CN109743000A - Servo motor braking circuit, servo motor braking system and braking method - Google Patents
Servo motor braking circuit, servo motor braking system and braking method Download PDFInfo
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Abstract
A servo motor braking circuit, a servo motor braking system and a braking method of a servo motor are provided, wherein the servo motor braking circuit comprises: the driving unit is connected with the servo motor through a three-phase line and is configured to output three-phase alternating current so as to control the operation of the servo motor; the braking unit is coupled with the three-phase line and is configured to short-circuit or disconnect more than two phases of lines of the servo motor so as to perform braking protection on the servo motor. The invention solves the problems that the control circuit in the traditional technology can not realize safe and reliable dynamic braking protection on the servo motor, and the servo motor is easily damaged physically.
Description
Technical field
The invention belongs to technical field of circuit control more particularly to a kind of servo motor braking circuits, servo motor braking
The braking method of system and servo motor.
Background technique
With the fast development of industrial automation, servo motor has obtained widely answering in industrial automation
With；Since the application range of servo motor is wider, servo motor is applied in industrial products, industrial products realization can be controlled
Various circuit functions；By taking robot as an example, core component of the servo motor as robot leads to when servo motor access power supply
It crosses servo motor and can control robot all parts and mutually move cooperation, so that robot realizes the effect of overall operation, lead to
The operational reliability and safety of robot can be ensured by crossing servo motor.
Traditional technology needs to control the operating of servo motor using control circuit, is passed by control circuit to servo motor
Transmission of electricity energy, to control the operating of servo motor；However traditional control circuit cannot achieve the function of braking protection, such as when watching
It takes motor and powered-off fault event occurs, traditional control circuit can not carry out emergency braking to servo motor, lead to servo motor
By serious damage during power down；Or traditional technology can only be using mechanical lock-bit mode come the servo motor system of progress
It is dynamic, however this mechanical lock-bit mode, for requirement of mechanical strength height, servo motor braking cost is high, can not generally be applicable in；
Therefore traditional control circuit, which cannot achieve, realizes safe and reliable dynamic brake protection for servo motor.
Summary of the invention
The present invention provides the braking method of a kind of servo motor braking circuit, servo motor braking system and servo motor,
It aims to solve the problem that the control circuit in traditional technology cannot achieve and efficient, reliable braking protection, servo is carried out for servo motor
The physical security of motor is subject to the problem of damage.
First aspect present invention provides a kind of servo motor braking circuit, connect with servo motor, the servorudder mechanism
Dynamic circuit includes:
The servo motor is connect by three-phase line, output three-phase alternating current is configured as, to control the servo motor
The driving unit of operating；
It is of coupled connections with the three-phase line, is configured as that the two-phase Above Transmission Lines of the servo motor is made to be shorted or break
It opens, to carry out the brake unit of braking protection to the servo motor.
In one of them embodiment, the driving unit includes three-phase current converter, the three-phase current transformation
Device connects the servo motor by the three-phase line；
Wherein, every phase line of every phase current converter and the servo motor connects one to one；
Every phase current converter includes:
It is connected between the high-pressure side of DC bus and the route of the servo motor, is configured as according to the first driving letter
Number conducting or shutdown upper bridge arm；
It is connected between the route of the servo motor and the low-pressure side of the DC bus, is configured as driving according to second
Dynamic signal conduction or the lower bridge arm of shutdown.
In one of them embodiment, in the power pack described in every phase, the upper bridge arm include: the first metal-oxide-semiconductor,
First resistor, second resistance and first capacitor, the lower bridge arm include: the second metal-oxide-semiconductor, 3rd resistor, the 4th resistance and
Second capacitor；
Wherein, the first end of the first resistor is for accessing first driving signal, and the second of the first resistor
It holds, the grid of the first termination first metal-oxide-semiconductor of the first end of the second resistance and the first capacitor, described first
The drain electrode of metal-oxide-semiconductor connects the high-pressure side of the DC bus, the drain electrode of second metal-oxide-semiconductor, the source electrode of first metal-oxide-semiconductor, institute
The second end of the second end and the first capacitor of stating second resistance connects the current output terminal to form the power pack altogether,
The first end of the 3rd resistor is for accessing second driving signal, the second end of the 3rd resistor, the 4th electricity
The first end of resistance and the first end of second capacitor are connected to the grid of second metal-oxide-semiconductor, the source of second metal-oxide-semiconductor altogether
Pole connects the low-pressure side of the DC bus, the low-pressure side of the second termination DC bus of second capacitor, and the described 4th
The low-pressure side of the second termination DC bus of resistance.
In one of them embodiment, the brake unit includes:
It is configured as generating the controller of control signal according to preset instructions or external command；
Control terminal is connect with the controller, the first conduction terminal ground connection, be configured as according to the control signal conduction or
The switch module of person's shutdown；
At least one relay；
And power supply module；
Wherein, the coil of the relay is connected to the second conduction terminal of the power supply module Yu the switch module
Between, the normally-closed contact of the relay is connected between any two phase line of the servo motor, passes through switch module control
Make the relay coil whether it is electric.
In one of them embodiment, the controller is single-chip microcontroller, PLC, HMI or motion control card.
In one of them embodiment, the switch module include: the 5th resistance, the 6th resistance, third capacitor and
First triode；
Wherein, the first termination controller of the 5th resistance, the second end of the 5th resistance, third electricity
The first end of appearance and the first end of the 6th resistance are connected to the base stage of first triode altogether, and the of the third capacitor
The emitter at two ends, the second end of the 6th resistance and first triode is connected to ground altogether, first triode
Collector connects the power supply module.
In one of them embodiment, the power supply module includes:
First DC power supply, and
It is configured as carrying out the relay coil in the relay coil power loss moment afterflow branch of afterflow protection
Road；
The coil of the relay is connected between first DC power supply and the second conduction terminal of the switch module,
The coils from parallel connection of coils of the afterflow branch and the relay；
Wherein, the afterflow branch includes the first diode being sequentially connected in series and the 7th resistance.
In one of them embodiment, the brake unit includes three relays；
Wherein, in three relays, the coils from parallel connection of coils of all relays, and the coil string of each relay
It connects between the power supply module and the second conduction terminal of the switch module, the normally-closed contact connection of each relay
Between any two phase line of the servo motor, and it is not in parallel between the normally-closed contact of any two relay.
Second aspect of the present invention provides a kind of servo motor braking system, including servo motor as described above braking electricity
Road.
Third aspect present invention provides a kind of braking method of servo motor, is applied to servo motor as described above and brakes
The braking method of circuit, the servo motor includes:
Control signal is generated according to preset instructions or external command；
According to the conducting of the control Signal Regulation switch module or off state；
By the switch module control power supply module whether to relay coil power supply so that the servo is electric
The two-phase Above Transmission Lines of machine are shorted or disconnect, and carry out braking protection to the servo motor.
Above-mentioned servo motor braking circuit carries out braking protection to servo motor by brake unit, when servo motor needs
When shutting down or slowing down, the two-phase Above Transmission Lines short circuit of servo motor is made by brake unit, and then motor can not access surely
Fixed three-phase electric energy, the internal circuit of servo motor will generate the power for hindering servo motor rotation, realize servo motor it is steady,
Reliable dynamic brake effect, braking response speed are exceedingly fast, and have greatly ensured the brake safe and operation peace of servo motor
Entirely；Efficiently solve traditional technology and can not carry out reliable, safety braking to servo motor and protect, servo motor safety compared with
Low problem.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of function structure chart of servo motor braking circuit provided in an embodiment of the present invention；
Fig. 2 is a kind of function structure chart of brake unit provided in an embodiment of the present invention；
Fig. 3 is a kind of circuit structure diagram of driving unit provided in an embodiment of the present invention；
Fig. 4 is a kind of circuit structure diagram of brake unit provided in an embodiment of the present invention；
Fig. 5 is a kind of function structure chart of servo motor braking system provided in an embodiment of the present invention；
Fig. 6 is a kind of function structure chart of robot provided in an embodiment of the present invention；
Fig. 7 is a kind of implementation flow chart of the braking method of servo motor provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 shows the modular structure of servo motor braking circuit 10 provided in an embodiment of the present invention, for ease of description,
Only parts related to embodiments of the present invention are shown, and details are as follows:
As shown in Figure 1, servo motor braking circuit 10 is connect with servo motor 20, pass through servo servo motor braking circuit
10 can carry out dynamic brake protection and operation control function to servo motor 20；Servo servo motor braking circuit 10 includes
Driving unit 101 and brake unit 102.
In the present embodiment, driving unit 101 connects servo motor 20 by three-phase line UVW, passes through 101 energy of driving unit
Enough defeated three-phase alternating currents, pass through the operation of the three-phase alternating current electric control servo motor 20；Three can be changed by driving unit 101
The amplitude and phase of phase alternating current, and then change the operating parameters such as the running speed of servo motor 20 and the torque of rotation
Become；Therefore the present embodiment can be implemented to change the operating status of servo motor 20 by driving unit 101, easy to operate.
As an alternative embodiment, the servo motor 20 is that brushless direct current motor or brushed DC are electronic
Machine does not limit this, therefore the driving unit 101 in the present embodiment can change the operation ginseng of different type servo motor
Number, compatibility are extremely strong.
In the present embodiment, brake unit 102 and three-phase line UVW is of coupled connections, and can make to watch by brake unit 102
The two-phase Above Transmission Lines for taking motor 20 are shorted or disconnect, to carry out braking protection to servo motor 20；Wherein in the present embodiment
Brake unit 102 have the function of dynamic brake protection；If servo motor 20 occur powered-off fault or shut down,
During deceleration, it is shorted the two-phase Above Transmission Lines of servo motor 20 by brake unit 102, and then servo motor 20 is defeated
Three-phase electric energy can not be accessed by entering end, and the internal circuit of servo motor 20 will generate the power for hindering itself operating, servo motor 20
Revolving speed drops to a certain velocity amplitude or stops operating, avoid servo motor 20 lose electric energy suddenly and cause itself by object
Reason damage；On the contrary, making the two-phase of servo motor 20 by brake unit 102 if servo motor 20 is in normal operating condition
Separated, the access three-phase electric energy that the three-phase line of servo motor 20 can be stable of Above Transmission Lines, to drive servo motor 20
Normal, steady running.
Therefore the two-phase Above Transmission Lines that the present embodiment controls servo motor by brake unit 102 are shorted or disconnect,
The three-phase electric energy input condition for changing servo motor 20, improves the braking response speed for servo motor 20, easy to operate,
The control response fast speed of servo motor 20；Servo motor braking circuit 10 has ensured the peace of servo motor 20 in the present embodiment
Entirely, stable operation reduces the control cost of servo motor 20；Efficiently solving in traditional technology control circuit can not be to watching
It takes motor 20 and carries out efficient, reliable braking protection, the not high problem of practical value.
As an alternative embodiment, Fig. 2 shows the specific module knots of brake unit 102 provided in this embodiment
Structure, as shown in Fig. 2, brake unit 102 includes: controller 1021, switch module 1022, power supply module 1023 and at least
One relay KR；Wherein, controller 1021 has the function of signal centralized processing, and controller 1021 is according to preset instructions or outside
Portion's instruction can generate corresponding control signal, on-off control be realized to circuit by the control signal, to change servo motor
20 operating status；Specifically, the preset instructions include the information that technical staff stores in advance, external command includes technical staff
The functional information inputted on mobile terminals, and then controller 1021 generates control signal according to the operation information of technical staff,
The braking defencive function of brake unit 102 is controlled by control signal, can change servo according to the actual demand of technical staff
The operating condition of motor 20 improves the controllability of servo motor 20, and the usage experience of technical staff is more preferably.
The control terminal of switch module 1022 is connect with controller 1021, and the first conduction terminal of switch module 102 is grounded GND,
When controller 1021, which will control signal, is transmitted to switch module 1022, switch module 1022 can be made to be connected by controlling signal
Perhaps it turns off when switch module 1022 is on or off state, servo motor 20 is at different work shapes
State.
As an alternative embodiment, by the level state of control signal come the conducting of control switch module 102
Or off state；Illustratively, when controlling signal is the first level, switch module 102 is connected, when control signal is second
When level, switch module 102 is turned off；Wherein the first level of control signal described herein is high level or low level, to this
Without limitation；And control the first level and second electrical level phase cross-over of signal；Therefore the present embodiment passes through control signal
The working condition of the controllable brake unit 102 of level state, to realize the fast braking process for servo motor 20, greatly
It reduces brake unit 102 and cost is protected for the braking of servo motor 20.
The coil KR-1 of relay is connected between power supply module 1023 and the second conduction terminal of switch module 1022,
The normally-closed contact KR-2 of relay is connected between any two phase line of servo motor 20, controls institute by switch module 102
State relay coil KR-1 whether it is electric.
Specifically, the power supply module is used for DC power output, and when switch module 102 is connected, power supply supply
Module 1023 is grounded GND, power supply module 1023, relay by the first conduction terminal of switch module 1022 and the second conduction terminal
The coil KR-1 and switch module 1022 of device form a current lead-through circuit, and power supply module 1023 passes sequentially through relay
The second conduction terminal of the coil KR-1 of device, the first conduction terminal of switch module 1022 and switch module 1022 to transmit electric energy,
The coil KR-1 of relay is obtained electric in turn；When switch module 102 turns off, power supply module 1023 and switch module 1022 it
Separated, power supply module 1023 can not export DC power supply, the coil KR-1 power loss of the relay outward；The power supply
Supply module 1023 can export stable DC energy, only when switch module 1022 is connected, the coil KR-1 of relay
Direct current energy could be accessed.
In conjunction with described above, due to the coil KR-1 of the second conducting relay termination of switch module 1022, and switch
First conduction terminal of module 1022 is grounded GND, if switch module 1022 is connected by controlling signal, power supply module
1023, the coil KR-1 of relay and switch module 1022 form current lead-through circuit, and power supply module 1023 will be stablized
Direct current energy export and obtain electric to the coil KR-1 of relay, the coil KR-1 of relay；If making switching molding by controlling signal
When block 1022 turns off, the first conduction terminal of switch module 1022 and separated, 1023 nothing of power supply module of the second conduction terminal
Method DC power output, power supply module 1023 is separated with switch module 1022, the coil KR-1 power loss of relay.
In the present embodiment, illustratively, the normally-closed contact KR-2 of relay is connected to the U phase line and W of servo motor
Between phase line or the normally-closed contact KR-2 of relay is connected between the V phase line of servo motor and W phase line.
Due to relay KR have the function of power supply control, if the coil KR-1 of relay obtain it is electric, relay it is normally closed
Contact KR-2 is disconnected；If the coil KR-1 power loss of relay, the normally-closed contact KR-2 of relay is connected, thus by control after
Connecting and disconnecting of the circuit state can be changed in the power supply supply status of the coil KR-1 of electric appliance；Illustratively, in conjunction with Fig. 1, relay it is normally closed
Contact KR-2 is connected between two phase lines of servo motor 20；If servo motor 20 is in normal operating condition, switching molding
Block 1022 is connected, then power supply module 1023 is powered to the coil KR-1 of relay, and the electric current of power supply module 1023 returns
Road conducting, the coil KR-1 of relay obtains electric, between two phase lines of servo motor 20 and is not turned on, and then 20 energy of servo motor
It is enough to continue, steadily access electric energy, to keep normal operating；If for some reason (as the demand of industry production, production are changed
Situations such as line), servo motor 20 is needed for revolving speed to be down to a certain speed or be stopped operating as early as possible, then is made out by controlling signal
It closes module 1022 to turn off, the current loop of power supply module 1023 is disconnected, and power supply module 1023 is without normal direction relay
Coil KR-1 power supply, the coil KR-1 power loss of relay, two-phase line short circuit in servo motor 20, servo motor 20 can not connect
Enter normal three-phase current, according in the art Maxwell's theorem and Lorentz force law, servo motor 20 will produce
The raw power for hindering rotation itself, so that the revolving speed of servo motor 20 quickly reduces or even entirely off, and then the present embodiment passes through
Relay KR realizes emergency braking for servo motor 20 or the quickly control effect that adjusts the speed, and circuit structure is simple, ensures
The brake safe of servo motor 20.
Brake unit 102 is using between the coil KR-1 of relay and the normally-closed contact KR-2 of relay in the present embodiment
Control law is realized and 20 dynamic brake of servo motor is protected；The internal structure of the servo servo motor braking circuit 10
It is relatively simple, it is easy to accomplish, the response speed for greatly improving the speed regulation for servo motor 20 and stopping operating passes through
The servo brake circuit 10 has ensured the safety and reliability of the operation of servo motor 20, and the manipulation of servo motor 20 is simpler
Just；And the circuit module in the servo brake circuit 10 in this implementation is with higher integrated, reduces servo motor 20
Control for brake cost；The system of efficient safety can not be carried out to servo motor by efficiently solving control circuit in traditional technology
Dynamic protection, all lower problem of the safety of servo motor, controllability.
As an alternative embodiment, Fig. 3 shows the physical circuit knot of driving unit 101 provided in this embodiment
Structure, as shown in figure 3, driving unit 101 includes three-phase current converter, three-phase current converter connects servo electricity by three-phase line
Machine 20；Wherein, every phase line of every phase current converter and servo motor connects one to one；Illustratively, U phase current converts
Device is connect with the U phase line of servo motor 20, and V phase current converter is connect with the V phase line of servo motor 20, and W phase current becomes
Parallel operation is connect with the W phase line of servo motor 20.
Every phase current converter includes: upper bridge arm 201 and lower bridge arm 202；Upper bridge arm 201 is connected to the high pressure of DC bus
Between side H and the route of servo motor 20, upper bridge arm 201 is connected or turns off according to the first driving signal；Lower bridge arm 202 connects
Between the route of servo motor 20 and the low-pressure side L of DC bus, lower bridge arm 202 is connected or closes according to the second driving signal
It is disconnected.
In the present embodiment, the on off operating mode that upper bridge arm 201 can be controlled by the first driving signal passes through the second driving
Signal can control the on off operating mode of lower bridge arm 202；Due to, there are powerful three-phase electric energy, working as current transformation on DC bus
When device accesses three-phase electric energy, three-phase electric energy is converted by power pack, and then obtain that there is different amplitudes and phase
Three-phase current；When power pack exports three-phase current to servo motor 20, due to the phase and frequency of three-phase current
Rate changes, and the revolving speed of servo motor 20 and the positive and negative rotation shape of servo motor 20 can be controlled by this three-phase current；Cause
This passes through leading between the upper bridge arm 201 of power pack and the lower bridge arm 202 of power pack in every phase current converter
Logical state or off state manipulate the operating status of servo motor 20 to change the input power of servo motor 20.
As an alternative embodiment, in every phase current converter, first driving signal and the second driving
The phase of signal is not identical, illustratively, the phase cross-over of the first driving signal and the second driving signal；Optionally, this field
The circuit structure in traditional technology can be used to generate the first driving signal and the second driving signal in technical staff.
As an alternative embodiment, as shown in figure 3, upper bridge arm 201 includes: in every phase current converter
One metal-oxide-semiconductor M1, first resistor R1, second resistance R2 and first capacitor C1, lower bridge arm 202 include: the second metal-oxide-semiconductor M2, third
Resistance R3, the 4th resistance R4 and the second capacitor C2.
Wherein, the first end of first resistor R1 is for accessing the first driving signal, the second end of first resistor R1, the second electricity
The grid of the first end of R2 and first the first metal-oxide-semiconductor M1 of termination of first capacitor C1 is hindered, the drain electrode of the first metal-oxide-semiconductor M1 connects direct current
The high-pressure side H of bus, the drain electrode of the second metal-oxide-semiconductor M2, the source electrode of the first metal-oxide-semiconductor M1, second resistance R2 second end and first
The second end of capacitor C1 connects the current output terminal to form power pack altogether, and the current output terminal of the power pack is for defeated
Transformed three-phase current out；The first end of 3rd resistor R3 for access the second driving signal, the second end of 3rd resistor R3,
The first end of 4th resistance R4 and the first end of the second capacitor C2 are connected to the grid of the second metal-oxide-semiconductor M2 altogether, the second metal-oxide-semiconductor M2's
Source electrode meets the low-pressure side L of the second termination DC bus of the low-pressure side L, the second capacitor C2 of DC bus, and the of the 4th resistance R4
The low-pressure side L of two termination DC bus.
As an alternative embodiment, the first metal-oxide-semiconductor M1 is NMOS tube, the second metal-oxide-semiconductor M2 is NMOS tube.
Illustratively, by taking the U phase current converter in Fig. 3 as an example, the access of upper bridge arm 201 first of U phase current converter
The lower bridge arm 202 of driving signal Drive_GUH, U phase current converter accesses the second driving signal Drive_GUL；In U phase current
In the upper bridge arm 201 of converter, as grid the first driving signal Drive_GUH of access of the first metal-oxide-semiconductor M1, pass through the first driving
Signal Drive_GUH can control the first metal-oxide-semiconductor M1 conducting or shutdown, when the first metal-oxide-semiconductor M1 conducting, the height of DC bus
Side H is pressed to connect U phase line by the drain electrode and source electrode of the first metal-oxide-semiconductor M1, to export AC energy；Similarly in U phase current converter
Lower bridge arm 202 in, by the second driving signal Drive_GUL can control the second metal-oxide-semiconductor M2 conducting or shutdown, when second
When being connected between the drain electrode and source electrode of metal-oxide-semiconductor M2, AC energy can be transmitted to U phase line by the low-pressure side L of DC bus, be led to
AC energy driving servo motor 20 is crossed to operate；Therefore the present embodiment passes through between the first metal-oxide-semiconductor M1 and the second metal-oxide-semiconductor M2
Conducting or shutdown, so that every phase current converter can export the electric current with different flow directions, control servo motor 20
Positive and negative rotation；Therefore the power pack in the present embodiment can accurately, promptly control servo motor 20 and rotate forward or invert, and watch
Taking the control of motor 20, cost is relatively low.
As an alternative embodiment, in every phase current converter, the high-pressure side H and direct current of DC bus
The low-pressure side L of bus accesses direct current energy；The various power supply supply dresses such as battery in traditional technology can be used in the direct current energy
Offer is provided；Servo motor braking circuit 10 can be applied in various circuit systems in the present embodiment, when three-phase current converts
When device accesses direct current signal, direct current signal is converted to by three-phase current by three-phase current converter, it will by the three-phase current
Power output is to servo motor 20, to realize the control for 20 operating status of servo motor；Therefore it is driven in the present embodiment single
Member 101 has more simplified circuit structure, and compatibility is stronger, has helped to improve the suitable of above-mentioned servo motor braking circuit 10
Use range.
As an alternative embodiment, the controller 1021 is single-chip microcontroller, PLC (Programmable Logic
Controller, programmable logic controller (PLC)), HMI (Human Machine Interface, man-machine interface) or movement control
Fabrication；Illustratively, controller 1021 is single-chip microcontroller, and single-chip microcontroller is MCS-51 series monolithic, and single-chip microcontroller accesses control instruction,
Optionally, which can be from itself pre-stored preset instructions or the control instruction source inside single-chip microcontroller
In the external command of mobile terminal；The control instruction includes the control information of technical staff, and single-chip microcontroller is generated according to control instruction
Corresponding control signal can control the working condition of brake unit 102 by controlling signal, to realize for servo motor 20
Braking protection, improve for servo motor 20 control response speed；Servo motor braking circuit 10 in the present embodiment
Compatibility and universality with higher.
As an alternative embodiment, Fig. 4 shows the physical circuit knot of brake unit 102 provided in this embodiment
Structure, as shown in figure 4, switch module 1022 includes: the 5th resistance R5, the 6th resistance R6, third capacitor C3 and the first triode
Q1；Wherein, the first termination controller 1021 of the 5th resistance R5, second end, the first end of third capacitor C3 of the 5th resistance R5
And the 6th the first end of resistance R6 be connected to the base stage of the first triode Q1, the second end of third capacitor C3, the 6th resistance R6 altogether
Second end and the first triode Q1 emitter be connected to altogether ground GND, the collector of the first triode Q1 connect power supply supply mould
Block 1023.
As an alternative embodiment, the first triode Q1 is NPN type triode；In the present embodiment, described
The first end of five resistance R5 is the control terminal of switch module 1032, the current collection extremely switch module 1022 of the first triode Q1
The second conduction terminal, the first conduction terminal of the transmitting extremely switch module 1022 of the first triode Q1.
In the circuit structure of brake unit 102 out shown in Fig. 4, controller 1021 will control signal by the 5th resistance R5
It exports to the base stage of the first triode Q1, the first triode Q1 conducting or shutdown can be controlled by controlling signal；When first
When being connected between the collector and emitter of triode Q1, then switch module 1022 is connected；When the collector of the first triode Q1
When turning off between emitter, then switch module 1022 turns off, and then the on off operating mode of the first triode of the present embodiment Q1 is adjustable
The power delivery situation of power supply module 1023 is saved, circuit structure is simple, it is easy to accomplish, control response speed with higher
Degree.
As an alternative embodiment, as shown in figure 4, power supply module 1023 includes the first DC power supply VCC1
Relay is realized by the direct current energy wherein the first DC power supply VCC1 is used for DC power output with afterflow branch 401
The power up of the coil KR-1 of device；Afterflow branch 401 is used in the coil KR-1 power loss moment of relay, to the line of relay
It encloses KR-1 and carries out afterflow protection；Since in relay KR power loss moment, the coil KR-1 of relay loses extraneous electric energy suddenly, deposits
The electric energy stored up in the coil KR-1 of relay can be released by afterflow branch 401, to prevent circuit spark phenomenon to relay
The coil KR-1 of device is damaged；Therefore the present embodiment is using afterflow branch 401 come surplus in the coil KR-1 of release relay
Remaining charge greatlys improve brake unit 102 for the braking response speed of servo motor 20.
The coil KR-1 of relay is connected between the first DC power supply VCC1 and the second conduction terminal of switch module 1022,
Afterflow branch 401 is in parallel with the coil KR-1 of relay；Therefore brake unit 102 has more simplified circuit in the present embodiment
Structure, compatibility are extremely strong.
Wherein, the afterflow branch 401 includes the first diode D1 and the 7th resistance R7 being sequentially connected in series；Specifically, institute
State one end of the coil KR-1 of the anode contact relay of first diode D1 and the second conduction terminal of switch module 1022, the one or two
The cathode of pole pipe D1 meets the first end of the 7th resistance R7, second the first DC power supply VCC1 of termination and relay of the 7th resistance R7
Coil KR-1 the other end；Wherein the 7th resistance R7 can play the role of consuming electric energy, when switch module 1032 disconnects,
The electric energy in the coil KR-1 of relay can be consumed by the 7th resistance R7, improve for relay coil KR-1 it is continuous
Protective capability is flowed, the coil KR-1 of relay is damaged with preventing switch module 1032 from disconnecting moment residual charge；First
Diode D1 can prevent the electric current reverse-conducting in power supply module 1023, only when the KR-1 power loss moment of relay,
The coil KR-1 of relay could discharge electric energy by first diode D1；If switch module 1032 is connected, the first DC power supply
VCC1 DC power output, according to the unilateral conduction of first diode D1, the afterflow branch 401 can't be connected, relay
The coil KR-1 of device is at normal power up phase, so that the present embodiment has ensured the line of relay by first diode D1
The control security for enclosing KR-1 avoids brake unit 102 and causes braking error to servo motor 20.
Wherein, switch module 1032 meets the first DC power supply VCC1 by the coil KR-1 of relay, passes through the first direct current
Power supply VCC1 can export stable DC energy, when switch module 1032, the coil KR-1 and switch module of relay
When 1022 formation current lead-through circuit, the first DC power supply VCC1 exports stable DC energy, and the coil KR-1 of relay is obtained
Electricity；Situation is exported by the power supply that switch module 1022 can change power supply module 1023；As described above, working as switch module
When 1022 conducting, power supply module 1023 is connected to ground GND by the coil KR-1 of relay, and electric current flows through the line of relay
KR-1 is enclosed, the normally-closed contact KR-2 of relay is opened, and system is not at on-position, so that servo motor 20 can be believed according to control
Number normal rotation；When switch module 1022 turns off, power supply module 1023 can not by the coil KR-1 of relay with open
It closing module 1022 and forms current lead-through circuit, the normally-closed contact KR-2 of relay is remained closed, and servo motor UVW three-phase is shorted,
System is in on-position, and the inside of servo motor 20 generates electromagnetic force, to hinder servo motor 20 to operate；And then the present embodiment
The braking response speed for servo motor 20 can be greatly improved by switch module 1022, the response speed of control compared with
Fastly.
As an alternative embodiment, the first DC power supply VCC1 is+5V or+10V DC power supply.
As an alternative embodiment, as shown in figure 4, brake unit 102 include three relays KR1, KR2 and
KR3；Wherein, in three relays, the coils from parallel connection of coils of all relays, and the coil tandem of each relay exists
Between power supply module 1023 and the second conduction terminal of switch module 1022, the normally-closed contact of each relay, which is connected to, to be watched
It takes between any two phase line of motor 20, and not in parallel between the normally-closed contact of any two relay.
Illustratively, as shown in figure 4, the coil KR1-1 of relay KR1 is connected to power supply module 1023 and switching molding
Between second conduction terminal of block 1022, the coil KR1-1 of relay KR1, the coil KR1-2 of relay KR2 and relay KR3
Coil KR1-3 it is parallel with one another, the normally-closed contact KR1-2 of relay KR1 is connected between U phase line and V phase line, relay
The normally-closed contact KR2-2 of KR2 is connected between U phase line and W phase line, and the normally-closed contact KR3-2 of relay KR3 is connected to V
Between phase line and W phase line, therefore three relays can be controlled by the direct current energy that power supply module 1023 exports
Coil electric or power loss.
Illustratively, when switch module 1022 is connected by controlling signal, power supply module 1023, relay
Coil and switch module 1022 form current lead-through circuit, and power supply module 1023 exports stable DC energy, passes through
The direct current energy powers on the coil of three relays, then the normally-closed contact of relay disconnects, the three-phase line of servo motor 20
UVW is disconnected, and servo motor 20 can steadily access three-phase current by three-phase line UVW, can be driven by the three-phase current
Dynamic servo motor 20 runs well；When by control signal make switch module 1022 disconnect, power supply module 1023, after
The coil and switch module 1022 of electric appliance can not form current lead-through circuit, and the coil of relay can not access electric energy, and three
The coil losing electricity of relay, the normally-closed contact of relay remain closure, short circuit between any two phase line of servo motor 20,
And then servo motor 20 can not safely and steadly access three-phase current, and servo motor 20 will generate the electricity for hindering own rotation
Magnetic force, then the revolving speed of servo motor 20 reduces rapidly until shutting down；Therefore the present embodiment passes through the normally closed of three relays
Contact makes short circuit between the biphase current circuit of servo motor 20, realizes the dynamic brake protection for servo motor 20, i.e.,
The control for brake response speed for improving servo motor 20 has also ensured security performance, unfailing performance that servo motor 20 operates
And its cost performance.
Fig. 5 shows the modular structure of servo motor braking system 40 provided in this embodiment, as shown in figure 5, servo is electric
Brake system 40 includes servo motor braking circuit 10 as described above；Referring to figs. 1 to the embodiment of Fig. 4, due to servo electricity
Machine braking circuit 10 can be realized the protection of the quick braking for servo motor 20, to improve the peace of the operating of servo motor 20
Full property and stability；Therefore servo motor braking system 40 improves the braking response speed of servo motor 20 in the present embodiment, makes
The revolving speed of servo motor 20 declines or shuts down, and servo motor 20 has higher practical value.
Fig. 6 shows the modular structure of robot 50 provided in this embodiment, as shown in fig. 6, robot 50 includes as above
The servo motor braking system 40；With reference to the embodiment of Fig. 5, since servo motor braking system 40 can be realized for watching
The braking protection of motor is taken, therefore when servo motor braking system 40 is applied in robot 50, is braked by servo motor
System 40 can ensure the operational safety of servo motor in robot 50, so that all parts realize corresponding electricity in robot 50
Road function improves the sports safety and reliability of robot 50, which can be applied to each different industry
In field；The servo motor for efficiently solving robot in traditional technology cannot achieve braking protection, and then robot is easy
There is physical fault, robot can not blanket problem.
Fig. 7 shows the implementation process of the braking method of servo motor provided in this embodiment, wherein the servo motor
Braking method is applied to the servo motor braking circuit 10 in Fig. 2 and Fig. 4, wherein the braking circuit of the servo motor is specific
Circuit structure can refer to the embodiment of Fig. 2 and Fig. 4, will not be described in great detail herein；The braking method of the servo motor specifically includes
Following steps:
Step S701: control signal is generated according to preset instructions or external command；Wherein the preset instructions and outside refer to
The operation information comprising technical staff is enabled, and then the present embodiment can directly control servo electricity by the operation information of technical staff
The operating status of machine ensures that the operational safety of servo motor, the usage experience of technical staff are higher.
Step S702: according to the conducting of control Signal Regulation switch module or off state；Optionally, believed by control
Number level state can change the on off operating mode of switch module, control response very high speed.
Step S703: by switch module control power supply module whether to relay coil power supply so that servo
The two-phase Above Transmission Lines of motor are shorted or disconnect, and carry out braking protection to servo motor.
It should be noted that due to servo in each step and Fig. 2 and Fig. 4 in the braking method of servo motor in Fig. 7
Motor braking circuits 10 are corresponding, therefore the embodiment for closing the braking method of servo motor in this present embodiment can refer to Fig. 2
And the embodiment of Fig. 4, it will no longer be described in detail herein.
Optionally, when power supply module is not to the coil power supply of relay, the normally-closed contact closure of relay, so that
The two-phase Above Transmission Lines of servo motor connect, and realize that the braking to servo motor is protected；When power supply module is to relay line
When circle power supply, the normally-closed contact of relay is disconnected, and the three-phase current route of servo motor is normal, steadily accesses three-phase current,
To keep servo motor for safe and stable operation.
Wherein in the present embodiment, when switch module is connected, power supply module DC power output, the line of relay
Enclose electric；When switch module shutdown, power supply module can not export stable DC energy, the coil losing electricity of relay.
In conjunction with described above, the braking method of servo motor is by disconnecting switch module in the present embodiment, the coil losing electricity of relay,
The two-phase Above Transmission Lines of the normally-closed contact of closing relay, servo motor input terminal can be directly shorted, and servo motor can not access
Stable electric energy, the inside of servo motor will generate the electromagnetic force for hindering rotation itself, the revolving speed of servo motor can rapidly under
Drop even shuts down；Therefore the present embodiment realizes the protection of the braking for servo motor by relay, has ensured servo
The braking response speed of the stabilization of motor, reliability service, servo motor is exceedingly fast, and improves the safety of servo motor；Effectively
Solving traditional technology cannot achieve the braking protection of servo motor, and control response speed is slower, problem complicated for operation.
Various embodiments are described to various devices, circuit, device, system and or method herein.It elaborates very much
Specific details is to provide general construction, the function, system of the embodiment that the sum as described in the description is shown in the accompanying drawings
The thorough understanding made and used.However it will be understood by those skilled in the art that embodiment can be in not such certain detail
It is carried out in the case where section.In other examples, well known operation, component and element is described in detail, in order to avoid make in specification
In embodiment indigestion.It will be understood by those skilled in the art that being unrestricted in the embodiment with shown in herein
Property example, and therefore it can be appreciated that, can be in specific structure and function details disclosed herein representative and and different
The range of definite limitation embodiment.
Throughout the specification to " various embodiments ", " in embodiments ", " embodiment " or " embodiment party
The reference of formula " etc., which is meant, is included at least one embodiment about a particular feature, structure, or characteristic described in embodiment
In.Therefore, phrase " in various embodiments ", " in some embodiments ", " in one embodiment " or " implementing
In mode " etc. the appearance in appropriate place throughout the specification be not necessarily all referring to same embodiment.In addition, specific spy
Sign, structure or characteristic can combine in any suitable manner in one or more embodiments.Implement accordingly, with respect to one
The a particular feature, structure, or characteristic that mode shows or describes can entirely or partly with one or more of the other embodiment spy
Sign, structure or characteristic are combined, without assuming that such combination is not illogical or non-functional limitation.Any side
To with reference to (for example, add, subtract, top, lower part, upwards, downwards, the left side, the right, to the left, to the right, top, bottom ...
On ... under, it is vertical, horizontal, clockwise and anticlockwise) purpose to be for identification to help reader to understand present disclosure,
And limitation is not generated, especially with regard to the position of embodiment, orientation or use.
Although describing certain embodiments above with some the level of detail, those of skill in the art can be to institute
Disclosed embodiment makes many changes without departing from the scope of the present disclosure.Connection is with reference to (for example, attachment, coupling, connection
Deng) should be widely interpreted, and may include the intermediate member between the connection of element and relative motion between elements.Cause
This, connection reference does not necessarily imply that two elements are directly connected to/couple and are in fixed relationship each other." such as " entire
Use in specification should be widely interpreted and for providing the non-limitative example of embodiment of the present disclosure, and the disclosure
It is not limited to such example.Being intended that all affairs for including in the foregoing description or be shown in the accompanying drawings should be interpreted only
It is illustrative rather than restrictive.The variation in details or structure can be made without departing from the disclosure.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of servo motor braking circuit, connect with servo motor, which is characterized in that the Servo-controller braking circuit packet
It includes:
The servo motor is connect by three-phase line, is configured as output three-phase alternating current, to control the servo motor operating
Driving unit；
It is of coupled connections with the three-phase line, is configured as that the two-phase Above Transmission Lines of the servo motor is made to be shorted or disconnect,
To carry out the brake unit of braking protection to the servo motor.
2. servo motor braking circuit according to claim 1, which is characterized in that the driving unit includes three-phase current
Converter, the three-phase current converter connect the servo motor by the three-phase line；
Wherein, every phase line of every phase current converter and the servo motor connects one to one；
Every phase current converter includes:
It is connected between the high-pressure side of DC bus and the route of the servo motor, is configured as being led according to the first driving signal
Logical or shutdown upper bridge arm；
It is connected between the route of the servo motor and the low-pressure side of the DC bus, is configured as according to the second driving letter
Number conducting or shutdown lower bridge arm.
3. servo motor braking circuit according to claim 2, which is characterized in that in the power pack described in every phase,
The upper bridge arm includes: the first metal-oxide-semiconductor, first resistor, second resistance and first capacitor, and the lower bridge arm includes: the 2nd MOS
Pipe, 3rd resistor, the 4th resistance and the second capacitor；
Wherein, the first end of the first resistor is for accessing first driving signal, the second end of the first resistor, institute
State the grid of the first end of second resistance and the first termination first metal-oxide-semiconductor of the first capacitor, first metal-oxide-semiconductor
Drain electrode connect the high-pressure side of the DC bus, the drain electrode of second metal-oxide-semiconductor, the source electrode of first metal-oxide-semiconductor, described second
The second end of the second end of resistance and the first capacitor connects the current output terminal to form the power pack altogether, and described
The first end of three resistance is for accessing second driving signal, and the of the second end of the 3rd resistor, the 4th resistance
The first end of one end and second capacitor is connected to the grid of second metal-oxide-semiconductor altogether, and the source electrode of second metal-oxide-semiconductor meets institute
The low-pressure side of DC bus is stated, the second of second capacitor terminates the low-pressure side of the DC bus, the 4th resistance
The low-pressure side of the second termination DC bus.
4. servo motor braking circuit according to claim 1, which is characterized in that the brake unit includes:
It is configured as generating the controller of control signal according to preset instructions or external command；
Control terminal is connect with the controller, and the first conduction terminal ground connection is configured as according to the control signal conduction or pass
Disconnected switch module；
At least one relay；
And power supply module；
Wherein, the coil of the relay be connected to the power supply module and the switch module the second conduction terminal it
Between, the normally-closed contact of the relay is connected between any two phase line of the servo motor, is controlled by switch module
The coil of the relay whether it is electric.
5. servo motor braking circuit according to claim 4, which is characterized in that the controller be single-chip microcontroller, PLC,
HMI or motion control card.
6. servo motor braking circuit according to claim 4, which is characterized in that the switch module includes: the 5th electricity
Resistance, the 6th resistance, third capacitor and the first triode；
Wherein, the first termination controller of the 5th resistance, the second end of the 5th resistance, the third capacitor
First end and the first end of the 6th resistance are connected to the base stage of first triode altogether, and the second of the third capacitor
The emitter at end, the second end of the 6th resistance and first triode is connected to ground, the collection of first triode altogether
Electrode connects the power supply module.
7. servo motor braking circuit according to claim 4, which is characterized in that the power supply module includes:
First DC power supply, and
It is configured as carrying out the coil of the relay afterflow branch of afterflow protection in the coil losing electricity moment of the relay
Road；
The coil of the relay is connected between first DC power supply and the second conduction terminal of the switch module, described
The coils from parallel connection of coils of afterflow branch and the relay；
Wherein, the afterflow branch includes the first diode being sequentially connected in series and the 7th resistance.
8. servo motor braking circuit according to claim 4, which is characterized in that the brake unit includes three relays
Device；
Wherein, in three relays, the coils from parallel connection of coils of all relays, and the coil tandem of each relay exists
Between the power supply module and the second conduction terminal of the switch module, the normally-closed contact of each relay is connected to institute
It states between any two phase line of servo motor, and not in parallel between the normally-closed contact of any two relay.
9. a kind of servo motor braking system, which is characterized in that including such as described in any item servo motor systems of claim 1-8
Dynamic circuit.
10. a kind of braking method of servo motor is applied to such as the described in any item servo motor braking electricity of claim 4-8
Road, which is characterized in that the braking method of the servo motor includes:
Control signal is generated according to preset instructions or external command；
According to the conducting of the control Signal Regulation switch module or off state；
By the switch module control power supply module whether to relay coil power supply so that the servo motor
Two-phase Above Transmission Lines are shorted or disconnect, and carry out braking protection to the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553100.1A CN109743000A (en) | 2018-12-18 | 2018-12-18 | Servo motor braking circuit, servo motor braking system and braking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811553100.1A CN109743000A (en) | 2018-12-18 | 2018-12-18 | Servo motor braking circuit, servo motor braking system and braking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109743000A true CN109743000A (en) | 2019-05-10 |
Family
ID=66360497
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811553100.1A Pending CN109743000A (en) | 2018-12-18 | 2018-12-18 | Servo motor braking circuit, servo motor braking system and braking method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112134494A (en) * | 2020-10-14 | 2020-12-25 | 武汉宝久创美科技有限公司 | Quick door control system of industry based on motor short circuit braking |
| CN112234872A (en) * | 2020-10-14 | 2021-01-15 | 武汉宝久创美科技有限公司 | Non-electromagnetic brake industrial quick door control system |
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Application publication date: 20190510 |