阅读说明：本技术 抱闸器及其控制装置 (Contracting brake and control device thereof ) 是由 张俊鹏 刘培超 刘主福 于 2020-12-22 设计创作，主要内容包括：本发明公开一种抱闸器的控制装置,该控制装置包括信号输入接口、电源输入接口、处理器、采集模块、第一储能模块、第二储能模块、电源输出接口、续流模块以及第一滤波模块,所述处理器分别与所述电源输入接口和信号输入接口电连接,所述电源输出接口的其中一个输入端通过所述采集模块与所述电源输入接口连接,所述电源输出接口的另一个输入端通过所述第一储能模块与所述处理器连接,所述第二储能模块分别与所述电源输出接口的两个输出端电连接,所述续流模块的两端分别与所述采集模块和处理器电连接,所述第一滤波模块与所述处理器电连接并接地。本发明有利于增加抱闸器工作时的稳定性。此外,本发明还公开一种抱闸器。(The invention discloses a control device of a band-type brake, which comprises a signal input interface, a power input interface, a processor, an acquisition module, a first energy storage module, a second energy storage module, a power output interface, a follow current module and a first filtering module, wherein the processor is respectively and electrically connected with the power input interface and the signal input interface, one input end of the power output interface is connected with the power input interface through the acquisition module, the other input end of the power output interface is connected with the processor through the first energy storage module, the second energy storage module is respectively and electrically connected with two output ends of the power output interface, two ends of the follow current module are respectively and electrically connected with the acquisition module and the processor, and the first filtering module is electrically connected with the processor and grounded. The invention is beneficial to increasing the stability of the brake in working. In addition, the invention also discloses a band-type brake.)

1. The utility model provides a controlling means of band-type brake ware, its characterized in that, includes signal input interface, power input interface, treater, collection module, first energy storage module, second energy storage module, power output interface, afterflow module and first filtering module, the treater respectively with power input interface and signal input interface electricity are connected, one of them input of power output interface passes through collection module with power input interface connects, another input of power output interface passes through first energy storage module with the treater is connected, second energy storage module respectively with two output electricity of power output interface are connected, the both ends of afterflow module respectively with collection module and treater electricity are connected, first filtering module with treater electricity is connected and ground connection.

2. The control device according to claim 1, wherein the processor comprises a driving chip having eight pins, a first pin on the driving chip is electrically connected to the acquisition module, a second pin on the driving chip is electrically connected to the power input interface, a third pin and a fourth pin on the driving chip are both grounded, a fifth pin and a sixth pin on the driving chip are electrically connected to the first energy storage module and the follow current module, a seventh pin on the driving chip is electrically connected to the signal input interface, and an eighth pin on the driving chip is electrically connected to the first filtering module.

3. The control device of claim 1, further comprising a second filtering module electrically connected to the power input interface and grounded.

4. The control device of claim 3, wherein the second filtering module is a capacitor of 0.1-100 uF.

5. The control device of claim 1, wherein the collection module is a 1 Ω resistor.

6. The control device according to claim 1, wherein the first energy storage module has an inductance of 1.8-2.1 mH.

7. The control device according to claim 1, wherein the second energy storage module has a capacitance of 0.1-100 uF.

8. The control device of claim 1, wherein the freewheeling module is a diode, and wherein an anode of the diode is electrically connected to the acquisition module and a cathode of the diode is electrically connected to the processor.

9. The control apparatus of claim 1, wherein the first filter module is a 100nF capacitance.

10. A brake, comprising a control device according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of band-type brakes, in particular to a band-type brake and a control device thereof.

Background

The band-type brakes in the existing robots are divided into a striker type band-type brake and an electromagnetic band-type brake, wherein the striker type band-type brake and the electromagnetic band-type brake are locked by a spring mechanism in a power-off state to close the band-type brake, and the spring mechanism is pushed by magnetic force generated by an electromagnetic coil to move to open the band-type brake under the power-on condition, and the electromagnetic coil and a motor are synchronously powered on and stopped.

The magnetic force generated by the electromagnetic coil in the existing band-type brake is controlled by a fixed duty ratio signal, when the robot is in heavy-load accelerated operation, the power supply voltage is pulled down, and the PWM waveform of the fixed duty ratio signal reduces the friction force provided by the band-type brake, so that the risk that the friction force of the band-type brake is insufficient and cannot be maintained exists.

Disclosure of Invention

The invention mainly aims to provide a band-type brake and a control device thereof, so as to solve the technical problems in the background technology.

In order to achieve the above purpose, the present invention provides a control device of a band-type brake, the band-type brake includes a signal input interface and a power input interface, the control device includes a signal input interface, a power input interface, a processor, an acquisition module, a first energy storage module, a second energy storage module, a power output interface, a follow current module and a first filtering module, the processor is electrically connected with the power input interface and the signal input interface respectively, one input end of the power output interface is connected with the power input interface through the acquisition module, the other input end of the power output interface is connected with the processor through the first energy storage module, the second energy storage module is electrically connected with two output ends of the power output interface respectively, two ends of the follow current module are electrically connected with the acquisition module and the processor respectively, the first filtering module is electrically connected with the processor and grounded.

The processor comprises a driving chip with eight pins, a first pin on the driving chip is electrically connected with the acquisition module, a second pin on the driving chip is electrically connected with the power input interface, a third pin and a fourth pin on the driving chip are grounded, a fifth pin and a sixth pin on the driving chip are electrically connected with the first energy storage module and the follow current module, a seventh pin on the driving chip is electrically connected with the signal input interface, and an eighth pin on the driving chip is electrically connected with the first filtering module.

The control device further comprises a second filtering module which is electrically connected with the power input interface and is grounded.

The second filtering module is a capacitor of 0.1-100 uF.

Wherein, the collection module is 1 omega resistance.

The first energy storage module is an inductor with the inductance of 1.8-2.1 mH.

The second energy storage module is a capacitor of 0.1-100 uF.

The follow current module is a diode, the anode of the diode is electrically connected with the acquisition module, and the cathode of the diode is electrically connected with the processor.

Wherein the first filter module is a capacitance of 100 nF.

The invention further provides a brake, which comprises a signal input interface, a power input interface and the control device, wherein the control device comprises a signal input interface, a power input interface, a processor, an acquisition module, a first energy storage module, a second energy storage module, a power output interface, a follow current module and a first filtering module, the processor is respectively and electrically connected with the power input interface and the signal input interface, one input end of the power output interface is connected with the power input interface through the acquisition module, the other input end of the power output interface is connected with the processor through the first energy storage module, the second energy storage module is respectively and electrically connected with two output ends of the power output interface, and two ends of the follow current module are respectively and electrically connected with the acquisition module and the processor, the first filtering module is electrically connected with the processor and grounded.

According to the control device of the contracting brake, the power output interface is used for providing stable current for the contracting brake, so that the contracting brake outputs constant force, the stability of the contracting brake during working is improved, and the condition that the output shaft of the motor cannot be locked due to unstable output force of the contracting brake is avoided.

Drawings

FIG. 1 is a schematic structural diagram of a control device of a band-type brake according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another embodiment of the control device of the band-type brake in the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

The invention provides a control device of a band-type brake, as shown in figure 1, the control device comprises a signal input interface 1, a power input interface 2, a processor 3 and an acquisition module 4, first energy storage module 5, second energy storage module 6, power output interface 7, afterflow module 8 and first filtering module 9, processor 3 is connected with power input interface 2 and signal input interface 1 electricity respectively, one of them input of power output interface 7 is connected with power input interface 2 through collection module 4, another input of power output interface 7 is connected with processor 3 through first energy storage module 5, second energy storage module 6 is connected with two output electricity of power output interface 7 respectively, the both ends of afterflow module 8 are connected with collection module 4 and processor 3 electricity respectively, first filtering module 9 is connected and ground connection with processor 3 electricity.

In this embodiment, the control device may be integrated on one or more circuit boards, and the control device includes a signal input interface 1, a power input interface 2, a processor 3, an acquisition module 4, a first energy storage module 5, a second energy storage module 6, a power output interface 7, a freewheeling module 8, and a first filtering module 9, where the acquisition module 4 is configured to acquire a current value input by the power input interface 2, the first energy storage module 5 and the second energy storage module 6 are configured to store electric energy, the power output interface 7 (for example, in the form of a connection terminal) is configured to supply power to a brake, the freewheeling module 8 is configured to supplement current to the power output interface 7 under a specific condition, the first filtering module 9 is configured to filter a signal input by the signal input interface 1, and the processor 3 is configured to control a current value output by the power output interface 7 in real time according to the current value acquired by the acquisition module 4, so that the current value of the power output interface 7 is maintained at a constant value, namely the rated current of the band-type brake, such as 0.2A. The signal input interface 1 may be connected to an external component, such as an MCU (micro control unit) or an FPGA (field programmable gate array), for generating a PWM signal. Specifically, the way in which the processor 3 controls the current output is: if the preset current value is 0.2A, the current value acquired by the acquisition module 4 is received by the processor 3 and then is compared with the set current value of 0.2A, and if the comparison result shows that the current value acquired by the acquisition module 4 is greater than the preset current value, the current output by the power output interface 7 is reduced to the preset current value; if the comparison result is that the current value acquired by the acquisition module 4 is smaller than the preset current value, the current output by the power output interface 7 is increased to the preset current value. In this embodiment, provide stable electric current for the band-type brake through power output interface 7 to make the invariable power of band-type brake output, thereby be favorable to increasing the stability of band-type brake during operation, avoid appearing the condition because of the unstable unable output shaft that locks the motor of band-type brake output power.

In a preferred embodiment, as shown in fig. 2, it is preferable that the processor 3 includes a driving chip having eight pins, a first pin on the driving chip is electrically connected to the acquisition module 4, a second pin on the driving chip is electrically connected to the power input interface 2, a third pin and a fourth pin on the driving chip are both grounded, a fifth pin and a sixth pin on the driving chip are electrically connected to the first energy storage module 5 and the freewheeling module 8, a seventh pin on the driving chip is electrically connected to the signal input interface 1, and an eighth pin on the driving chip is electrically connected to the first filtering module 9. The type of the driving chip is preferably SY8750, the first pin is a SEN pin, the second pin is a VIN pin, the third pin is a TM pin, the fourth pin is a GND pin, the fifth pin is an LX2 pin, the sixth pin is an LX1, the seventh pin is an EN pin, and the eighth pin is a CF pin.

In a preferred embodiment, as shown in fig. 1 and 2, the power input interface 2 is preferably electrically connected to the second filtering module 10, and the second filtering module 10 is grounded. The second filtering module 10 is preferably a 1uF capacitor to filter the current input by the power input interface 2.

In a preferred embodiment, as shown in fig. 2, it is preferable that the second filtering module 10 is a capacitor C3, the collecting module 4 is a resistor R1, the first energy storage module 5 is an inductor L1, the second energy storage module 6 is a capacitor C2, the freewheeling module 8 is a diode D1, the first filtering module 9 is a capacitor C1, and the power output interface 7 is J1. The inductor L1 also has a filtering function at this time, and the processor 3 is a driving chip with a model number SY 8750.

If the rated voltage of the brake is 48V and the rated current is 0.2A, the resistance of the resistor R1 can be calculated according to the following formula:

wherein, I is the rated current of the band-type brake, and the resistance value of the resistor R1 can be calculated to be 1 Ω.

The inductance of the inductor L1 can be calculated according to the following formula:

wherein, V_OUTIs the holding voltage of the electromagnet with the value of 5V, V_INThe voltage (namely the rated voltage of the electromagnet) input by the power input interface 2 is obtainedA value of 48V, I_OUTIs rated current of electromagnet, and its value is 0.2A, F_SWThe working frequency of the input signal (i.e. the frequency of the PWM signal) of the signal input interface 1 is 28KHZ, so that the calculated inductance is 1.99mH, and the inductance of the inductor L1 is 2 mH. At this time, the capacitance value of the capacitor C1 is preferably 100nF, the capacitance value of the capacitor C2 is preferably 22uF, and the capacitance value of the capacitor C3 is preferably 1 uF.

In another preferred embodiment, if the rated voltage of the band-type brake is 24V and the rated current is 0.2A, the resistance of the resistor R1 is still 1 Ω according to the above calculation formula, and the calculated inductance is 1.77mH, where the inductance is 1.8mH for the inductor L1, the capacitance of the capacitor C1 is preferably 100nF, the capacitance of the capacitor C2 is preferably 100uF, and the capacitance of the capacitor C3 is preferably 100 uF.

In another preferred embodiment, if the rated voltage of the band-type brake is 36V and the rated current is 0.2A, the resistance of the resistor R1 is still 1 Ω according to the above calculation formula, and the calculated inductance is 2.05mH, where the inductance is 2.1mH for the specification of the inductor L1, the capacitance of the capacitor C1 is preferably 100nF, the capacitance of the capacitor C2 is preferably 0.1uF, and the capacitance of the capacitor C3 is preferably 0.1 uF.

The invention further provides a brake device, which includes the control device in the above embodiment, and the specific structure of the control device refers to the above embodiment, and since the brake device adopts all technical solutions of all the above embodiments, the brake device at least has all the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.

The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.