Control circuit and driving and control all-in-one machine

Abstract

The utility model relates to a control circuit and a drive-control all-in-one machine, which isolates an external input signal by using an isolation input circuit, isolates an external output signal by using an isolation output circuit, detects whether a power supply normally supplies power or not by using a power failure detection circuit, and controls the driving-control all-in-one machine after determining that the power supply normally supplies power. The voltage detection circuit is used for detecting whether the bus voltage exceeds the target voltage threshold value or not, so that the back electromotive force discharge circuit is controlled in time to discharge the bus voltage to a reasonable level, input and output signals can be effectively isolated, circuit interference is avoided, stable operation of at least one motor is guaranteed, the reliability of the control circuit is improved, and the service life of the control circuit is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of control, in particular to a control circuit and a drive-control integrated machine. Background Art

[0002] An all-in-one drive-control unit is a device used to control the motion of a multi-axis robot. Existing all-in-one drive-control units typically include a controller, multiple motor drivers, and multiple motors. The controller controls the motor drivers to drive the motors. However, simultaneous operation of multiple motors can easily generate back electromotive force (EMF), raising the bus voltage. Voltage fluctuations can cause unstable operation, impacting the efficiency and lifespan of the motors and other equipment. Utility Model Content

[0003] The embodiments of the present application provide a control circuit and an all-in-one drive and control machine, which can ensure the smooth operation of the all-in-one drive and control machine.

[0004] In a first aspect, an embodiment of the present application provides a control circuit, which is applied to an all-in-one drive and control machine. The all-in-one drive and control machine includes a heat dissipation module, including a controller, an isolated input circuit, an isolated output circuit, a power-on control circuit, a power-off detection circuit, a voltage detection circuit, a back-electromotive force discharge circuit, and at least one motor drive circuit, a power supply circuit, and a temperature detection circuit; the controller is connected to the isolated input circuit, the isolated output circuit, the power-on control circuit, the power-off detection circuit, the voltage detection circuit, the back-electromotive force discharge circuit, at least one motor drive circuit, the power supply circuit, and the temperature detection circuit;

[0005] The temperature detection circuit detects the temperature of the heat dissipation module;

[0006] The voltage detection circuit is used to detect the bus voltage;

[0007] The power failure detection circuit is used to detect whether the power supply is normal;

[0008] The power-on control circuit is used to control the power supply;

[0009] The at least one motor driving circuit is used to drive at least one motor to operate;

[0010] The controller receives an external input signal through an isolated input circuit, outputs a control signal to the outside through an isolated output circuit, controls the power supply through the power-on control circuit, determines whether the power supply is normally supplied according to the detection signal of the power-off detection circuit, and after determining that the power supply is normally supplied, receives the detection signal of the voltage detection circuit, and outputs a control signal to control the back electromotive force discharge circuit to discharge the bus voltage when the bus voltage exceeds the target voltage threshold.

[0011] In a second aspect, an embodiment of the present application provides a drive-control integrated machine, characterized in that it includes a main control board, a secondary control board, and at least one drive board;

[0012] The main control board integrates a controller, a power-on control circuit, a power-off detection circuit, a voltage detection circuit, a back electromotive force discharge circuit, a power supply circuit, and a temperature detection circuit; the controller of the main control board is connected to the driver board through the first row of pins, and the controller is connected to the secondary control board through the second row of pins;

[0013] The drive board is integrated with a motor drive circuit; the secondary control board is integrated with an isolation input circuit and an isolation output circuit.

[0014] In an embodiment of the present application, an isolated input circuit is used to isolate external input signals, an isolated output circuit is used to isolate external output signals, a power-off detection circuit is used to detect whether the power supply is normally supplied, and after determining that the power supply is normally supplied, a voltage detection circuit is used to detect whether the bus voltage exceeds the target voltage threshold, thereby timely controlling the back electromotive force discharge circuit to discharge the bus voltage to a reasonable level. The present application can effectively isolate input and output signals, avoid circuit interference, ensure the smooth operation of at least one motor, and improve the reliability and circuit life of the control circuit.

[0015] In order to better understand and implement the present invention, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of a control circuit in one embodiment of the present utility model;

[0017] Figure 2 This is a circuit diagram of the isolated input circuit 120 in one embodiment of the present invention;

[0018] Figure 3 This is a circuit diagram of the isolated output circuit 130 in one embodiment of the present invention;

[0019] Figure 4 This is a circuit diagram of a power-on control circuit 140 in one embodiment of the present invention;

[0020] Figure 5 This is a circuit diagram of a power-off detection circuit 150 in one embodiment of the present invention;

[0021] Figure 6 This is a circuit diagram of a voltage detection circuit 160 in one embodiment of the present invention;

[0022] Figure 7 This is a circuit diagram of a back electromotive force discharge circuit 170 in one embodiment of the present invention;

[0023] Figure 8This is a circuit diagram of a power supply circuit in one embodiment of the present utility model;

[0024] Figure 9 This is a circuit diagram of a temperature detection circuit in one embodiment of the present utility model;

[0025] Figure 10 A three-dimensional driving machine in one embodiment of the present invention Figure 1 ;

[0026] Figure 11 A three-dimensional driving machine in one embodiment of the present invention Figure 2 ;

[0027] Figure 12 A three-dimensional driving machine in one embodiment of the present invention Figure 3 ;

[0028] Figure 13 This is an exploded view of a drive-control integrated machine that is easy to inspect and maintain, disclosed in one embodiment of the utility model;

[0029] Figure 14 A cross-sectional view of a drive-control integrated machine that is easy to inspect and maintain, disclosed in one embodiment of the present utility model;

[0030] Figure 15 This is a three-dimensional diagram of a circuit board assembly in one embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0032] It should be clear that the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the embodiments of the present application.

[0033] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the embodiments of the present application. The singular forms "a," "the," and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0034] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0035] In addition, in this application, unless otherwise specified, "several" refers to two or more. "And / or" describes a corresponding relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0036] See also Figure 1 An embodiment of the present application provides a control circuit for use in an integrated drive and control machine. The integrated drive and control machine includes a heat dissipation module, a controller 110, an isolated input circuit 120, an isolated output circuit 130, a power-on control circuit 140, a power-off detection circuit 150, a voltage detection circuit 160, a back-electromotive force discharge circuit 170, and at least one motor drive circuit 180; the controller 110 is connected to the isolated input circuit 120, the isolated output circuit 130, the power-on control circuit 140, the power-off detection circuit 150, the voltage detection circuit 160, the voltage back-electromotive force discharge circuit 170, the at least one motor drive circuit 180, a power supply circuit 190, and a temperature detection circuit 200;

[0037] The controller 110 may use a GD32F103RCT6 MCU chip.

[0038] The power-on control circuit 140 is used to control the power supply;

[0039] The power failure detection circuit 150 is used to detect whether the power supply is normal;

[0040] The voltage detection circuit 160 is used to detect the bus voltage; a bus refers to a common path to which multiple devices are connected in the form of parallel branches.

[0041] The temperature detection circuit 200 detects the temperature of the heat dissipation module;

[0042] The at least one motor drive circuit 180 is used to drive at least one motor to operate; the motor drive circuit 180 can adopt an existing motor drive circuit, for example, it can include common motor drive circuit modules such as LVC245T bus transceiver, digital isolator, and intelligent power module.

[0043] The controller 110 receives an external input signal through the isolated input circuit 120, outputs a control signal to the outside through the isolated output circuit 130, controls the power supply through the power-on control circuit 140, determines whether the power supply is normally supplied based on the detection signal of the power-off detection circuit 150, and after determining that the power supply is normally supplied, receives the detection signal of the voltage detection circuit 160, and when the bus voltage exceeds the target voltage threshold, outputs a control signal to control the back electromotive force discharge circuit 170 to discharge the bus voltage.

[0044] In an embodiment of the present application, an isolated input circuit is used to isolate external input signals, an isolated output circuit is used to isolate external output signals, a power-off detection circuit is used to detect whether the power supply is normally supplied, and after determining that the power supply is normally supplied, a voltage detection circuit is used to detect whether the bus voltage exceeds the target voltage threshold, thereby timely controlling the back electromotive force discharge circuit to discharge the bus voltage to a reasonable level. The present application can effectively isolate input and output signals, avoid circuit interference, ensure the smooth operation of at least one motor, and improve the reliability and circuit life of the control circuit.

[0045] like Figure 2 As shown, in one embodiment, the isolated input circuit 120 includes a photocoupler U2, resistors R11-R13, a capacitor C1 and a shift register U10;

[0046] A first end of the photocoupler U2 is respectively connected to a power supply, a first end of the resistor R12, and a first end of the capacitor C1; a second end of the photocoupler U2 is respectively connected to a second end of the resistor R12, a second end of the capacitor C1, and a second end of the resistor R13; a first end of the resistor R3 is connected to an external input end; a third end of the photocoupler U2 is grounded; a fourth end of the photocoupler U2 is respectively connected to an input end of the shift register U10 and a first end of the resistor R11; a second end of the resistor R11 is connected to a power supply; and an output end of the shift register U10 is connected to the controller 110.

[0047] The external input terminal can be connected to an external device such as an external sensor or a hand controller, so as to input an external signal into the controller 110 , so that the controller 110 can control the control circuit accordingly according to the external signal.

[0048] In the embodiment of the present application, the optocoupler U2 may be an EL3H7, and the shift register U10 may be a 74HC165D. It should be noted that the shift register U10 in the embodiment of the present application has eight input terminals, each of which can be connected to an isolation input circuit to achieve input isolation of eight external input signals. The circuit structure of each isolation input circuit can be the same as that of the isolation input circuit 110 in the embodiment of the present application and will not be further described here.

[0049] In an embodiment of the present application, the external input signal is isolated by the optocoupler U2 and then output to the shift register U10. The shift register U10 converts the signal into a serial signal and then outputs it to the controller 110. The embodiment of the present application can realize the isolated input of the external signal and improve the reliability of the external input signal.

[0050] like Figure 3 As shown, in one embodiment, the isolated output circuit 130 includes an IO expansion chip U1, a photocoupler U3, a MOS transistor M1B, resistors R5-R6 and a diode D2.

[0051] A first end of the photocoupler U3 is connected to the IO port of the IO expansion chip U1 through a resistor R5. A second end of the photocoupler U3 is grounded. A third end of the photocoupler U3 is connected to a first end of a resistor R6 and a gate of a MOS transistor M1B, respectively. A second end of the resistor R6 is connected to ground and a source of the MOS transistor, respectively. A drain of the MOS transistor M1B is connected to an external output terminal and a cathode of a diode D2, respectively. The anode of the diode D2 is grounded.

[0052] The external output terminal can be connected to the cylinder, relay and other external devices of the drive and control integrated machine.

[0053] In the embodiment of the present application, the IO expansion chip may be PCA9555PW, and the controller 110 communicates with the IO expansion chip via the IIC protocol.

[0054] In the embodiment of the present application, the controller 110 outputs the control signal to the optocoupler U3 through the IO expansion chip for isolation and then outputs it to the external device through the MOS tube M1B, thereby reducing interference during the control signal transmission process and achieving precise control of the external device.

[0055] like Figure 4 As shown, in one embodiment, the power-on control circuit 140 includes a photocoupler U21, a transistor Q1, resistors R21-R24, a diode D1 and a relay K1;

[0056] A first end of the photoelectric coupler U21 is connected to the power supply, a second end of the photoelectric coupler U21 is connected to the controller 110 through a resistor R21, a third end of the photoelectric coupler U21 is connected to the base of the transistor Q1 through a resistor R22, the photoelectric coupler U21 is connected to a 24V power supply, the emitter of the transistor Q1 is grounded, the collector of the transistor Q1 is respectively connected to the anode of the diode D1 and the fourth end of the relay K1, the third end of the relay K1 is respectively connected to the cathode of the diode D1 and the 24V power supply, the second end of the relay K1 is respectively connected to the second input end of the mains and the first end of the resistor R23, the first end of the relay K1 is respectively connected to the first input end of the mains and the second end of the resistor R24, and the second end of the resistor R23 is connected to the first end of the resistor R24.

[0057] The resistor R23 and the resistor R24 may be 20D15, the transistor Q1 may be MMBT3904, and the photocoupler U21 may be EL3H7.

[0058] In an embodiment of the present application, the power-on and power-off control signals of the controller 110 are isolated by the optocoupler U21, and then driven by the transistor Q1 to operate the relay K1, so that the first end and the second end of the relay K1 are closed, or the first end and the fifth end of the relay K1 are closed, thereby controlling the power-on and power-off control of the mains.

[0059] In the embodiment of the present application, the photoelectric coupler U21 is used to isolate the power-on and power-off control signals of the controller 110 , and the transistor Q1 is used to drive the relay K1 to operate, thereby achieving precise control of the power-on and power-off of the mains.

[0060] like Figure 5 As shown, in one embodiment, the power-off detection circuit 150 includes a rectifier bridge B1, a photocoupler U1, and resistors R2-R4;

[0061] The first end of the rectifier bridge B1 is connected to the second end of the photoelectric coupler U1, the fourth end of the rectifier bridge B1 is connected to the first input end of the mains, the second end of the rectifier bridge B1 is connected to the second input end of the mains, the third end of the rectifier bridge B1 is connected to the first end of the photoelectric coupler U1 through resistors R2 and R3, the third end of the photoelectric coupler U1 is grounded, and the photoelectric coupler U1 is connected to a 3.3V power supply through a resistor R4.

[0062] In the embodiment of the present application, the rectifier bridge B1 may be MB10S, and the photoelectric coupler U1 may be EL3H7.

[0063] In an embodiment of the present application, the 220V AC mains power is full-wave rectified by a rectifier bridge and then isolated by a photoelectric coupler U1 and output to the controller. When the mains power is normally supplied, the light-emitting diode of the photoelectric coupler U1 emits light, and the photosensitive transistor of the photoelectric coupler U1 outputs an electrical signal, and then the controller 110 determines that the mains power is normally supplied based on the electrical signal; when the mains power is cut off, the light-emitting diode of the photoelectric coupler U1 does not emit light, and the photosensitive transistor of the photoelectric coupler U1 does not output an electrical signal, and the controller 110 determines that the mains power is cut off based on the received signal.

[0064] In an embodiment of the present application, the AC power is rectified by using a rectifier bridge and a photoelectric coupler is used to detect whether the AC power is supplied normally, so that the controller can control the AC power supply through the power-on control circuit in time when the AC power is cut off, thereby avoiding the power cut affecting the normal use of the equipment.

[0065] like Figure 6 As shown, in one embodiment, the voltage detection circuit 160 includes capacitors C31-C37, an isolation amplifier U31, an operational amplifier U32 and resistors R31-R37;

[0066] The first end of the isolation amplifier U31 is connected to the power supply and the second end of the capacitor C31 respectively, the first end of the capacitor C31 is grounded, the second end of the isolation amplifier U31 is connected to the second end of the resistor R33 and the first end of the capacitor C35 respectively, the third end, the fourth end and the fifth end of the isolation amplifier U31 are grounded, the eighth end of the isolation amplifier U31 is connected to the power supply and the second end of the capacitor C32 respectively, the first end of the capacitor C32 is grounded, the seventh end of the isolation amplifier U31 is connected to the first end of the resistor R34, the eighth end of the isolation amplifier U31 is connected to the first end of the resistor R36, and the first end of the operational amplifier U32 is connected to the first The first and second ends of the operational amplifier U32 are respectively connected to the second end of the resistor R36, the first end of the resistor R38 and the first end of the capacitor C37. The fourth end of the operational amplifier U32 is respectively connected to the second end of the resistor R38, the second end of the capacitor C37 and the first end of the resistor R35. The second end of the resistor R35 is respectively connected to the controller 110 and the first end of the capacitor C36. The second end of the capacitor C36 is grounded. The fifth end of the operational amplifier U32 is connected to the power supply.

[0067] In the embodiment of the present application, the bus voltage is divided by resistors R32 and R37, filtered by a low-pass filter composed of a resistor R33 and a capacitor C35, and then input to the isolation amplifier U31. After isolation by the isolation amplifier U31, it is differentially output to the operational amplifier U32 through the sixth and seventh terminals. After amplification by the operational amplifier U32, it is filtered by a low-pass filter composed of a resistor R35 and a capacitor C36 and then output to the controller 110.

[0068] In an embodiment of the present application, the bus voltage is divided by a voltage divider circuit, filtered by a low-pass filter, isolated by an isolation amplifier, amplified by an operational amplifier, and low-pass filtered again before being input to the controller, thereby improving the accuracy of the voltage detection signal input to the controller.

[0069] like Figure 7 As shown, in one embodiment, the back electromotive force discharge circuit 170 includes a photocoupler U41, a transistor Q41, an IGBT tube Q42, resistors R41-R46 and a diode D41;

[0070] A first end of the photocoupler U41 is connected to a 3.3V power supply through a resistor R44, a second end of the photocoupler U41 is connected to the controller 110, a third end of the photocoupler U41 is grounded, a fourth end of the photocoupler U41 is connected to the second end of the resistor R41 and the first end of the resistor R42, respectively, the first end of the resistor R41 is connected to a 24V power supply, the second end of the resistor R42 is connected to the base of the transistor Q41, the emitter of the base of the transistor Q41 is connected to the 24V power supply, the collector of the transistor Q41 is connected to the first end of the resistor R43, the second end of the resistor R43 is connected to the first end of the resistor R45 and the first end of the resistor R46, respectively, the second end of the resistor R45 is connected to the first end of the IGBT tube Q42, the second end of the IGBT tube Q42 is connected to the anode of the diode D41, the cathode of the diode D41 is connected to the power supply, and the third end of the IGBT tube Q42 is grounded.

[0071] The transistor Q41 may be MMBT3906.

[0072] In the embodiment of the present application, when multiple motor drive circuits 180 drive multiple motors to operate simultaneously, the problem of back electromotive force raising the bus voltage is likely to occur. Therefore, the control signal of the controller 110 is isolated by the optocoupler U41 and then drives the IGBT tube Q42 through the transistor Q41 to operate, thereby realizing the back electromotive force discharge, thereby ensuring the stability of the power supply voltage.

[0073] In one embodiment, the power supply circuit may use a B1505S-1WR3 power supply module.

[0074] like Figure 8 As shown, the power supply circuit includes: PWM controller U1, capacitors C1-C10, optocoupler U2, resistors R1-R13, diodes D1-D3, voltage regulator U3 and transformer T1;

[0075] The second end of the PWM controller U1 is respectively connected to the first end of the capacitor C10 and the fourth end of the photoelectric coupler U2, and the third end of the photoelectric coupler U2 and the second end of the capacitor C10 are grounded; the first end of the photoelectric coupler U2 is respectively connected to the first end of the resistor R10 and the first end of R11, the second end of the resistor R10 is connected to a 24V power supply, the second end of R11 is respectively connected to the second end of the photoelectric coupler U2, the first end of the resistor R13 and the first end of the voltage-stabilizing tube U3, the second end of the resistor R13 is connected to the first end of the capacitor C9, the second end of the capacitor C9 is respectively connected to the second end of the resistor R12 and the second end of the resistor R14, and the first end of the resistor R14 and the second end of the voltage-stabilizing tube U3 are grounded.

[0076] The third terminal of the PWM controller U1 is grounded through the resistor R9. The fourth terminal of the PWM controller U1 is connected to the first terminal of the capacitor C8 and the first terminal of the resistor R7 respectively. The second terminal of the capacitor C8 is grounded. The second terminal of the resistor R7 is connected to the third terminal of the MOS tube Q1 and the first terminal of the resistor R8 respectively. The second terminal of the resistor R8 is grounded.

[0077] The fifth end of the PWM controller U1 is respectively connected to the second end of the resistor R3, the first end of the capacitor C2, the first end of the resistor R1, the first end of the resistor R4 and the first end of the capacitor C1. The second end of the capacitor C2 and the second end of the capacitor C1 are grounded. The second end of the resistor R1 is connected to the second end of the resistor R4. The first end of the resistor R3 is connected to the power supply through the resistor R2.

[0078] The sixth terminal of the PWM controller U1 is connected to the first terminal of the MOS transistor Q1 through the resistor R6. The second terminal of the MOS transistor Q1 is connected to the anode of the diode D2 and the fifth terminal of the transformer T1 respectively. The cathode of the diode D2 is connected to the second terminal of the capacitor C5 and the second terminal of the resistor R5 respectively. The first terminal of the capacitor C5 and the first terminal of the resistor R5 are connected to the power supply and the seventh terminal of the transformer T1.

[0079] The thirteenth terminal of the transformer T1 is connected to the 24V power output terminal through the diode D1. The 24V power output terminal is grounded through the capacitor C3 and the capacitor C4 respectively. The ninth terminal of the transformer T1 is grounded.

[0080] The twelfth terminal of the transformer T1 is connected to the 24V power output terminal through the diode D3. The 24V power output terminal is grounded through the capacitor C6 and the capacitor C7 respectively. The eleventh terminal of the transformer T1 is grounded.

[0081] In the embodiment of the present application, the PWM controller U1 controls the MOS tube Q1 to perform chopping control according to the feedback signal of the optocoupler U2, and then transforms the voltage through the transformer T1. The secondary of the transformer T1 outputs two 24V voltages to meet the usage requirements of each module in the circuit.

[0082] like Figure 9 As shown, in one embodiment, the integrated drive and control machine includes a heat dissipation module, and the circuit further includes a temperature detection circuit for detecting the temperature of the heat dissipation module, and the temperature detection circuit includes a thermistor P1, resistors R41-R42 and a capacitor C41;

[0083] A first end of the thermistor P1 is connected to a first end of a resistor R41 and a first end of a resistor R42 respectively. The first end of the resistor R41 is connected to a 3.3V power supply, and a second end of the resistor R42 is grounded via a capacitor C41.

[0084] The resistance value of the thermistor P1 changes with temperature. In the embodiment of the present application, the thermistor P1 is B3950. At 0°C, the resistance value of the thermistor P1 is 32.04KΩ, at 20°C, the resistance value of the thermistor P1 is 12.472KΩ, at 40°C, the resistance value of the thermistor P1 is 5.324KΩ, at 60°C, the resistance value of the thermistor P1 is 2.466KΩ, and at 80°C, the resistance value of the thermistor P1 is 1.23KΩ, etc.

[0085] In the embodiment of the present application, the temperature of the heat dissipation module is detected by using the change in resistance value of the thermistor P1 when the temperature changes, and then the detection signal is low-pass filtered using a low-pass filter composed of R2 and capacitor C1 to improve the accuracy of temperature detection.

[0086] like Figure 10-15 As shown, the present application provides a drive-control integrated machine, comprising a housing 1 and a circuit board group 2 accommodated in the housing 1, the circuit board group 2 comprising a main control board 201, a secondary control board 202 and at least one drive board 203, each drive board 203 being connected to the main control board 201 and independently controlled by the main control board 201

[0087] The main control board 201 integrates a controller, a power-on control circuit, a power-off detection circuit, a voltage detection circuit, a back-electromotive force (BEMF) discharge circuit, a power supply circuit, and a temperature detection circuit. The controller of the main control board 201 is connected to the driver board 203 via the first row of pins 3. The driver board 203 is controlled by a single-chip microcomputer. The controller transmits motion commands to the driver board via the first row of pins 3, causing the servo motor to operate according to the received motion commands. When the integrated drive-control unit is used in conjunction with a multi-axis manipulator, multiple servo motors are connected to multiple external terminals 204.

[0088] This embodiment provides an integrated drive and control machine to solve the problem in existing integrated drive and control machines where multiple servo motor access terminals are located on the same control board, and a failure of one servo motor access terminal affects all servo motor access terminals, resulting in the failure of the multi-axis manipulator. The embodiment mainly disposes multiple drive boards 203 independently controlled by a main control board 201 within a housing 1. Each drive board 203 has an external terminal 204 that at least partially extends out of the housing 1 and is connected to a motor (such as a servo motor). Since the multiple external terminals 204 are located on multiple drive boards 203 independently controlled by the main control board 201, the multiple servo motors paired with the multiple external terminals 204 are independently controlled and do not affect each other. That is, when one external terminal 204 is damaged, the other servo motors are not affected. The machine has good anti-interference ability, good versatility, strong compatibility, and easy maintenance. In addition, since each drive board 203 is equipped with one external terminal 204, the drive board 203 is smaller in size. The smaller size of the drive board 203 is conducive to heat dissipation, low cost, and simple installation.

[0089] More specifically, secondary control board 202 has secondary terminals 205 that at least partially extend out of housing 1 and are used to connect to the control cylinders. Main control board 201 has primary terminals 207 that at least partially extend out of housing 1. The controller is connected to secondary control board 202 via a second row of pins (not shown). Secondary control board 202 is controlled by the controller, which can control secondary control board 202 for I / O signal input (collecting external sensor signals) or I / O signal output (controlling cylinder operation). Secondary control board 202 integrates isolated input and output circuits.

[0090] The power supply circuit can generate two 24V voltages, and then generate 15V, 5V, 3.3V and other voltages through the DCDC step-down power supply and LDO power supply for use by the driver board 203 and the secondary control board 202.

[0091] Among them, the controller of the main control board adopts the GD32F103RCT6 type MCU chip, and the MCU chip is used to exchange motion instructions and status data with the driver board 203.

[0092] It should be noted that the external terminal 204, the secondary terminal 205, and the main terminal 207 are existing connection ports, and the switching power supply, the single-chip microcomputer, and the chips integrated on the main control board 201, the secondary control board 202, and the driver board 203 are all existing technologies known to technicians in this field and are not described in detail here to avoid redundancy.

[0093] In this embodiment, the longitudinal direction of the housing 1 is defined as the front-to-back direction. The plurality of drive boards 203 are arranged side by side in the front-to-back direction, and the plurality of drive boards 203 and the secondary control board 202 are disposed on the left and right sides of the main control board 201. Since the plurality of drive boards 203 are arranged side by side in the front-to-back direction and the plurality of drive boards 203 and the secondary control board 202 are disposed on the left and right sides of the main control board 201, the main control board 201, the secondary control board 202, and the plurality of drive boards 203 are arranged rationally within the housing 1, facilitating connection of the external terminals 204 to the servo motor.

[0094] In this embodiment, the driver board 203 is connected to the main control board 201 via the first row of pins 3. The driver board 203 and the main control board 201 are perpendicular to each other. The secondary control board 202 is connected to the main control board 201 via copper pillars 208. The secondary control board 202 and the main control board 201 are parallel to each other. This arrangement allows the main control board 201, the secondary control board 202, and the plurality of driver boards 203 to be arranged reasonably and compactly within the housing 1.

[0095] In this embodiment, any two adjacent driving plates 203 are spaced apart in the front-to-back direction to form a heat dissipation gap 209. Since any two adjacent driving plates 203 are spaced apart in the front-to-back direction to form a heat dissipation gap 209, the driving plates 203 have a good heat dissipation effect.

[0096] In this embodiment, the housing 1 comprises a base 101 and an upper cover 102 that is detachably fixedly connected to the base 101. The upper cover 102 and the base 101 together form a housing cavity 103 for accommodating the circuit board assembly 2. This arrangement, by configuring the housing 1 with the upper cover 102 and the base 101 being detachably fixedly connected, facilitates the assembly of the main control board 201, the secondary control board 202, and the plurality of driver boards 203.

[0097] In this embodiment, the upper cover 102 includes a cover body 104 and a cover plate 105. The cover body 104 is detachably fixedly connected to the base 101 and has an inspection port 106 communicating with the accommodating chamber 103. The inspection port 106 faces the bottom of the accommodating chamber 103. The cover plate 105 is rotatably connected to the cover body 104 on one side of the inspection port 106 for opening and closing the inspection port 106. A plurality of drive plates 203 are arranged side by side in the longitudinal direction of the housing 1 and at least partially face the inspection port 106. The cover plate 105 is formed with an exposed opening 107 for inserting and extending the external terminal 204 into the housing 1. Since the inspection port 106 faces the bottom of the accommodating chamber 103 and the plurality of drive plates 203 are arranged side by side in the longitudinal direction of the housing 1 and at least partially face the inspection port 106, the drive plates 203 are easily disassembled, assembled, and maintained.

[0098] In this embodiment, the housing 1 is provided with a heat sink 4 on the side of the drive board 203 facing away from the access opening 106. The heat sink 4 at least partially abuts the base 101 and is spaced apart from the drive boards 203. This arrangement, by providing the heat sink 4 on the side of the drive board 203 facing away from the access opening 106, partially abutting the base 101 and spaced apart from the drive boards 203, allows heat dissipation from the drive boards 203 to be effectively achieved through the heat sink 4.

[0099] In this embodiment, the heat dissipation grille 4 and the base 101 are made of metal. Since the heat dissipation grille 4 and the base 101 are made of metal, they have a good heat dissipation effect.

[0100] In this embodiment, the base 101 is provided with a heat dissipation hole 108 on a side thereof facing the driver board 203, and a fan 5 is provided on an outer surface thereof facing the heat dissipation hole 108. The above arrangement, by providing the heat dissipation hole 108 and the fan 5 on the base 101 facing the driver board 203, provides good heat dissipation for the driver board 203.

[0101] In this embodiment, an upwardly extending mounting groove 109 is formed on the base 101 at a position directly opposite the driver board 203. A heat dissipation hole 108 is provided at the bottom of the mounting groove 109. The fan 5 is accommodated within the mounting groove 109 and directly opposite the heat dissipation hole 108. This arrangement, by providing the upwardly extending mounting groove 109 at a position on the base 101 directly opposite the driver board 203 and arranging the heat dissipation hole 108 and the fan 5 within the mounting groove 109, results in a compact and rational overall structure for the integrated driver-control unit.

[0102] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control circuit, characterized in that: Applied to an all-in-one drive and control machine, the all-in-one drive and control machine includes a heat dissipation module, including a controller, an isolated input circuit, an isolated output circuit, a power-on control circuit, a power-off detection circuit, a voltage detection circuit, a back-electromotive force discharge circuit, and at least one motor drive circuit, a power supply circuit, and a temperature detection circuit; the controller is connected to the isolated input circuit, the isolated output circuit, the power-on control circuit, the power-off detection circuit, the voltage detection circuit, the back-electromotive force discharge circuit, at least one motor drive circuit, the power supply circuit, and the temperature detection circuit; The temperature detection circuit detects the temperature of the heat dissipation module; The voltage detection circuit is used to detect the bus voltage; The power failure detection circuit is used to detect whether the power supply is normal; The power-on control circuit is used to control the power supply; The at least one motor driving circuit is used to drive at least one motor to operate; The controller receives an external input signal through an isolated input circuit, outputs a control signal to the outside through an isolated output circuit, controls the power supply through the power-on control circuit, determines whether the power supply is normally supplied according to the detection signal of the power-off detection circuit, and after determining that the power supply is normally supplied, receives the detection signal of the voltage detection circuit, and outputs a control signal to control the back electromotive force discharge circuit to discharge the bus voltage when the bus voltage exceeds the target voltage threshold.

2. The control circuit according to claim 1, wherein: The power-on control circuit includes a photocoupler U21, a transistor Q1, resistors R21-R24, a diode D1 and a relay K1; A first end of the photoelectric coupler U21 is connected to the power supply, a second end of the photoelectric coupler U21 is connected to the controller 110 through a resistor R21, a third end of the photoelectric coupler U21 is connected to the base of the transistor Q1 through a resistor R22, the photoelectric coupler U21 is connected to a 24V power supply, the emitter of the transistor Q1 is grounded, the collector of the transistor Q1 is respectively connected to the anode of the diode D1 and the fourth end of the relay K1, the third end of the relay K1 is respectively connected to the cathode of the diode D1 and the 24V power supply, the second end of the relay K1 is respectively connected to the second input end of the mains and the first end of the resistor R23, the first end of the relay K1 is respectively connected to the first input end of the mains and the second end of the resistor R24, and the second end of the resistor R23 is connected to the first end of the resistor R24.

3. The control circuit according to claim 1, wherein: The power-off detection circuit includes a rectifier bridge B1, a photocoupler U1 and resistors R2-R4; The first end of the rectifier bridge B1 is connected to the second end of the photoelectric coupler U1, the fourth end of the rectifier bridge B1 is connected to the first input end of the mains, the second end of the rectifier bridge B1 is connected to the second input end of the mains, the third end of the rectifier bridge B1 is connected to the first end of the photoelectric coupler U1 through resistors R2 and R3, the third end of the photoelectric coupler U1 is grounded, and the photoelectric coupler U1 is connected to the power supply through resistor R4.

4. The control circuit according to claim 1, wherein: The voltage detection circuit includes capacitors C31-C37, an isolation amplifier U31, an operational amplifier U32 and resistors R31-R37; The first end of the isolation amplifier U31 is connected to the power supply and the second end of the capacitor C31 respectively, the first end of the capacitor C31 is grounded, the second end of the isolation amplifier U31 is connected to the second end of the resistor R33 and the first end of the capacitor C35 respectively, the third end, the fourth end and the fifth end of the isolation amplifier U31 are grounded, the eighth end of the isolation amplifier U31 is connected to the power supply and the second end of the capacitor C32 respectively, the first end of the capacitor C32 is grounded, the seventh end of the isolation amplifier U31 is connected to the first end of the resistor R34, the eighth end of the isolation amplifier U31 is connected to the first end of the resistor R36, and the operational amplifier U32 is connected to the The first end is respectively connected to the second end of the resistor R34, the second end of the resistor R3 and the second end of the capacitor C33, the second end of the operational amplifier U32 is grounded, the third end of the operational amplifier U32 is respectively connected to the second end of the resistor R36, the first end of the resistor R38 and the first end of the capacitor C37, the fourth end of the operational amplifier U32 is respectively connected to the second end of the resistor R38, the second end of the capacitor C37 and the first end of the resistor R35, the second end of the resistor R35 is respectively connected to the controller and the first end of the capacitor C36, and the second end of the capacitor C36 is grounded; the fifth end of the operational amplifier U32 is connected to the power supply.

5. The control circuit according to claim 1, wherein: The isolated input circuit 110 includes a photocoupler U2, resistors R11-R13, a capacitor C1 and a shift register U10; A first end of the photocoupler U2 is respectively connected to a power supply, a first end of the resistor R12, and a first end of the capacitor C1; a second end of the photocoupler U2 is respectively connected to the second end of the resistor R12, the second end of the capacitor C1, and the second end of the resistor R13; a first end of the resistor R3 is connected to an external input end; a third end of the photocoupler U2 is grounded; a fourth end of the photocoupler U2 is respectively connected to an input end of the shift register U10 and a first end of the resistor R11; a second end of the resistor R11 is connected to a power supply; and an output end of the shift register U10 is connected to a controller.

6. The control circuit according to claim 1, wherein: The isolated output circuit includes an 10 expansion chip U1, a photoelectric coupler U3, a MOS tube M1B, resistors R5-R6 and a diode D2; A first end of the photocoupler U3 is connected to the 10 port of the 10 expansion chip U1 through a resistor R5. A second end of the photocoupler U3 is grounded. A third end of the photocoupler U3 is connected to a first end of a resistor R6 and a gate of a MOS transistor M1B, respectively. A second end of the resistor R6 is connected to ground and a source of the MOS transistor, respectively. A drain of the MOS transistor M1B is connected to an external output terminal and a cathode of a diode D2, respectively. The anode of the diode D2 is grounded.

7. The control circuit according to claim 1, wherein: The temperature detection circuit includes a thermistor P1, resistors R41-R42 and a capacitor C41; A first end of the thermistor P1 is connected to a first end of a resistor R41 and a first end of a resistor R42 respectively. The first end of the resistor R41 is connected to a power supply, and a second end of the resistor R42 is grounded via a capacitor C41.

8. The control circuit according to claim 1, wherein: The back electromotive force discharge circuit includes a photocoupler U41, a transistor Q41, an IGBT tube Q42 and resistors R41-R46; A first end of the photocoupler U41 is connected to a 3.3V power supply through a resistor R44, a second end of the photocoupler U41 is connected to a controller, a third end of the photocoupler U41 is grounded, a fourth end of the photocoupler U41 is connected to a second end of the resistor R41 and a first end of the resistor R42 respectively, a first end of the resistor R41 is connected to a 24V power supply, a second end of the resistor R42 is connected to a base of a transistor Q41, an emitter of the base of the transistor Q41 is connected to a 24V power supply, a collector of the transistor Q41 is connected to a first end of a resistor R43, a second end of the resistor R43 is connected to a first end of a resistor R45 and a first end of a resistor R46 respectively, a second end of the resistor R45 is connected to a first end of an IGBT tube Q42, a second end of the IGBT tube Q42 is connected to an anode of a diode D41, a cathode of the diode D41 is connected to the power supply, and a third end of the IGBT tube Q42 is grounded.

9. The control circuit according to claim 1, wherein: The power supply circuit includes: a PWM controller U1, capacitors C1-C10, a photocoupler U2, resistors R1-R13, diodes D1-D3, a voltage regulator U3 and a transformer T1; The second end of the PWM controller U1 is connected to the first end of the capacitor C10 and the fourth end of the photoelectric coupler U2 respectively, and the third end of the photoelectric coupler U2 and the second end of the capacitor C10 are grounded; the first end of the photoelectric coupler U2 is connected to the first end of the resistor R10 and the first end of R11 respectively, the second end of the resistor R10 is connected to the 24V power supply, the second end of R11 is connected to the second end of the photoelectric coupler U2, the first end of the resistor R13 and the first end of the voltage regulator U3 respectively, the second end of the resistor R13 is connected to the first end of the capacitor C9, the second end of the capacitor C9 is connected to the second end of the resistor R12 and the second end of the resistor R14 respectively, the first end of the resistor R14 and the second end of the voltage regulator U3 are grounded; the third end of the PWM controller U1 is grounded through the resistor R9, the fourth end of the PWM controller U1 is connected to the first end of the capacitor C8 and the first end of the resistor R7 respectively, the second end of the capacitor C8 is grounded, and the second end of the resistor R7 is connected to the third end of the MOS tube Q1 and the first end of the resistor R8 respectively. The first terminal of the PWM controller U1 is connected to the second end of the resistor R3, the first end of the capacitor C2, the first end of the resistor R1, the first end of the resistor R4, and the first end of the capacitor C1, respectively. The second end of the capacitor C2 and the second end of the capacitor C1 are grounded. The second end of the resistor R1 and the second end of the resistor R4 are connected. The first end of the resistor R3 is connected to the power supply through the resistor R2. The sixth terminal of the PWM controller U1 is connected to the first end of the MOS transistor Q1 through the resistor R6. The second end of the MOS transistor Q1 is connected to the anode of the diode D2 and the fifth terminal of the transformer T1, respectively. The cathode of the diode D2 is connected to the second end of the capacitor C5 and the second end of the resistor R5, respectively. The first end of the capacitor C5 and the first end of the resistor R5 are connected to the power supply and the seventh terminal of the transformer T1. The thirteenth terminal of the transformer T1 is connected to the 24V power supply output terminal through the diode D1. The 24V power supply output terminal is grounded through the capacitors C3 and C4, respectively. The ninth terminal of the transformer T1 is grounded. The twelfth terminal of the transformer T1 is connected to the 24V power output terminal through the diode D3. The 24V power output terminal is grounded through the capacitor C6 and the capacitor C7 respectively. The eleventh terminal of the transformer T1 is grounded.

10. A drive-control integrated machine, characterized in that: It includes a main control board, a secondary control board and at least one driver board; The main control board integrates a controller, a power-on control circuit, a power-off detection circuit, a voltage detection circuit, a back electromotive force discharge circuit, a power supply circuit, and a temperature detection circuit; the controller of the main control board is connected to the driver board through the first row of pins, and the controller is connected to the secondary control board through the second row of pins; The drive board is integrated with a motor drive circuit; the secondary control board is integrated with an isolation input circuit and an isolation output circuit.

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