阅读说明：本技术 电机驱动电路、装置、方法、机械臂及机器人 (Motor driving circuit, device and method, mechanical arm and robot ) 是由 郝计军 刘主福 刘培超 于 2020-12-22 设计创作，主要内容包括：本发明公开一种电机驱动电路,该电机驱动电路包括电源模块和电容组,所述电源模块和所述电容组的正负极两端均与所述电机的负载两端连接；所述电机的驱动电流包括高峰值电流,所述电源模块的额定输出电流小于所述高峰值电流；所述电容组用于在所述电机的驱动电流大于所述电源模块的额定输出电流时向所述电机输出存储电流,所述存储电流的电流值大于所述驱动电流与所述额定输出电流的差值。本发明的电机驱动电路降低了电源花费成本,并且电源所输出电流的利用率高。此外,本发明还公开一种电机驱动装置、方法、机械臂和机器人。(The invention discloses a motor driving circuit, which comprises a power supply module and a capacitor group, wherein the positive and negative ends of the power supply module and the capacitor group are connected with the two ends of a load of a motor; the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current. The motor driving circuit reduces the cost of power supply expense, and has high utilization rate of current output by the power supply. In addition, the invention also discloses a motor driving device, a motor driving method, a mechanical arm and a robot.)

1. A motor driving circuit is characterized by comprising a power supply module and a capacitor bank, wherein the positive and negative ends of the power supply module and the capacitor bank are connected with the two ends of a load of a motor;

the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.

2. The motor drive circuit of claim 1 wherein the capacitor bank is further configured to store the rated output current of the power module when the drive current of the motor is less than the rated output current of the power module.

3. The motor drive circuit of claim 1 wherein the stored current is greater than or equal to the high peak current.

4. The motor drive circuit of claim 1, wherein the capacitor bank comprises a plurality of super capacitors, and an internal resistance is provided in each super capacitor;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

5. The motor drive circuit of claim 4, wherein the power module comprises a current source, a voltage source, and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

6. A motor driving device is characterized by comprising a power supply module and a capacitor bank, wherein the positive and negative ends of the power supply module and the capacitor bank are connected with the two ends of a load of a motor;

the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.

7. The motor drive of claim 6, wherein the capacitor bank is further configured to store the rated output current of the power module when the drive current of the motor is less than the rated output current of the power module.

8. The motor drive of claim 6, wherein the stored current is greater than or equal to the high peak current.

9. The motor drive of claim 6, wherein the capacitor bank comprises a plurality of super capacitors, and an internal resistance is provided in each super capacitor;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

10. The motor drive of claim 9, wherein the power module comprises a current source, a voltage source, and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

11. A motor driving method is used for a motor driving device and is characterized in that the motor driving device comprises a power module and a capacitor bank, and positive and negative ends of the power module and the capacitor bank are connected with two ends of a load of a motor; the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the motor driving method includes:

and when the driving current of the motor is greater than the rated output current of the power supply module, outputting a stored current to the motor through the capacitor bank, wherein the current value of the stored current is greater than the difference value between the driving current and the rated output current.

12. The motor driving method according to claim 11, further comprising:

and when the driving current of the motor is smaller than the rated output current of the power supply module, the rated output current of the power supply module is stored through the capacitor bank.

13. A motor drive method as claimed in claim 11, wherein the stored current is greater than or equal to the high peak current.

14. The motor driving method according to claim 11, wherein the capacitor bank includes a plurality of super capacitors, and an internal resistance is provided in the super capacitors;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

15. The motor driving method of claim 14, wherein the power module includes a current source, a voltage source, and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

16. A robot arm comprising the motor drive apparatus according to any one of claims 6 to 10.

17. A robot comprising the mechanical arm of claim 16.

Technical Field

The invention relates to the technical field of motors, in particular to a motor driving circuit, a motor driving device, a motor driving method, a mechanical arm and a robot.

Background

At present, for the motor, there are intermittent high peak currents during the driving process, and the high peak currents are generally 3 times of the average current, for example, the average current for the motor operation is 4A, and the high peak currents are about 12A.

At present, in order to meet the requirement of high peak current driven by a motor, a power supply (namely a high-power supply) with rated output current larger than the high peak current driven by the motor is generally directly selected when the power supply is selected, for example, the high peak current driven by the motor is 12A, and the power supply with rated output current larger than 12A is selected, so that the mode is simpler and more trouble-saving, but the high-power supply is used, and the cost is higher; and because the rated output current of the selected power supply is far higher than the average current driven by the motor, the utilization rate of the output current of the power supply is low.

Disclosure of Invention

The present invention is directed to a motor driving circuit, which solves the above problems in the prior art.

In order to achieve the above object, the present invention provides a motor driving circuit, which includes a power module and a capacitor set, wherein positive and negative terminals of the power module and the capacitor set are connected to two ends of a load of the motor;

the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.

Preferably, the capacitor bank is further configured to store the rated output current of the power module when the driving current of the motor is smaller than the rated output current of the power module.

Preferably, the storage current is greater than or equal to the high peak current.

Preferably, the capacitor bank comprises a plurality of super capacitors, and internal resistance is arranged in each super capacitor;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

Preferably, the power supply module comprises a current source, a voltage source and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

The invention also provides a motor driving device, which comprises a power supply module and a capacitor group, wherein the positive and negative ends of the power supply module and the capacitor group are connected with the two ends of the load of the motor;

the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.

Preferably, the capacitor bank is further configured to store the rated output current of the power module when the driving current of the motor is smaller than the rated output current of the power module.

Preferably, the storage current is greater than or equal to the high peak current.

Preferably, the capacitor bank comprises a plurality of super capacitors, and internal resistance is arranged in each super capacitor;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

Preferably, the power supply module comprises a current source, a voltage source and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

The invention also provides a motor driving method which is used for the motor driving device, wherein the motor driving device comprises a power module and a capacitor group, and the positive and negative ends of the power module and the capacitor group are connected with the two ends of the load of the motor; the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the motor driving method includes:

and when the driving current of the motor is greater than the rated output current of the power supply module, outputting a stored current to the motor through the capacitor bank, wherein the current value of the stored current is greater than the difference value between the driving current and the rated output current.

Preferably, the motor driving method further includes:

and when the driving current of the motor is smaller than the rated output current of the power supply module, the rated output current of the power supply module is stored through the capacitor bank.

Preferably, the storage current is greater than or equal to the high peak current.

Preferably, the capacitor bank comprises a plurality of super capacitors, and internal resistance is arranged in each super capacitor;

every two super capacitors in the capacitor bank are connected in parallel to form a super capacitor bank, a plurality of super capacitor banks are connected in series, the first ends of the super capacitor banks connected in series are used as the positive electrodes of the capacitor bank, and the second ends of the super capacitor banks connected in series are used as the negative electrodes of the capacitor bank.

Preferably, the power supply module comprises a current source, a voltage source and a diode;

the voltage source is connected with the diode in series, the current source is connected with the voltage source and the diode in parallel, the first end of the current source after parallel connection is used as the anode of the power module, and the second end of the current source after parallel connection is used as the cathode of the power module.

The invention also provides a mechanical arm, which comprises the motor driving device, wherein the motor driving device comprises a power module and a capacitor bank, and the positive and negative ends of the power module and the capacitor bank are connected with the two ends of the load of the motor;

the driving current of the motor comprises a high peak current, and the rated output current of the power supply module is smaller than the high peak current; the capacitor bank is used for outputting a storage current to the motor when the driving current of the motor is larger than the rated output current of the power module, and the current value of the storage current is larger than the difference value between the driving current and the rated output current.

The invention also provides a robot, which comprises the mechanical arm.

Compared with the prior art, the technical scheme of the embodiment of the invention has the beneficial effects that:

the rated output current of a power module in the motor driving circuit is less than the high peak current of the motor, and when the driving current required by the motor is equal to or less than the rated output current of the power module, the rated output current of the power module provides electric energy for the motor; when the driving current required by the motor is larger than the rated output current (such as high peak current) of the power module, the capacitor bank outputs the stored current to the motor so as to provide electric energy for the motor together with the power module; based on this, through the capacitor bank, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.

Drawings

FIG. 1 is a circuit diagram of a motor driving circuit according to an embodiment of the present invention;

FIG. 2 is a graph of simulation test results for the motor drive circuit of FIG. 1;

fig. 3 is a block diagram of a motor driving apparatus according to an embodiment of the present invention.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all 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.

The invention provides a motor driving circuit, and referring to fig. 1, the motor driving circuit comprises a power module 10 and a capacitor group 20, wherein the positive and negative ends of the power module 10 and the capacitor group 20 are connected with the two ends of a load of a motor 30;

the driving current of the motor 30 includes a high peak current, and the rated output current of the power module 10 is smaller than the high peak current; the capacitor bank 20 is configured to output a storage current to the motor 30 when a driving current of the motor 30 is greater than a rated output current of the power module 10, and a current value of the storage current is greater than a difference between the driving current and the rated output current.

In order to provide and satisfy the driving current required by the motor 30 during the driving process, the motor driving circuit in this embodiment is specifically proposed, as shown in fig. 1, the motor driving circuit includes a power module 10 and a capacitor bank 20, and positive and negative terminals of the power module 10 and the capacitor bank 20 are both connected to two terminals of a load of the motor 30.

It is readily understood that the required driving current of the motor 30 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module 10 according to the present embodiment is used for supplying power to the motor 30, and the rated output current of the power module is smaller than the high peak current of the motor 30, while the capacitor bank 20 according to the present embodiment is capable of charging and discharging, and the current value of the storage current of the capacitor bank is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 30 is larger than the rated output current of the power module 10, the capacitor bank 20 outputs the storage current to the motor 30, that is, supplies power to the power module 10 in combination, so as to meet the driving current required by the operation of the motor 30, and ensure the normal operation of the motor. The capacitor bank 20 concerned can be connected to a control system and charged by other power sources, which is exemplary and not absolute.

Based on the above, the rated output current of the power module 10 in the motor driving circuit is smaller than the high peak current of the motor 30, and when the driving current required by the motor 30 is equal to or smaller than the rated output current of the power module 10, the rated output current of the power module 10 provides electric energy for the motor 30; when the driving current required by the motor 30 is greater than the rated output current (such as high peak current) of the power module 10, the capacitor bank 20 outputs the stored current to the motor 30 to supply the motor 30 with the power module 10; therefore, through the capacitor bank 20, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor 30, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor 30 is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.

In a preferred embodiment, the capacitor bank 20 is further configured to store the rated output current of the power module 10 when the driving current of the motor 30 is smaller than the rated output current of the power module 10. When the driving current of the motor 30 is smaller than the rated output current of the power module 10, the capacitor bank 20 is charged by inputting the excess current output by the power module 10 except the driving current meeting the requirement of the motor 30 to the capacitor bank 20, so that the utilization rate of the output current of the power supply can be further improved; in addition, no extra power supply or circuit is needed to charge the capacitor bank, so that the cost can be further saved.

In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 20 is disposed, the capacitor bank 20 is used, and the storage current of the capacitor bank 20 is greater than or equal to the high peak current of the motor 30, that is, when the power module 10 is in a power-off state, the capacitor bank 20 can provide the motor 30 with the driving current required for operation, so as to ensure the normal operation of the motor 30. For example, when the power module 10 is suddenly powered off, the joint motors of the robot arm driven by a plurality of joint motors can directly supply power to continue running through the capacitor bank 20, so that the robot arm is prevented from falling off due to power failure, and the safety is improved.

In a preferred embodiment, referring to fig. 1, the capacitor bank 20 includes a plurality of super capacitors 21, and internal resistors 22 are disposed in the super capacitors 21;

every two super capacitors 21 in the capacitor bank 20 are connected in parallel to form a super capacitor bank, the super capacitor banks are connected in series, a first end of the super capacitor banks connected in series is used as a positive electrode of the capacitor bank 20, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 20.

The capacitor bank 20 according to the present embodiment is composed of a plurality of super capacitors 21, the storage capacity is expanded by the super capacitors 21, the super capacitors have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 22 of the super capacitor 21 has a voltage stabilizing function, and is used for assisting the super capacitor 21 to charge and discharge. Further, in this embodiment, a 22F super capacitor 21 with an internal resistance of 18m Ω is selected, and two super capacitors 21 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 20 is 2.2F and the internal resistance is 180m Ω.

In a preferred embodiment, referring to fig. 1, the power module 10 includes a current source 11, a voltage source 12, and a diode 13;

the voltage source 12 and the diode 13 are connected in series, the current source 11 is connected in parallel with the voltage source 12 and the diode 13, a first end of the parallel connection is used as a positive pole of the power module 10, and a second end of the parallel connection is used as a negative pole of the power module 10.

In this embodiment, the driving current of the motor 30 is set to be analog, the high peak current is 12A, and the average current is 4A, that is, the high peak current is three times the average current, the current source 11 in this embodiment outputs the driving current, the voltage source 12 outputs the driving voltage, preferably, the current source 11 is a 5A current source, the voltage source 12 is a 47.4 voltage source, and the diode 13 is a unidirectional conducting diode, so that the power module 10 simulates to form a 48V power source, and the current is limited by 5A for output. Of course, this is merely exemplary and not absolute.

Preferably, the motor driving circuit further includes a voltmeter 40, a first ammeter 50, and a second ammeter 60, wherein the voltmeter 40 is connected in parallel with the power module 10, the first ammeter 50 is connected in series with the power module 10, and the second ammeter 60 is connected in series with the capacitor bank 20. That is, the voltmeter 40, the first ammeter 50, and the second ammeter 60 are provided in the motor driving circuit to measure the voltage value and the current value of the power module 10 through the voltmeter 40 and the first ammeter 50, and to measure the current value of the capacitor bank 20 through the second ammeter 60.

The motor driving circuit was subjected to a simulation test, and the simulation test results are shown in fig. 2, where the X axis represents time (t) and the Y axis represents current (a) and voltage (V). Wherein IG1 represents motor driving current, the high peak current is 12A, and the average current is 4A; AM1, representing the power supply output current, limiting the 5A output; AM2, which indicates the capacitor bank 20, which is discharged when the motor drive current is large and charged when the motor drive current is small; VM1, represents the motor drive voltage, which fluctuates between 48V and 45V. The fluctuation range of the motor driving voltage is related to factors such as the specific type and the volume of the capacitor bank 20, and can be flexibly adjusted during specific design to balance requirements in various aspects.

Of course, it should be noted that the above related values are only analog values or experimental values measured after the simulation, and the specific values thereof should be set and obtained according to the actual situation, and are not limited herein.

The invention also provides a motor driving device, referring to fig. 3, the motor driving device comprises a power module 10 and a capacitor bank 20, wherein the positive and negative ends of the power module 10 and the capacitor bank 20 are connected with the two ends of the load of the motor 30;

the driving current of the motor 30 includes a high peak current, and the rated output current of the power module 10 is smaller than the high peak current; the capacitor bank 20 is configured to output a storage current to the motor 30 when a driving current of the motor 30 is greater than a rated output current of the power module 10, and a current value of the storage current is greater than a difference between the driving current and the rated output current.

In order to provide and satisfy the driving current required by the motor 30 in the driving process, the motor driving circuit in this embodiment is specifically proposed, as shown in fig. 1, the motor driving circuit includes a power module 10 and a capacitor bank 20, and positive and negative terminals of the power module 10 and the capacitor bank 20 are both connected to two terminals of a load of the motor 30.

It is readily understood that the required driving current of the motor 30 is not constant during operation, and is in a peak-to-valley line type of fluctuation, including high peak current. The power module 10 according to the present embodiment is used for supplying power to the motor 30, and the rated output current of the power module is smaller than the high peak current of the motor 30, while the capacitor bank 20 according to the present embodiment is capable of charging and discharging, and the current value of the storage current of the capacitor bank is larger than the difference between the driving current and the rated output current, and when the driving current of the motor 30 is larger than the rated output current of the power module 10, the capacitor bank 20 outputs the storage current to the motor 30, that is, supplies power to the power module 10 in combination, so as to meet the driving current required by the operation of the motor 30, and ensure the normal operation of the motor. The capacitor bank 20 concerned can be connected to a control system and charged by other power sources, which is exemplary and not absolute.

Based on the above, the rated output current of the power module 10 in the motor driving circuit is smaller than the high peak current of the motor 30, and when the driving current required by the motor 30 is equal to or smaller than the rated output current of the power module 10, the rated output current of the power module 10 provides electric energy for the motor 30; when the driving current required by the motor 30 is greater than the rated output current (such as high peak current) of the power module 10, the capacitor bank 20 outputs the stored current to the motor 30 to supply the motor 30 with the power module 10; therefore, through the capacitor bank 20, when the power supply is selected, the rated output current of the selected power supply is larger than the average current driven by the motor 30, namely, the power supply with low power is selected, and the power supply with the rated output current larger than the high peak current driven by the motor 30 is not required to be selected, so that the cost of the power supply is reduced, and the utilization rate of the output current of the power supply is high.

In a preferred embodiment, the capacitor bank 20 is further configured to store the rated output current of the power module 10 when the driving current of the motor 30 is smaller than the rated output current of the power module 10. When the driving current of the motor 30 is smaller than the rated output current of the power module 10, the capacitor bank 20 is charged by inputting the excess current output by the power module except the driving current meeting the requirement of the motor 30 to the capacitor bank 20, so that the utilization rate of the output current of the power supply can be further improved; in addition, no extra power supply or circuit is needed to charge the capacitor bank, so that the cost can be further saved.

In a preferred embodiment, the memory current is greater than or equal to the high peak current. Specifically, when the capacitor bank 20 is disposed, the capacitor bank 20 is used, and the storage current of the capacitor bank 20 is greater than or equal to the high peak current of the motor 30, that is, when the power module 10 is in a power-off state, the capacitor bank 20 can provide the motor 30 with the driving current required for operation, so as to ensure the normal operation of the motor 30. For example, when the power module 10 is suddenly powered off, the joint motors of the robot arm driven by a plurality of joint motors can directly supply power to continue running through the capacitor bank 20, so that the robot arm is prevented from falling off due to power failure, and the safety is improved.

In a preferred embodiment, the capacitor bank 20 includes a plurality of super capacitors 21, and internal resistors 22 are disposed in the super capacitors 21;

every two super capacitors 21 in the capacitor bank 20 are connected in parallel to form a super capacitor bank, the super capacitor banks are connected in series, a first end of the super capacitor banks connected in series is used as a positive electrode of the capacitor bank 20, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 20.

The capacitor bank 20 according to the present embodiment is composed of a plurality of super capacitors 21, the storage capacity is expanded by the super capacitors 21, the super capacitors have the advantages of fast charging and discharging speed, long cycle life, and the like, and the internal resistance 22 of the super capacitor 21 has a voltage stabilizing function, and is used for assisting the super capacitor 21 to charge and discharge. Further, in this embodiment, a 22F super capacitor 21 with an internal resistance of 18m Ω is selected, and two super capacitors 21 are used as a group to form 20 super capacitor groups, and according to the above serial-parallel connection arrangement, the capacitor group 20 is 2.2F and the internal resistance is 180m Ω.

In a preferred embodiment, the power module 10 includes a current source 11, a voltage source 12, and a diode 13;

the voltage source 12 and the diode 13 are connected in series, the current source 11 is connected in parallel with the voltage source 12 and the diode 13, a first end of the parallel connection is used as a positive pole of the power module 10, and a second end of the parallel connection is used as a negative pole of the power module 10.

In this embodiment, the driving current of the motor 30 is set to be analog, the high peak current is 12A, and the average current is 4A, that is, the high peak current is three times the average current, the current source 11 in this embodiment outputs the driving current, the voltage source 12 outputs the driving voltage, preferably, the current source 11 is a 5A current source, the voltage source 12 is a 47.4 voltage source, and the diode 13 is a unidirectional conducting diode, so that the power module 10 simulates to form a 48V power source, and the current is limited by 5A for output. Of course, this is merely exemplary and not absolute.

The invention also provides a motor driving method which is used for a motor driving device, the motor driving device comprises a power module 10 and a capacitor group 20, and the positive and negative ends of the power module 10 and the capacitor group 20 are connected with the two ends of the load of the motor 30; the driving current of the motor 30 includes a high peak current, and the rated output current of the power module 10 is smaller than the high peak current; the motor driving method includes:

step S10: when the driving current of the motor 30 is greater than the rated output current of the power module 10, a storage current is output to the motor 30 through the capacitor bank 20, and the current value of the storage current is greater than the difference between the driving current and the rated output current.

In a preferred embodiment, the motor driving method further includes:

step S20: when the driving current of the motor 30 is smaller than the rated output current of the power module 10, the rated output current of the power module 10 is stored through the capacitor bank 20.

In a preferred embodiment, the memory current is greater than or equal to the high peak current.

In a preferred embodiment, the capacitor bank 20 includes a plurality of super capacitors 21, and internal resistors 22 are disposed in the super capacitors 21;

every two super capacitors 21 in the capacitor bank 20 are connected in parallel to form a super capacitor bank, the super capacitor banks are connected in series, a first end of the super capacitor banks connected in series is used as a positive electrode of the capacitor bank 20, and a second end of the super capacitor banks connected in series is used as a negative electrode of the capacitor bank 20.

In a preferred embodiment, referring to fig. 1, the power module 10 includes a current source 11, a voltage source 12, and a diode 13;

the voltage source 12 and the diode 13 are connected in series, the current source 11 is connected in parallel with the voltage source 12 and the diode 13, a first end of the parallel connection is used as a positive pole of the power module 10, and a second end of the parallel connection is used as a negative pole of the power module 10.

The present invention further provides a robot arm, which includes the motor driving device described above, and the specific structure of the motor driving device refers to the above embodiments, and since the robot arm adopts all technical solutions of all the above embodiments, the robot arm at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated herein.

The present invention further provides a robot, which includes the aforementioned mechanical arm, and the specific structure of the mechanical arm refers to the above embodiments, and since the robot employs all technical solutions of all the above embodiments, the robot at least has all technical effects brought by the technical solutions of the above embodiments, and details are not repeated herein.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.