Control circuit for realizing double-machine synchronous movement by driving motors through controller
By designing a dual-machine synchronous motion control circuit that drives the motor with a controller, the problems of inconvenient operation and high noise in existing physiotherapy and rehabilitation equipment have been solved. This has enabled dual-machine synchronous operation, remote control operation, and automatic recovery functions, thereby improving the ease of operation and stability of the equipment.
Patent Information
- Application Number
- CN202422946858.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2034-11-29
AI Technical Summary
Existing physiotherapy and rehabilitation equipment is inconvenient to operate, cannot be remotely controlled, and cannot automatically return to a horizontal position. Traditional control methods have poor operational stability and are noisy, and most are single-machine control.
The control circuit consists of a power supply, control unit, remote controller, motor drive module, ranging module, and fault detection module to achieve synchronous movement of the two machines. It exchanges information through SPI and 485 communication modules, uses an infrared ranging sensor and PID control to achieve bed synchronization, and supports remote control operation and automatic recovery.
It enables simultaneous operation of two machines, remote gear switching, and automatic leveling upon shutdown. It is easy to operate, reduces noise, and improves operational stability and safety.
Smart Images
Figure CN223680985U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a kind of controller drive motor realizes the control circuit of double-machine synchronous motion. BACKGROUND
[0002] In contemporary social development, with the development and progress of science and technology, people have higher pursuit to the quality of life and health, especially in the period of illness, joint activity or rehabilitation training has urgent needs, and it is urgent to solve the real needs of specific audience in this field.
[0003] Looking at the current physiotherapy rehabilitation application, most of them are mechanical hand shaking type control, which needs to be assisted by traction equipment or external force, especially in some cases where patients need to train independently, the existing control mode cannot be realized. Under this condition, a new type of intelligent automatic control mode emerges as the times require, to meet the market demand for functional applications
[0004] The existing control mode has the defects of inconvenient operation, remote control and automatic recovery to the horizontal position after use.
[0005] The traditional physiotherapy rehabilitation bed can only realize single-bed control, and the running stability is poor and there is a lot of noise during running.
[0006] In view of the above defects, the designer actively researches and innovates to create a new type of controller drive motor to realize the control circuit of double-machine synchronous motion, so that it has more industrial value. INVENTION CONTENTS
[0007] To solve the above technical problems, the purpose of the utility model is to provide a kind of controller drive motor realizes the control circuit of double-machine synchronous motion.
[0008] To achieve the above purpose, the utility model adopts the following technical scheme:
[0009] A kind of controller drive motor realizes the control circuit of double-machine synchronous motion, including power supply, the first control unit and the second control unit of same module, the output of power supply is connected with the input of first control unit, the output of power supply is connected with the input of second control unit, the first control unit is interactively connected with SPI communication circuit, the second control unit is interactively connected with SPI communication circuit, further include remote controller, the output of remote controller is connected with the input of first remote control unit, the control end of first remote control unit is connected with the controlled end of first control unit, the output of remote controller is connected with the input of second remote control unit, the control end of second remote control unit is connected with the controlled end of second control unit.
[0010] Preferably, the controller drives the motor to realize the control circuit of double machine synchronous motion, the first control unit includes a power supply adaptation module, the output end of the power supply adaptation module is connected with the input end of the motor drive module, the output end of the motor drive module is connected with the input end of the direct current brushless motor, the output end of the direct current brushless motor is connected with the input end of the rehabilitation training bed body, the output end of the rehabilitation training bed body is connected with the input end of the distance measuring module, the output end of the distance measuring module is connected with the input end of the synchronous control module, the synchronous control module is connected with the SPI communication circuit, the output end of the synchronous control module is connected with the input end of the 485 communication module, the output end of the 485 communication module is connected with the input end of the motor drive module, the output end of the motor drive module is connected with the input end of the fault detection module, and the output end of the fault detection module is connected with the fault indicator.
[0011] Preferably, the controller drives the motor to realize the control circuit of double machine synchronous motion, the first remote control control unit and the second remote control control unit are the same remote control control module.
[0012] The first remote control control unit includes a remote control control module and a TTL communication module, the output end of the remote control of the input end of the remote control control module is connected, the output end of the remote control control module is connected with the input end of the TTL communication module, and the output end of the TTL communication module is connected with the input end of the synchronous control module.
[0013] Preferably, the controller drives the motor to realize the control circuit of double machine synchronous motion, the distance measuring module is an infrared distance measuring sensor.
[0014] Preferably, the controller drives the motor to realize the control circuit of double machine synchronous motion, the chip model of the synchronous control module is APM32F030c8T6.
[0015] Preferably, the controller drives the motor to realize the control circuit of double machine synchronous motion, the chip model of the fault detection module is IRMCF171.
[0016] Through the above scheme, the controller drives the motor to realize the control circuit of double machine synchronous motion has at least the following advantages:
[0017] The controller drives the motor to realize the control circuit of double machine synchronous motion, and the rehabilitation training bed body can realize the functions of real-time motor driving, remote control gear switching and automatic horizontal position finding when stopping, and the operation is simple and convenient.
[0018] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the following preferred embodiments of the utility model are described in detail with the help of the drawings. BRIEF DESCRIPTION OF DRAWINGS
[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope, for those skilled in the art, on the premise of not creating labor, other related drawings can also be obtained according to these drawings.
[0020] Figure 1 is the principle diagram of the present application;
[0021] Figure 2 is the circuit diagram of the motor drive module of the present application;
[0022] Figure 3 is the circuit diagram of the synchronous control module of the present application;
[0023] Figure 4 is the circuit diagram of the 485 communication module of the present application;
[0024] Figure 5 is the circuit diagram of the SPI communication module of the present application;
[0025] Figure 6 is the circuit diagram of the fault detection module of the present application. DETAILED DESCRIPTION
[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical scheme in the embodiments of the present application, obviously, the described embodiments are some embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.
[0027] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creating labor belong to the scope of protection of the present application.
[0028] EMBODIMENT
[0029] As Figures 1 to 6As shown, a kind of control circuit for realizing the synchronous motion of double machine by controller drive motor, including power supply 1, the first control unit 2 and the second control unit 3 of identical module, the output of the power supply 1 is connected with the input of the first control unit 2, the output of the power supply 1 is connected with the input of the second control unit 3, the first control unit 2 is interactively connected with SPI communication circuit 7, the second control unit 3 is interactively connected with SPI communication circuit 7, further include remote controller 4, the output of the remote controller 4 is connected with the input of the first remote control unit 5, the control end of the first remote control unit 5 is connected with the controlled end of the first control unit 2, the output of the remote controller 4 is connected with the input of the second remote control unit 6, the control end of the second remote control unit 6 is connected with the controlled end of the second control unit 3.
[0030] The first control unit 2 in the utility model includes power supply adaptation module 21, the output of power supply adaptation module 21 is connected with the input of motor drive module 22, the output of motor drive module 22 is connected with the input of direct current brushless motor 23, the output of direct current brushless motor 23 is connected with the input of rehabilitation training bed body 24, the output of rehabilitation training bed body 24 is connected with the input of distance measuring module 25, the output of distance measuring module 25 is connected with the input of synchronous control module 26, the synchronous control module 26 is interactively connected with SPI communication circuit 7, the output of synchronous control module 26 is connected with the input of 485 communication module 27, the output of 485 communication module 27 is connected with the input of motor drive module 22, the output of motor drive module 22 is connected with the input of fault detection module 28, the output of fault detection module 28 is connected with fault indicator 29.
[0031] The first remote control unit 5 and the second remote control unit 6 in the utility model are identical remote control module;
[0032] The first remote control unit 5 includes remote control module 51 and TTL communication module 52, the output of remote controller 4 is connected with the input of remote control module 51, the output of remote control module 51 is connected with the input of TTL communication module 52, the output of TTL communication module 52 is connected with the input of synchronous control module 26.
[0033] The distance measuring module in the utility model is 25 infrared distance measuring sensor.
[0034] The chip model adopted by the synchronous control module 26 in the utility model is APM32F030c8T6.
[0035] The chip model adopted by the fault detection module 28 in the utility model is IRMCF171.
[0036] The working principle of the utility model is as follows:
[0037] During the specific work, the 220V power supply is converted into a 29VDC output capacity 3A stabilized power supply by the power supply adaptation module to supply the motor drive module, the motor drive module controls the DC brushless motor, at the same time, the DC brushless motor drives the front and rear swing motor, the head automatic lifting motor and the joint extension and flexion push rod motor of the rehabilitation training bed body, and the corresponding information is transmitted to the synchronous control module for synchronous control, and the 485 communication module is fed back to the motor drive module to further improve the synchronism.
[0038] Among them:
[0039] The power supply adaptation module:
[0040] The AC 220VAC mains is converted into a DC 29VDC output capacity 3A stabilized power supply to provide a stable and reliable voltage input for the motor driver.
[0041] The motor drive module:
[0042] As shown in 2, a variable frequency sine wave control mode is adopted, at the rated power, compared with the traditional electrolytic capacitor scheme, the reactive power is reduced, the harmonic influence noise is greatly reduced, the actual speed of the motor can be detected in real time, the design adopts a closed loop control mode for the adjustment of the motor, when there is a deviation between the set target speed and the actual speed, the PID dynamically adjusts the actual speed to the target speed, and better stability is achieved.
[0043] The synchronous control module:
[0044] In order to achieve the purpose of synchronizing the two beds through distance measurement, one synchronous control module is used for each bed, the current position state of the bed body is obtained through the SPI master-slave communication mode, when the distance measurement sensor detects that the positions are different, the 485 communication instruction is sent to the motor driver, the slave machine starts dynamic PID adjustment of the motor speed, when the running positions of the two beds are close to consistent, the slave bed body switches to the master bed body to run at the same speed, so that the requirement of synchronous operation of the two beds is achieved.
[0045] The distance measurement module:
[0046] The distance measurement module selects a high-precision infrared distance measurement sensor with a measurement accuracy error of 1mm, a power supply voltage of 5V and a distance measurement range of 10-70CM, to realize real-time monitoring of the position of the bed body.
[0047] The remote controller is a remote control module (a known remote controller and remote control module):
[0048] The remote control circuit and the remote controller adopt 2.4G wireless communication mode, electromagnetic wave mode transmission has penetration, reflection and diffraction, the mode can realize long distance, wide range, single remote controller simultaneously controls multiple devices, thereby realizing synchronous start and shutdown operation.
[0049] TTL communication module:
[0050] The remote control circuit sends the gear switching request to the synchronous control box through the TTL communication mode after receiving the gear switching request sent by the remote controller, and realizes the switching of the running gear.
[0051] SPI communication module:
[0052] The current position information between the two bed bodies is exchanged through the SPI communication mode, and the synchronous box adjusts the position deviation between the bed bodies through the PID.
[0053] 485 communication module:
[0054] The interface adopts standard RS485 communication protocol, the communication instruction sending interval is 1 second, when the communication abnormal interruption is more than 30 seconds, the motor driver stops automatically, improves the reliability and safety.
[0055] Direct current brushless motor:
[0056] The motor adopts a direct current brushless motor with a reducer with a speed reduction ratio of 1:50, so as to achieve the purpose of large torque start at low speed.
[0057] Rehabilitation training bed body (prior art in the field):
[0058] The bed body is provided with front and rear swing motor, bed head automatic lifting motor, joint extension and flexion push rod motor, position locking device.
[0059] Fault detection module:
[0060] The motor driver fault detection circuit processes include motor overcurrent alarm, step loss alarm, locked rotor alarm, open phase alarm, voltage overhigh alarm, voltage overlow alarm. The overcurrent alarm includes hardware overcurrent alarm and software overcurrent alarm, the fault code is displayed through the indicator light, the software overcurrent protection is realized by collecting the voltage between the current sampling resistor and amplifying, when the collected current value exceeds the limited value, the output of the power device is turned off. The double overcurrent protection of hardware and software improves the reliability of the frequency conversion drive, further protects the motor and the safety of the user.
[0061] It should be noted that similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.
[0062] In the description of the present application, it should be noted that the terms "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the application is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.
[0063] In addition, the terms "horizontal", "vertical", etc. do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.
[0064] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "provided", "mounted", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0065] The above is only the preferred embodiment of the present application, and is not used to limit the present application. It should be noted that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be considered as the protection range of the present application.
Claims
1. A control circuit for driving a motor to achieve synchronous motion of two machines, characterized in that: The utility model relates to a rehabilitation training bed, including power supply (1), first control unit (2) and second control unit (3) of same module, the output of power supply (1) is connected with the input of first control unit (2), the output of power supply (1) is connected with the input of second control unit (3), first control unit (2) is interactively connected with SPI communication circuit (7), second control unit (3) is interactively connected with SPI communication circuit (7), still include remote controller (4), the output of remote controller (4) is connected with the input of first remote control unit (5), the control end of first remote control unit (5) is connected with the controlled end of first control unit (2), the output of remote controller (4) is connected with the input of second remote control unit (6), the control end of second remote control unit (6) is connected with the controlled end of second control unit (3).
2. The control circuit according to claim 1, wherein the control circuit is configured to control the motor to perform the double-motor synchronous movement. The first control unit (2) includes power supply adaptation module (21), the output of power supply adaptation module (21) is connected with the input of motor drive module (22), the output of motor drive module (22) is connected with the input of direct current brushless motor (23), the output of direct current brushless motor (23) is connected with the input of rehabilitation training bed body (24), the output of rehabilitation training bed body (24) is connected with the input of distance measuring module (25), the output of distance measuring module (25) is connected with the input of synchronous control module (26), the synchronous control module (26) is interactively connected with SPI communication circuit (7), the output of synchronous control module (26) is connected with the input of 485 communication module (27), the output of 485 communication module (27) is connected with the input of motor drive module (22), the output of motor drive module (22) is connected with the input of fault detection module (28), the output of fault detection module (28) is connected with fault indicator (29).
3. The control circuit according to claim 1, wherein the control circuit is configured to control the motor to perform the double-motor synchronous movement. The first remote control unit (5) and the second remote control unit (6) are same remote control modules; The first remote control unit (5) includes remote control module (51) and TTL communication module (52), the output of remote controller (4) is connected with the input of remote control module (51), the output of remote control module (51) is connected with the input of TTL communication module (52), the output of TTL communication module (52) is connected with the input of synchronous control module (26).
4. The control circuit according to claim 2, wherein the control circuit is configured to control the motor to perform the double-motor synchronous movement. The distance measuring module (25) is an infrared distance measuring sensor.
5. The control circuit according to claim 2, wherein the control circuit is configured to control the motor to perform the double-motor synchronous movement. The chip model of the synchronous control module (26) is APM32F030c8T6.
6. The control circuit according to claim 2, wherein the control circuit is configured to control the motor to perform the double-motor synchronous movement. The chip model of the fault detection module (28) is IRMCF171.