阅读说明：本技术 一种自动消除抱闸反电动势的伺服电机及方法 (Servo motor and method for automatically eliminating back electromotive force of band-type brake ) 是由 杨以清 康燕 区均灌 赵伟威 陈宏奇 王长恺 于 2019-10-16 设计创作，主要内容包括：本发明公开了一种自动消除抱闸反电动势的伺服电机及方法,伺服电机的输入端连接伺服驱动器的输出端,伺服电机包括整流电路、耗能电路和抱闸线圈,整流电路的输入端连接伺服驱动器的输出端,整流电路的第一输出端连接耗能电路的一端且公共端连接抱闸线圈的一端,整流电路的第二输出端连接耗能电路的另一端且公共端连接抱闸线圈的另一端。本发明通过在伺服电机的内部设计一个耗能电路和整流电路,可在伺服电机内部就可以自动消除伺服电机在抱闸线圈产生的反电动势,防止产生的反电动势对伺服驱动器的敏感元器件造成冲击,还可以直接使用交流电源直接打开电机的抱闸,不仅提高了伺服电机的可靠性,同时延长了使用寿命。(The invention discloses a servo motor and a method for automatically eliminating back electromotive force of a band-type brake. According to the invention, the energy consumption circuit and the rectifying circuit are designed in the servo motor, so that the back electromotive force generated by the servo motor in the brake coil can be automatically eliminated in the servo motor, the generated back electromotive force is prevented from impacting sensitive components of a servo driver, the brake of the motor can be directly opened by directly using an alternating current power supply, the reliability of the servo motor is improved, and the service life is prolonged.)

1. The utility model provides an automatic eliminate servo motor of band-type brake back electromotive force, servo motor's input is connected servo driver's output, its characterized in that, servo motor includes rectifier circuit, power consumption circuit and band-type brake coil, rectifier circuit's input is connected servo driver's output, rectifier circuit's first output is connected power consumption circuit's one end and common terminal are connected the one end of band-type brake coil, rectifier circuit's second output is connected power consumption circuit's the other end and common terminal are connected the other end of band-type brake coil.

2. The servo motor for automatically eliminating the back electromotive force of the band-type brake as claimed in claim 1, wherein the servo motor further comprises a motor stator, a motor rotor and an encoder, the encoder is fixed on one end face of the inside of the servo motor, one end of the motor rotor is rotatably connected to the encoder, the other end of the motor rotor passes through the other end face of the servo motor and is exposed outside the motor, and the motor stator is arranged around the part of the motor rotor inside the servo motor.

3. The servo motor for automatically eliminating back electromotive force of a brake as claimed in claim 1, wherein the energy dissipation circuit comprises an energy dissipation resistor and a freewheeling diode, one end of the energy dissipation resistor is connected to the first output terminal of the rectification circuit, the other end of the energy dissipation resistor is connected to the negative electrode of the freewheeling diode, and the positive electrode of the freewheeling diode is connected to the second output terminal of the rectification circuit.

4. The servo motor for automatically eliminating the back electromotive force of the brake as claimed in claim 1, wherein the rectification circuit is a bridge rectifier.

5. The servo motor for automatically eliminating the back electromotive force of the brake as claimed in claim 1, wherein the rectifying circuit comprises four diodes and a filter capacitor, the four diodes form a rectifying bridge, and a first output end and a second output end of the rectifying bridge are respectively connected to two ends of the filter capacitor.

6. A method for automatically eliminating back electromotive force of a brake, which is characterized in that the method is realized by the servo motor of any one of claims 1 to 5.

7. The method for automatically eliminating back electromotive force of a brake as claimed in claim 6, comprising:

the controller sends a brake closing signal to the servo driver;

the servo driver disconnects the power supply of the band-type brake coil;

a servo motor internal brake coil forms a large-energy back electromotive force;

the back electromotive force of the band-type brake coil is consumed through the energy consumption circuit.

8. The method for automatically eliminating the back electromotive force of the brake as claimed in claim 7, wherein the step of dissipating the back electromotive force of the brake coil by the energy dissipating circuit comprises:

the anode of the fly-wheel diode is connected with the anode of the back electromotive force generated by the band-type brake coil, and the back electromotive force, the fly-wheel diode and the energy consumption resistor form a loop;

the energy of the back emf is dissipated in the form of heat in the dissipating resistor.

Technical Field

The invention relates to the technical field of servo motors, in particular to a servo motor and a method for automatically eliminating back electromotive force of a band-type brake.

Background

The servo motor is an engine which controls mechanical elements to operate in a servo system and is an auxiliary motor indirect speed change device; the servo motor generally comprises a stator, a rotor, a band-type brake and an encoder; at present, electromagnetic control (as shown in figure 1) is mostly used for an electromagnetic band-type brake of a servo motor, and the action of the electromagnetic band-type brake is not fast enough; in addition, the coil of the armature in the process of the electromagnetic band-type brake of the servo motor can generate back electromotive force when the power is off; the generated back electromotive force can cause breakdown damage to sensitive components such as transistors in the servo driver, and the servo driver can be burnt seriously. The back electromotive force generated by the electromagnetic band-type brake of the prior servo motor is not directly processed in the motor, and the band-type brake can not be directly opened by using an Alternating Current (AC) power supply, so that certain defects exist.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a servo motor and a method for automatically eliminating back electromotive force of a band-type brake.

The purpose of the invention is realized by the following technical scheme in two aspects:

in a first aspect, the invention provides a servo motor for automatically eliminating back electromotive force of a brake, wherein the input end of the servo motor is connected with the output end of a servo driver, the servo motor comprises a rectifying circuit, an energy consumption circuit and a brake coil, the input end of the rectifying circuit is connected with the output end of the servo driver, the first output end of the rectifying circuit is connected with one end of the energy consumption circuit, the common end of the rectifying circuit is connected with one end of the brake coil, the second output end of the rectifying circuit is connected with the other end of the energy consumption circuit, and the common end of the rectifying circuit is connected with the other end of the brake coil.

Further, servo motor still includes motor stator, electric motor rotor and encoder, the encoder is fixed in on the inside terminal surface of servo motor, electric motor rotor one end is rotated and is connected on the encoder, the electric motor rotor other end passes another terminal surface of servo motor exposes outside the motor, electric motor rotor is in be equipped with motor stator around the inside part of servo motor.

Furthermore, the energy consumption circuit comprises an energy consumption resistor and a freewheeling diode, one end of the energy consumption resistor is connected with the first output end of the rectifying circuit, the other end of the energy consumption resistor is connected with the negative electrode of the freewheeling diode, and the positive electrode of the freewheeling diode is connected with the second output end of the rectifying circuit.

Further, the rectification circuit is bridge rectification.

Furthermore, the rectifying circuit comprises four diodes and a filter capacitor, the four diodes form a rectifying bridge, and a first output end and a second output end of the rectifying bridge are respectively connected with two ends of the filter capacitor.

In a second aspect, the invention further provides a method for automatically eliminating back electromotive force of a brake, and the method is implemented by the servo motor in the first aspect.

Further, the method for automatically eliminating the back electromotive force of the brake comprises the following steps:

the controller sends a brake closing signal to the servo driver;

the servo driver disconnects the power supply of the band-type brake coil;

a servo motor internal brake coil forms a large-energy back electromotive force;

the back electromotive force of the band-type brake coil is consumed through the energy consumption circuit.

Further, the consumption of the back electromotive force of the band-type brake coil through the energy consumption circuit specifically includes:

the anode of the fly-wheel diode is connected with the anode of the back electromotive force generated by the band-type brake coil, and the back electromotive force, the fly-wheel diode and the energy consumption resistor form a loop;

the energy of the back emf is dissipated in the form of heat in the dissipating resistor.

The invention has the beneficial effects that: the invention discloses a servo motor and a method for automatically eliminating back electromotive force of a band-type brake, wherein an energy consumption circuit and a rectifying circuit are designed in the servo motor, so that the back electromotive force generated by the servo motor in a band-type brake coil can be automatically eliminated in the servo motor, and the generated back electromotive force is prevented from impacting sensitive components of a servo driver; the motor brake can be directly opened by using Alternating Current (AC), so that the applicability is stronger; meanwhile, the two circuits are arranged in a brake system of the servo motor, so that the electromagnetic brake of the traditional servo motor is prevented from being eliminated or isolated by the aid of other external control circuits; therefore, the reliability of the servo motor is improved, and the service life of the servo motor is prolonged.

Drawings

The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived on the basis of the following drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a conventional band-type brake system of a servo motor in the background art of the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of the servo motor for automatically eliminating back electromotive force of the brake according to the present invention.

Fig. 3 is a schematic flow chart of an embodiment of the method for automatically eliminating the back electromotive force of the brake according to the present invention.

Wherein the reference numbers are as follows: 1. the motor comprises a band-type brake coil, 2. an encoder, 3. a motor stator, 4. a motor rotor, 5. a servo driver, 10. an energy consumption circuit and 20. a rectifying circuit.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 2, in the servo motor for automatically eliminating back electromotive force of a band-type brake of the present embodiment, an input end of the servo motor is connected to an output end of a servo driver 5, the servo motor includes a rectifying circuit 20, an energy consuming circuit 10, a band-type brake coil 1, motor stator 3, motor rotor 4 and encoder 2, encoder 2 is fixed in on the inside terminal surface of servo motor, motor rotor 4 one end is rotated and is connected on encoder 2, motor rotor 4 other end passes another terminal surface of servo motor and exposes outside the motor, motor rotor 4 is equipped with motor stator 3 around the inside part of servo motor, servo driver 5's output is connected to rectifier circuit 20's input, rectifier circuit 20's the one end of power consumption circuit 10 is connected to first output and the one end of public end connection band-type brake coil 1, rectifier circuit 20's the other end of power consumption circuit 10 is connected to rectifier circuit 20's second output and the other end of public end connection band-type brake coil 1.

The motor stator 3 is used for generating an excitation magnetic field and generating force action on a power-on conductor in the motor stator; the motor rotor 4 rotates in the motor and generates driving force for the components connected with the motor rotor; the contracting brake coil 1 is used for preventing the motor from rotating and sliding downwards under the action of the vertical load due to the gravity when the power is cut off suddenly, so that danger is generated; the encoder 2 is used for compiling and converting a position signal or data of the motor rotation and then sending the position signal or data to the servo driver 5.

The rectifying circuit 20 is a bridge rectifier, the rectifying circuit 20 includes four diodes and a filter capacitor, the four diodes form a rectifying bridge, and a first output end and a second output end of the rectifying bridge are respectively connected to two ends of the filter capacitor.

When the input power is Alternating Current (AC), the rectifier bridge can convert the input power into Direct Current (DC) to be output, the rectified DC is filtered through the filter capacitor, the band-type brake coil 1 can be triggered by the Direct Current (DC) or directly triggered by the Alternating Current (AC), and the applicability of the band-type brake coil 1 is enhanced.

The energy dissipation circuit 10 comprises an energy dissipation resistor R and a freewheeling diode D, one end of the energy dissipation resistor R is connected to the first output end of the rectification circuit 20, the other end of the energy dissipation resistor R is connected to the negative electrode of the freewheeling diode D, and the positive electrode of the freewheeling diode D is connected to the second output end of the rectification circuit 20.

The anode of the freewheeling diode D in the energy consumption circuit 10 is connected to the second output end of the rectifier bridge, i.e. the cathode in the circuit, so that no current passes through the energy consumption circuit 10 when the band-type brake coil 1 is normally powered on; only when the contracting brake coil 1 is in the power-off contracting brake, the contracting brake coil 1 can generate large-energy back electromotive force, at the moment, the contracting brake coil 1, the freewheeling diode D and the energy consumption resistor R can form a loop, current generates heat through the energy consumption resistor R, energy is released, and therefore the back electromotive force of the contracting brake coil 1 is consumed through the energy consumption circuit 10.

The servo motor and the servo driver 5 of the embodiment are directly connected through the conducting wire, so that relay signal conversion in the circuit is reduced, the device cost is effectively reduced, and the circuit structure is simplified.

The working principle of the embodiment is as follows: when the servo motor is in operation, the controller sends an instruction or other external control sends an instruction to open the brake of the servo motor, the servo driver 5 can send Alternating Current (AC) or Direct Current (DC) to the brake system of the servo motor, and when the alternating current is sent, the alternating current is converted into the direct current through the rectifier bridge and then is input into the brake coil 1, so that the condition that the brake transmitted to the servo motor by the servo driver 5 or an external power supply is the direct current (AC) is not limited, and the applicability of the brake system of the servo motor is enhanced; when the servo motor opens the brake or is in a running state, the controller sends an instruction or other external control to send a brake signal to the servo driver 5, at the moment, the transistor in the servo driver 5 is immediately turned off and output, at the moment, the brake coil 1 generates large magnetic field change, a large reverse electromotive force is generated instantly, the reverse electromotive force generated by the brake coil 1 flows through the energy consumption circuit 10, the generated reverse electromotive force is consumed in an energy form, the purpose of automatically eliminating the brake signal without being output to the outside is achieved, relay signal conversion in the circuit is reduced, and breakdown or irreversible damage of the transistor directly connected with the brake coil 1 by the servo driver 5 is also avoided.

As shown in fig. 3, this embodiment further provides a method for automatically eliminating back electromotive force of a brake, where the method is implemented by the servo motor described in this embodiment, and includes:

the controller sends a brake closing signal to the servo driver 5;

the servo driver 5 cuts off the power supply of the band-type brake coil 1;

the internal brake coil 1 of the servo motor forms a back electromotive force with large energy;

the back electromotive force of the internal contracting brake coil 1 is consumed through the energy consumption circuit 10.

Wherein, consume the back electromotive force of band-type brake coil 1 through power consumption circuit 10 and specifically include:

the anode of the fly-wheel diode is connected with the anode of the counter electromotive force generated by the band-type brake coil 1, and the counter electromotive force, the fly-wheel diode and the energy consumption resistor form a loop;

the energy of the back emf is dissipated in the form of heat in the dissipating resistor.

The embodiment provides a servo motor and a method for automatically eliminating back electromotive force of a brake, wherein an energy consumption circuit 10 and a rectification circuit 20 are designed in the servo motor, so that the back electromotive force generated by the servo motor in a brake coil 1 can be automatically eliminated in the servo motor, and the generated back electromotive force is prevented from impacting sensitive components of a servo driver 5; the motor brake can be directly opened by using Alternating Current (AC), so that the applicability is stronger; meanwhile, the two circuits are arranged in a brake system of the servo motor, so that the electromagnetic brake of the traditional servo motor is prevented from being eliminated or isolated by the aid of other external control circuits; therefore, the reliability of the servo motor is improved, and the service life of the servo motor is prolonged.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.