Motor control circuit, mechanical arm and banknote sorting device

Abstract

The utility model relates to the technical field of financial instruments, and discloses a motor control circuit, a mechanical arm and a banknote sorting device, which comprise a forward rotation control circuit, a reverse rotation control circuit and a flexible control circuit, the first end and the second end of the forward rotation control circuit are correspondingly connected with the first end and the second end of the reverse rotation control circuit respectively, and the output end of the forward rotation control circuit is connected with the forward rotation control end of the motor; a reverse rotation control signal is input into the input end of the reverse rotation control circuit, the output end of the reverse rotation control circuit is connected with the first end of the flexible control circuit, the second end of the flexible control circuit is connected with the reverse rotation control end of the motor, and the output end of the flexible control circuit is connected with the input end of the forward rotation control circuit. According to the mechanical arm, the grabbing force is controllable under the action of the flexible control circuit of the motor control circuit, and the reliability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to financial appliance technical field, concretely relates to a motor control circuit, mechanical arm and paper currency sorting device. BACKGROUND

[0002] At present, the bank vault paper currency sorting system is heavy, and the bank cash sorting staff needs to handle a large amount of cash, which is a great workload. While ensuring accuracy, it is also a challenge to ensure work speed and efficiency. Therefore, with the help of sorting machine, different versions of RMB paper currency are sorted and classified, and the RMB paper currency can be counted, counted, and identified. After the paper currency is grabbed by the mechanical arm, the paper currency is put into the sorting machine inlet platform, and the paper currency is counted by the sorting machine. But the strength of the mechanical arm is difficult to control, and when the mechanical arm grabs too much, it will cause the paper currency to be damaged. UTILITY MODEL CONTENTS

[0003] Therefore, the utility model provides a motor control circuit, a mechanical arm and a paper currency sorting device to solve the problem of motor damage caused by reverse rotation of the existing motor.

[0004] In the first aspect, the utility model provides a motor control circuit, which comprises: a forward rotation control circuit, a reverse rotation control circuit and a flexible control circuit, wherein the input end of the forward rotation control circuit inputs a forward rotation control signal, the first end and the second end of the forward rotation control circuit are respectively connected with the first end and the second end of the reverse rotation control circuit in correspondence, and the output end of the forward rotation control circuit is connected with the forward rotation control end of the motor;The input end of the reverse rotation control circuit inputs a reverse rotation control signal, and the output end of the reverse rotation control circuit is connected with the first end of the flexible control circuit;The second end of the flexible control circuit is connected with the reverse rotation control end of the motor, and the output end of the flexible control circuit is connected with the input end of the forward rotation control circuit;When the voltage of the second end of the flexible control circuit is greater than the voltage of the first end of the flexible control circuit, the flexible control circuit outputs a forward rotation control signal.

[0005] The motor control circuit provided by the utility model has a flexible control circuit of the motor, when the flexible control circuit determines that the reverse rotation voltage exceeds the limit value according to the size of the voltage when the motor reverses, the flexible control circuit outputs a forward rotation control signal to control the motor to stop reversing and change to forward rotation, which avoids damage caused by excessive reverse rotation of the motor and improves the reliability of the motor.

[0006] In an alternative embodiment, the forward rotation control circuit comprises: a first switch circuit, a first amplification circuit and a first anti-reverse circuit, wherein the control end of the first switch circuit is connected with the first end of the first anti-reverse circuit and inputs a forward rotation control signal, the first end of the first switch circuit is connected with the first end of the reverse rotation control circuit, and the second end of the first switch circuit is connected with the input end of the first amplification circuit; the output end of the first amplification circuit is connected with the second end of the first anti-reverse circuit and the forward rotation control end of the motor, and the first end of the first amplification circuit is connected with the second end of the reverse rotation control circuit.

[0007] In an alternative embodiment, the reverse rotation control circuit comprises: a second switch circuit, a second amplification circuit and a second anti-reverse circuit, wherein the control end of the second switch circuit is connected with the first end of the second anti-reverse circuit and inputs a reverse rotation control signal, the first end of the second switch circuit is connected with the second end of the forward rotation control circuit, and the second end of the second switch circuit is connected with the input end of the second amplification circuit; the output end of the second amplification circuit is connected with the second end of the second anti-reverse circuit and the first end of the flexible control circuit, and the first end of the second amplification circuit is connected with the first end of the forward rotation control circuit.

[0008] In an alternative embodiment, the flexible control circuit comprises: a first comparison circuit, a second comparison circuit and an isolation circuit, wherein the first input end of the first comparison circuit is connected with the reverse rotation control end of the motor, the second input end of the first comparison circuit is connected with the output end of the reverse rotation control circuit, the output end of the first comparison circuit is connected with the input end of the second comparison circuit, the first end of the isolation circuit is connected with the output end of the second comparison circuit, and the second end of the isolation circuit is connected with the input end of the forward rotation control circuit.

[0009] In an alternative embodiment, the first comparison circuit comprises: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a first comparator, wherein the first end of the first resistor is connected with the first end of the second resistor and the reverse rotation control end of the motor, the second end of the first resistor is connected with the first end of the third resistor and the output end of the reverse rotation control circuit; the second end of the second resistor is connected with the first end of the fourth resistor and the positive input end of the first comparator; the second end of the third resistor is connected with the first end of the fifth resistor and the negative input end of the first comparator; the second end of the fourth resistor is grounded; and the second end of the fifth resistor is connected with the output end of the first comparator and the input end of the second comparison circuit.

[0010] In an alternative embodiment, the second comparison circuit comprises: a first capacitor, a first adjustable resistor and a second comparator, wherein a first end of the first capacitor is connected with an output end of the first comparison circuit and a reverse input end of the second comparator, a second end of the first capacitor is connected with a first end of the adjustable resistor and grounded; a control end of the adjustable resistor is connected with a forward input end of the second comparator, a second end of the adjustable resistor is connected with an external power supply; an output end of the second comparator is connected with a first end of the isolation circuit.

[0011] In an alternative embodiment, the isolation circuit comprises: a sixth resistor, a seventh resistor and an optical coupling isolator, wherein a first end of the sixth resistor is connected with an output end of the second comparison circuit, a second end of the sixth resistor is connected with a first end of the optical coupling isolator; a second end and a third end of the optical coupling isolator are grounded, a fourth end of the optical coupling isolator is connected with a first end of the seventh resistor and an input end of the forward rotation control circuit.

[0012] In an alternative embodiment, the motor control circuit further comprises: a control module, wherein a first input end of the control module inputs an external forward rotation signal or an external reverse rotation signal, a second input end of the control module is connected with an output end of the flexible control circuit, a first output end of the control module is connected with an input end of the forward rotation control circuit, a second output end of the control module is connected with an input end of the reverse rotation control circuit.

[0013] In a second aspect, the utility model provides a kind of mechanical arm, comprising: mechanical arm body and the motor control circuit of above-mentioned first aspect or any alternative embodiment thereof, wherein the first control end of mechanical arm body is connected with the output end of forward rotation control circuit, the second control end of mechanical arm body is connected with the second end of flexible control circuit.

[0014] The mechanical arm provided by the utility model determines that the reverse rotation voltage exceeds the limit value when the flexible control circuit determines the size of the motor reverse rotation voltage, i.e., the grabbing strength is too large, the flexible control circuit outputs a forward rotation control signal to control the motor to stop reversing and change to forward rotation, so that the mechanical arm changes from the closed state to the open state, avoids the mechanical arm grabbing strength being too large due to the motor reversing exceeding the limit, and damages the grabbed object, so that the mechanical arm grabbing strength is controllable.

[0015] In a third aspect, the utility model provides a kind of paper currency sorting device, comprising: the mechanical arm of above-mentioned second aspect.

[0016] The paper currency sorting device provided by the utility model determines that the reverse rotation voltage exceeds the limit value when the flexible control circuit determines the size of the motor reverse rotation voltage, i.e., the grabbing strength is too large, the flexible control circuit outputs a forward rotation control signal to control the motor to stop reversing and change to forward rotation, so that the mechanical arm changes from the closed state to the open state, avoids the mechanical arm grabbing strength being too large due to the motor reversing exceeding the limit, and damages the paper currency, so that the mechanical arm grabbing strength is controllable. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a composition diagram of the motor control circuit according to an embodiment of the present utility model;

[0019] Figure 2 This is a composition diagram of the forward rotation control circuit according to an embodiment of the present utility model;

[0020] Figure 3 This is a composition diagram of the inversion control circuit according to an embodiment of the present utility model;

[0021] Figure 4 This is a composition diagram of the flexible control circuit according to an embodiment of the present utility model;

[0022] Figure 5 This is a detailed circuit diagram of the motor control circuit according to an embodiment of the present utility model;

[0023] Figure 6 This is a composition diagram of another motor control circuit according to an embodiment of the present utility model;

[0024] Figure 7 This is a composition diagram of the robotic arm according to an embodiment of the present utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the utility model, it needs to explain, unless otherwise explicitly provided and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, 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 between two elements, it can be wireless connection, or it can be wired connection. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0028] In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as there is no conflict between them.

[0029] At present, the clearing machine is widely used in the financial industry to count paper money. During the use of the clearing machine, the operator sets the number of paper money to be counted this time on the clearing machine, and the motor control circuit in the clearing machine controls the mechanical arm of the clearing machine to place the paper money after being bundled on the entrance platform of the clearing machine. The clearing machine will judge whether to continue to count according to whether there is paper money on the entrance platform. If there is no paper money on the entrance platform of the clearing machine, the mechanical arm will be controlled to place the remaining paper money after being bundled on the entrance platform of the clearing machine to continue counting.

[0030] Generally, when the motor reverses, the gripper of the mechanical arm closes to grab the paper money; when the motor rotates forward, the gripper of the mechanical arm opens to release the paper money. However, when the motor reverses, it is easy to exceed the limit and cause the gripper to grab the paper money too hard and damage the paper money. Therefore, the embodiment provides a motor control circuit.

[0031] The embodiment provides a motor control circuit, such as Figure 1As shown, the motor control circuit comprises: a forward rotation control circuit 1, a reverse rotation control circuit 2 and a flexible control circuit 3, wherein the input end of the forward rotation control circuit 1 inputs a forward rotation control signal, the first end and the second end of the forward rotation control circuit 1 are respectively connected with the first end and the second end of the reverse rotation control circuit 2, and the output end of the forward rotation control circuit 1 is connected with the forward rotation control end of the motor; the input end of the reverse rotation control circuit 2 inputs a reverse rotation control signal, and the output end of the reverse rotation control circuit 2 is connected with the first end of the flexible control circuit 3.

[0032] Specifically, Figure 1 In the motor control circuit, when the forward rotation control circuit 1 receives the external forward rotation control signal, the forward rotation control circuit 1 switches the switch state and then outputs the forward rotation driving signal, so that the motor rotates forward; when the reverse rotation control circuit 2 receives the external reverse rotation control signal, the reverse rotation control circuit 2 switches the switch state and then outputs the reverse rotation driving signal, so that the motor rotates reversely.

[0033] Figure 1 In the motor control circuit, the second end of the flexible control circuit 3 is connected with the reverse rotation control end of the motor, and the output end of the flexible control circuit 3 is connected with the input end of the forward rotation control circuit 1; when the voltage at the second end of the flexible control circuit 3 is greater than the voltage at the first end of the flexible control circuit 3, the flexible control circuit 3 outputs the forward rotation control signal.

[0034] Specifically, Figure 1 In the motor control circuit, the normal reverse rotation voltage corresponding to the motor reverse rotation in the flexible control circuit 3 is preset, or the voltage at the output end of the reverse rotation control circuit 2 is the normal reverse rotation voltage; when the flexible control circuit 3 determines that the real-time voltage of the motor reverse rotation is greater than the normal reverse rotation voltage, it indicates that the reverse rotation voltage of the motor exceeds the limit value, i.e., the reverse rotation exceeds the limit, the reverse rotation speed is too fast, etc., at this time, the flexible control circuit 3 outputs the forward rotation control signal to the forward rotation control circuit 1, so that the motor stops reverse rotation and switches to forward rotation, avoiding damage to the equipment connected with the motor.

[0035] Exemplarily, Figure 1 In the motor control circuit, when the motor in the motor control circuit is applied to a mechanical arm, the motor rotates forward to drive the gripper of the mechanical arm to open, and the motor rotates reversely to drive the gripper of the mechanical arm to close; the higher the working voltage of the motor during reverse rotation, the faster the rotation speed of the motor, resulting in a greater force of the gripper closing; if the force of the gripper closing is too large, the gripped object will be damaged. Therefore, the flexible control circuit 3 acquires the working voltage of the motor during reverse rotation in real time, and compares it with the internally preset normal reverse rotation voltage; when it is determined that the working voltage of the motor during reverse rotation is greater than the normal reverse rotation voltage, the flexible control circuit 3 immediately outputs the forward rotation control signal, so that the motor switches to forward rotation, i.e., the gripper opens.

[0036] It should be noted that those skilled in the art can also adapt the circuit structure so that the motor can switch to reverse rotation when the motor appears forward rotation exceeding the limit, forward rotation speed being too fast, etc.

[0037] The motor control circuit provided by the embodiment has a motor flexible control circuit. When the flexible control circuit determines that the reverse rotation voltage exceeds the limit value according to the size of the motor reverse rotation voltage, the flexible control circuit outputs a forward rotation control signal to control the motor to stop reverse rotation and change to forward rotation, so as to avoid damage caused by the motor reverse rotation exceeding the limit position and improve the reliability of the motor.

[0038] In some optional embodiments, as shown in Figure 2 The forward rotation control circuit includes a first switch circuit 11, a first amplification circuit 12, and a first anti-reverse circuit 13. The control end of the first switch circuit 11 is connected with the first end of the first anti-reverse circuit 13 and inputs a forward rotation control signal. The first end of the first switch circuit 11 is connected with the first end of the reverse rotation control circuit 2. The second end of the first switch circuit 11 is connected with the input end of the first amplification circuit 12. The output end of the first amplification circuit 12 is connected with the second end of the first anti-reverse circuit 13 and the forward rotation control end of the motor. The first end of the first amplification circuit 12 is connected with the second end of the reverse rotation control circuit 2.

[0039] Specifically, Figure 2 The forward rotation control signal can be a high-level signal. When there is the forward rotation control signal, the first switch circuit 11 is turned on and amplifies the forward rotation control signal. Then, the forward rotation control signal is output as a forward rotation driving signal to the forward rotation control end of the motor after being amplified by the first amplification circuit 12 again, so that the motor rotates forward. The first anti-reverse circuit 13 is used to prevent the motor from being damaged by the reverse rotation driving signal output by the reverse rotation control circuit 2 when the motor rotates forward.

[0040] Optionally, the first amplification circuit can be an operational amplifier, a high-gain amplifier composed of Darlington tubes, or the like.

[0041] In some optional embodiments, as shown in Figure 3 The reverse rotation control circuit includes a second switch circuit 21, a second amplification circuit 22, and a second anti-reverse circuit 23. The control end of the second switch circuit 21 is connected with the first end of the second anti-reverse circuit 23 and inputs a reverse rotation control signal. The first end of the second switch circuit 21 is connected with the second end of the forward rotation control circuit 1. The second end of the second switch circuit 21 is connected with the input end of the second amplification circuit 22. The output end of the second amplification circuit 22 is connected with the second end of the second anti-reverse circuit 23 and the first end of the flexible control circuit 3. The first end of the second amplification circuit 22 is connected with the first end of the forward rotation control circuit 1.

[0042] Specifically, Figure 3In the embodiment, the reverse control signal can be a high level signal. When the reverse control signal exists, the second switch circuit 21 is turned on and amplifies the reverse control signal. Then the reverse control signal is amplified again by the second amplification circuit 22 and outputted to the reverse control terminal of the motor as a reverse driving signal, so that the motor is reversed. The second anti-reverse circuit 23 is used to prevent the motor from being damaged by the forward driving signal outputted by the forward control circuit 2 when the motor is reversed.

[0043] Optionally, the second amplification circuit can be an operational amplifier, a high-gain amplifier composed of Darlington tubes, or the like.

[0044] In some optional embodiments, as shown in Figure 4 The flexible control circuit includes a first comparison circuit 31, a second comparison circuit 32, and an isolation circuit 33. The first input terminal of the first comparison circuit 31 is connected with the reverse control terminal of the motor, the second input terminal of the first comparison circuit 31 is connected with the output terminal of the reverse control circuit, the output terminal of the first comparison circuit 31 is connected with the input terminal of the second comparison circuit 32, the first terminal of the isolation circuit 33 is connected with the output terminal of the second comparison circuit 32, and the second terminal of the isolation circuit 33 is connected with the input terminal of the forward control circuit.

[0045] Specifically, Figure 4 In the embodiment, the first comparison circuit 31 compares the voltage of the reverse control terminal of the motor with the output voltage of the reverse control circuit 2. When the voltage of the reverse control terminal of the motor is greater than the output voltage of the reverse control circuit 2 (i.e., indicating that the reverse speed of the motor is too fast), the first comparison circuit 31 outputs a first level comparison result. When the voltage of the reverse control terminal of the motor is less than or equal to the output voltage of the reverse control circuit 2 (i.e., indicating that the reverse speed of the motor is normal), the first comparison circuit 31 outputs a second level comparison result. Then the second comparison circuit 32 compares the comparison result outputted by the first comparison circuit 31 with a reference voltage. The value of the reference voltage can be flexibly adjusted by an operator according to the parameters of the circuit. When the comparison result is greater than the reference voltage, the second comparison circuit 32 outputs a forward control signal, and the motor is controlled to be forward rotated by the forward control circuit 1. When the comparison result is less than or equal to the reference voltage, the second comparison circuit 32 has no output, and the motor is maintained to be reversed.

[0046] Specifically, Figure 5In the first comparison circuit 31, the first end of the first resistor R1M is connected with the first end of the second resistor R2M, and is connected with the reverse control end of the motor through the connector J1, the second end of the first resistor R1M is connected with the first end of the third resistor R4M and the output end of the reverse control circuit 2; the second end of the second resistor R2M is connected with the first end of the fourth resistor R8M and the positive input end of the first comparator U1MA; the second end of the third resistor R4M is connected with the first end of the fifth resistor R5M and the negative input end of the first comparator U1MA; the second end of the fourth resistor R8M is grounded; the second end of the fifth resistor R5M is connected with the output end of the first comparator U1MA and the input end of the second comparison circuit 32.

[0047] Specifically, Figure 5 In the second comparison circuit 32, the first end of the first capacitor E1M is connected with the output end of the first comparison circuit 31 and the negative input end of the second comparator U1MC, the second end of the first capacitor E1M is connected with the first end of the adjustable resistor W1M and is grounded; the control end of the adjustable resistor W1M is connected with the positive input end of the second comparator U1MC, the second end of the adjustable resistor W1M is connected with the external power supply +24V; the output end of the second comparator U1MC is connected with the first end of the isolation circuit 33. The operator can adjust the resistance value of the adjustable resistor W1M according to the voltage parameters related to the motor reverse, adjust the voltage division of the adjustable resistor W1M to the external power supply +24V, so as to adjust the size of the reference voltage of the positive input end of the second comparator U1MC, so that the motor control circuit can adapt to motors with different parameters and specifications, and improve the application range.

[0048] Specifically, Figure 5 In the isolation circuit 33, the first end of the sixth resistor R3M is connected with the output end of the second comparison circuit 32, the second end of the sixth resistor R3M is connected with the first end of the optocoupler G1M; the second end and the third end of the optocoupler G1M are grounded, the fourth end of the optocoupler G1M is connected with the first end of the seventh resistor R9M, and is connected with the input end of the forward control circuit 1 through the connector J2.

[0049] Specifically, Figure 5In the embodiment, the connector J2 is connected with an external controller, and is used to transmit the forward rotation control signal and the reverse rotation control signal output by the controller to the forward rotation control circuit 1 and the reverse rotation control circuit 2 respectively, and the connector J2 is also connected with the connector J3 which is connected with the motor and is used to transmit the forward rotation state information and the reverse rotation state information of the motor to the controller through the connector J2.

[0050] Specifically, Figure 5 In the embodiment, the forward rotation control circuit 1 comprises a first switch circuit composed of a current-limiting resistor R6M and a triode, a Darlington tube composed of a triode N4M and a P1M, and a first anti-reverse circuit composed of a diode D2. The reverse control circuit 2 comprises a second switch circuit composed of a current-limiting resistor R7M and a triode, a Darlington tube composed of a triode N2M and a P2M, and a second anti-reverse circuit composed of a diode D1.

[0051] In some optional embodiments, as shown in Figure 6 The motor control circuit further comprises a control module 4, wherein a first input end of the control module 4 inputs the external forward rotation signal or the external reverse rotation signal, a second input end of the control module 4 is connected with an output end of the flexible control circuit 3, a first output end of the control module 4 is connected with an input end of the forward rotation control circuit 1, and a second output end of the control module is connected with an input end of the reverse rotation control circuit 2.

[0052] Specifically, Figure 6 In the embodiment, after the control module 4 outputs the forward rotation control signal or the reverse rotation control signal according to the external forward rotation signal or the external reverse rotation signal input by the operator, the forward rotation control circuit 1 controls the motor to rotate forward according to the forward rotation control signal, the reverse rotation control circuit 2 controls the motor to rotate reverse according to the forward rotation control signal, when the motor rotates reverse, the flexible control circuit 3 compares the voltage at the reverse rotation control end of the motor with the normal reverse voltage of the motor in real time, and when it is determined that the voltage at the reverse rotation control end of the motor is greater than the normal reverse voltage, outputs a fault signal in the form of a voltage level to the control module 4, and then the control module 4 stops outputting the reverse rotation signal and switches to output the forward rotation control signal to control the motor to stop reverse rotation and switch to forward rotation.

[0053] The embodiment provides a mechanical arm, as shown in Figure 7 The embodiment provides a mechanical arm, as shown in

[0054] Specifically, Figure 7The mechanical arm body comprises a motor and a gripper connected with the motor, the gripper is opened when the motor rotates forward, and the gripper is closed when the motor reverses, and when the force of the gripper is too large, the gripper will be damaged, therefore, the flexible control circuit compares the voltage of the reverse control end of the motor in the mechanical arm body with the normal reverse voltage in real time, when it is determined that the voltage of the reverse control end of the motor is greater than the normal reverse voltage, a forward control signal is outputted, the motor is controlled to stop reversing and switch to forward rotation, that is, the gripper is controlled to open.

[0055] The mechanical arm provided by the embodiment, when the flexible control circuit determines that the reverse voltage exceeds the limit value according to the size of the voltage when the motor reverses, that is, when the gripping force is too large, the flexible control circuit outputs a forward control signal to control the motor to stop reversing and switch to forward rotation, so that the mechanical arm is switched from the closed state to the open state, the mechanical arm is prevented from damaging the object to be gripped due to the excessive reverse rotation of the motor, and the gripping force of the mechanical arm is controllable.

[0056] The embodiment provides a paper currency sorting device, comprising the mechanical arm of the above embodiment.

[0057] Specifically, the paper currency sorting device has a mechanical arm for separating and moving paper currencies to an inlet platform of a sorting device, when the paper currencies need to be gripped, the gripping force of the gripper cannot be too large to avoid damage to the paper currencies, therefore, when the reverse rotation speed of the motor of the mechanical arm is too fast, the flexible control circuit can timely control the motor to stop reversing and switch to forward rotation, the specific control principle of the motor control circuit is consistent with that of the above embodiment, and details are not repeated here.

[0058] The paper currency sorting device provided by the embodiment, when the flexible control circuit determines that the reverse voltage exceeds the limit value according to the size of the voltage when the motor reverses, that is, when the gripping force is too large, the flexible control circuit outputs a forward control signal to control the motor to stop reversing and switch to forward rotation, so that the mechanical arm is switched from the closed state to the open state, the mechanical arm is prevented from damaging the paper currencies due to the excessive reverse rotation of the motor, and the gripping force of the mechanical arm is controllable.

[0059] Although the embodiments of the utility model are described in combination with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the utility model, and such modifications and changes all fall within the scope defined by the appended claims.

Claims

1. A motor control circuit, characterized by comprising: The motor control circuit comprises a forward rotation control circuit, a reverse rotation control circuit and a flexible control circuit, wherein an input end of the forward rotation control circuit inputs a forward rotation control signal, a first end and a second end of the forward rotation control circuit are respectively connected with a first end and a second end of the reverse rotation control circuit, and an output end of the forward rotation control circuit is connected with a forward rotation control end of the motor; an input end of the reverse rotation control circuit inputs a reverse rotation control signal, and an output end of the reverse rotation control circuit is connected with a first end of the flexible control circuit; a second end of the flexible control circuit is connected with a reverse rotation control end of the motor, and an output end of the flexible control circuit is connected with the input end of the forward rotation control circuit; when a voltage at the second end of the flexible control circuit is greater than a voltage at the first end of the flexible control circuit, the flexible control circuit outputs the forward rotation control signal. The forward rotation control circuit comprises a first switch circuit, a first amplification circuit and a first anti-reverse circuit, wherein 2. The motor control circuit of claim 1, wherein, a control end of the first switch circuit is connected with a first end of the first anti-reverse circuit and inputs the forward rotation control signal, a first end of the first switch circuit is connected with a first end of the reverse rotation control circuit, and a second end of the first switch circuit is connected with an input end of the first amplification circuit; an output end of the first amplification circuit is connected with a second end of the first anti-reverse circuit and the forward rotation control end of the motor, and a first end of the first amplification circuit is connected with a second end of the reverse rotation control circuit. The reverse rotation control circuit comprises a second switch circuit, a second amplification circuit and a second anti-reverse circuit, wherein 3. The motor control circuit of claim 1, wherein, a control end of the second switch circuit is connected with a first end of the second anti-reverse circuit and inputs the reverse rotation control signal, a first end of the second switch circuit is connected with a second end of the forward rotation control circuit, and a second end of the second switch circuit is connected with an input end of the second amplification circuit; an output end of the second amplification circuit is connected with a second end of the second anti-reverse circuit and a first end of the flexible control circuit, and a first end of the second amplification circuit is connected with a first end of the forward rotation control circuit. The flexible control circuit comprises a first comparison circuit, a second comparison circuit and an isolation circuit, wherein 4. The motor control circuit of claim 1, wherein, a first input end of the first comparison circuit is connected with a reverse rotation control end of the motor, a second input end of the first comparison circuit is connected with an output end of the reverse rotation control circuit, an output end of the first comparison circuit is connected with an input end of the second comparison circuit, and a first end of the isolation circuit is connected with an output end of the second comparison circuit; a second end of the isolation circuit is connected with the input end of the forward rotation control circuit. The first comparison circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a first comparator, wherein 5. The motor control circuit of claim 4, wherein, a first end of the first resistor is connected with a first end of the second resistor and a reverse rotation control end of the motor, and a second end of the first resistor is connected with a first end of the third resistor and an output end of the reverse rotation control circuit; a second end of the second resistor is connected with a first end of the fourth resistor and a positive input end of the first comparator; a first end of the third resistor is connected with a second end of the fourth resistor and a negative input end of the first comparator, a first end of the fourth resistor is connected with a second end of the fifth resistor and a positive input end of the second comparator, and a second end of the fifth resistor is connected with a negative input end of the second comparator. The second end of the third resistor is connected with the first end of the fifth resistor and the reverse input end of the first comparator; The second end of the fourth resistor is grounded; The second end of the fifth resistor is connected with the output end of the first comparator and the input end of the second comparison circuit.

6. The motor control circuit of claim 4, wherein, The second comparison circuit comprises a first capacitor, a first adjustable resistor and a second comparator, wherein, The first end of the first capacitor is connected with the output end of the first comparison circuit and the reverse input end of the second comparator, and the second end of the first capacitor is connected with the first end of the adjustable resistor and grounded; The control end of the adjustable resistor is connected with the forward input end of the second comparator, and the second end of the adjustable resistor is connected with an external power supply; The output end of the second comparator is connected with the first end of the isolation circuit.

7. The motor control circuit of claim 4, wherein, The isolation circuit comprises a sixth resistor, a seventh resistor and an optical coupling isolator, wherein, The first end of the sixth resistor is connected with the output end of the second comparison circuit, and the second end of the sixth resistor is connected with the first end of the optical coupling isolator; The second end and the third end of the optical coupling isolator are grounded, and the fourth end of the optical coupling isolator is connected with the first end of the seventh resistor and the input end of the forward rotation control circuit.

8. The motor control circuit of claim 1, wherein, Further comprising: a control module, wherein, the first input end of the control module inputs an external forward rotation signal or an external reverse rotation signal, the second input end of the control module is connected with the output end of the flexible control circuit, the first output end of the control module is connected with the input end of the forward rotation control circuit, and the second output end of the control module is connected with the input end of the reverse rotation control circuit.

9. A robot arm, characterized in that comprise: a mechanical arm body and the motor control circuit according to any one of claims 1 to 8, wherein, the first control end of the mechanical arm body is connected with the output end of the forward rotation control circuit, and the second control end of the mechanical arm body is connected with the second end of the flexible control circuit.

10. A paper currency sorting apparatus characterized by comprising: comprise: the mechanical arm according to claim 9.

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