該差動放大器的輸出端，另一端電性連接至該第二開關的控制端，用以根據該差動放大器的該輸出端上的電壓產生該脈寬調變訊號，並施加該脈寬調變訊號至該第二開關的該控制端。 The motor braking device of claim 1, wherein the current control circuit comprises: a second switch, the first end of which is connected to the second end of the brake coil; and a resistor, the first end of which is connected to the second switch the second end of the resistor, the second end of the resistor is connected to the negative voltage end of the power supply unit; a differential amplifier, the first input end of which is connected to the first end of the resistor, the second end of the differential amplifier The input end is connected to a reference voltage; and a pulse width modulation circuit, one end is electrically connected to the output end of the differential amplifier, and the other end is electrically connected to the control end of the second switch, for according to the differential The voltage on the output terminal of the amplifier generates the pulse width modulation signal, and the pulse width modulation signal is applied to the control terminal of the second switch. 如請求項1所述之馬達剎車裝置，其中該馬達剎車裝置設置於一機械手臂上。 The motor braking device as claimed in claim 1, wherein the motor braking device is arranged on a mechanical arm. 如請求項1所述之馬達剎車裝置，其中該輸入電壓為24伏特及該輸出電壓為48伏特。 The motor braking device of claim 1, wherein the input voltage is 24 volts and the output voltage is 48 volts. 一種馬達剎車方法，適用於一剎車器，該剎車器包括一剎車線圈、一電樞板、一底板與一來令片，其中該來令片設置於該電樞板與該底板之間，該馬達剎車方法包括：對一輸入電壓進行升壓以產生一輸出電壓，將該輸出電壓供應至該剎車線圈以產生一磁力以吸引該電樞板，使該電樞板與該來令片分開；以及在供應該輸出電壓一時間以後降低流經該剎車線圈的電流，使流經該剎車線圈的該電流維持在該剎車線圈的一維持電流，其中該維持電流小於等於該剎車線圈的一激磁電流的25%。 A motor braking method is suitable for a brake, the brake comprises a brake coil, an armature plate, a bottom plate and a pad, wherein the pad is arranged between the armature plate and the bottom plate, and the pad is arranged between the armature plate and the bottom plate. The motor braking method includes: boosting an input voltage to generate an output voltage, supplying the output voltage to the braking coil to generate a magnetic force to attract the armature plate, so that the armature plate and the brake pad are separated; and reducing the current flowing through the brake coil after supplying the output voltage for a period of time, so that the current flowing through the brake coil is maintained at a holding current of the brake coil, wherein the holding current is less than or equal to an excitation current of the brake coil 25%. 如請求項6所述之馬達剎車方法，還包括：根據一脈寬調變訊號控制流經該剎車線圈的該電流維持在該剎車線圈的該維持電流。 The motor braking method of claim 6, further comprising: controlling the current flowing through the braking coil to maintain the holding current of the braking coil according to a pulse width modulation signal. 如請求項6所述之馬達剎車方法，其中該輸入電壓為24伏特及該輸出電壓為48伏特。 The motor braking method of claim 6, wherein the input voltage is 24 volts and the output voltage is 48 volts.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200639095A (en) * 2004-12-20 2006-11-16 Honda Motor Co Ltd Braking device for motorcycle
CN102618998A (en) * 2012-03-08 2012-08-01 浙江中控电气技术有限公司 Loom beating-up force control system and method
TWM436748U (en) * 2012-04-13 2012-09-01 Shihlin Electric & Eng Corp Electromagnetic brake sleeve structure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200639095A (en) * 2004-12-20 2006-11-16 Honda Motor Co Ltd Braking device for motorcycle
CN102618998A (en) * 2012-03-08 2012-08-01 浙江中控电气技术有限公司 Loom beating-up force control system and method
TWM436748U (en) * 2012-04-13 2012-09-01 Shihlin Electric & Eng Corp Electromagnetic brake sleeve structure

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