Motor driving board and motor

Abstract

The utility model provides a motor driving board and a motor, and belongs to the technical field of motor control, and the driving board comprises a voltage conversion module which carries out the DC conversion of a voltage accessed to a power supply input end, and the number of power supply voltages is multiple; the voltage stabilization module carries out voltage stabilization conversion on the voltage after the direct current conversion; the signal transmission module receives an instruction issued by the upper computer based on the voltage after direct current conversion, and transmits the instruction to the control module; the control module generates a control signal according to an instruction based on the voltage after voltage stabilization conversion, and transmits the control signal to the signal transmission module and the driving module; the signal transmission module also receives the control signal and feeds back the control signal to the upper computer; the driving module generates a driving signal according to the control signal based on the voltage accessed by the power supply input end, and drives the motor to operate according to the driving signal and the configuration parameters; the current adjusting module adjusts the maximum driving current output by the driving module. According to the scheme, power supplies are diversified, and the maximum driving current can be adjusted.

Description

Technical Field

[0001] This application relates to the field of motor control technology, specifically to a motor drive board and a motor. Background Technology

[0002] Currently, existing stepper motor drive controllers are large in size, have many communication interfaces, are not flexible enough in terms of customization, are difficult to maintain and debug, and the drive circuit has unreliable performance, poor protection performance, and high cost.

[0003] In industries and commerce, medicine and optics, robotics, and other fields requiring low power consumption, especially in in vitro diagnostic medical devices, high-precision, high-reliability, and stable two-phase stepper motor drive boards are essential for controlling motion components and enabling the linkage of various components in the equipment, sample collection and analysis, etc.

[0004] However, the power supply of the existing motor drive board is single and the maximum drive current is not adjustable, which leads to excessive stall current or short circuit faults. Utility Model Content

[0005] The purpose of this application is to provide a motor drive board and a motor that can solve the problems of single power supply and non-adjustable maximum drive current in the prior art.

[0006] In a first aspect, embodiments of this application provide a motor drive board, which includes: a voltage conversion module, a voltage regulator module, a control module, a signal transmission module, a drive module, and a current regulation module;

[0007] The output of the voltage conversion module is connected to the input of the voltage regulator module and the signal transmission module. The voltage conversion module is used to perform DC-DC conversion on the voltage connected to the power supply input terminal, which can be of various types.

[0008] The voltage regulator module is also connected to the control module. The voltage regulator module is used to regulate and convert the voltage after DC-DC conversion.

[0009] The signal transmission module is also connected to the CAN communication interface and control module of the host computer. It is used to receive instructions from the host computer based on the voltage after DC-DC conversion and to transmit instructions to the control module.

[0010] The control module is also connected to the drive module. The position detection optocoupler switch of the control module is connected to the position detection interface of the motor body. The control module is used to generate control signals according to instructions based on the voltage after voltage regulation and conversion, and transmit the control signals to the signal transmission module and the drive module.

[0011] The drive module is also connected to the power supply input terminal and the current regulation module. It is used to generate a drive signal based on the voltage connected to the power supply input terminal and the control signal, and drive the motor to run according to the drive signal and configuration parameters.

[0012] The current regulation module is used to adjust the maximum drive current output by the drive module.

[0013] In one possible implementation of the first aspect, the voltage conversion module includes: a voltage conversion control unit, a first current limiting unit, a rectification and filtering unit, a first voltage divider unit, a first filtering unit, and a first resistor;

[0014] The power input pin of the voltage conversion control unit is connected to the first terminal and the power supply input terminal of the first current limiting unit, the enable pin of the voltage conversion control unit is connected to the second terminal of the first current limiting unit, and the ground pin of the voltage conversion control unit is grounded to the third terminal of the first current limiting unit.

[0015] The frequency adjustment pin of the voltage conversion control unit is connected to the first end of the first resistor, and the second end of the first resistor is connected to the second end of the first filter unit.

[0016] The switching pin of the voltage conversion control unit is connected to the first terminal of the rectifier and filter unit, the bootstrap pin of the voltage conversion control unit is connected to the second terminal of the rectifier and filter unit, the third terminal of the rectifier and filter unit is connected to the power supply and the first terminal of the first voltage divider unit, and the fourth terminal of the rectifier and filter unit is grounded.

[0017] The feedback pin of the voltage conversion control unit is connected to the second terminal of the first voltage divider unit, and the third terminal of the first voltage divider unit is grounded; the compensation pin of the voltage conversion control unit is connected to the first terminal of the first filter unit, and the third terminal of the first filter unit is grounded.

[0018] The voltage conversion control unit is used to control the supply voltage to perform DC conversion; the first current limiting unit is used to limit the supply voltage; the rectification and filtering unit is used to rectify and filter the output voltage; the first voltage divider unit is used to divide the output voltage; and the first filtering unit is used to filter the output voltage.

[0019] The voltage regulator module includes: a voltage regulator unit, a second filter unit, and a third filter unit;

[0020] The power input pin of the voltage regulator unit is connected to the output terminal of the voltage conversion module and the first terminal of the second filter unit. The second terminal of the second filter unit is grounded to the second terminal of the third filter unit.

[0021] The power output pin of the voltage regulator unit is connected to the first terminal of the third filter unit, which is also connected to the control module; the ground pin of the voltage regulator unit is grounded.

[0022] The voltage regulator unit is used to regulate and convert the voltage after DC-DC conversion, the second filter unit is used to filter the voltage after DC-DC conversion, and the third filter unit is used to filter the voltage after voltage regulation and conversion.

[0023] In one possible implementation of the first aspect, the first current limiting unit includes a second resistor and a third resistor; the rectifier and filter unit includes a first capacitor, a Zener diode, and a first inductor; the first voltage divider unit includes a fourth resistor and a fifth resistor; and the first filter unit includes a second capacitor, a third capacitor, and a sixth resistor.

[0024] The first end of the second resistor is connected to the power supply input terminal, the series node of the second and third resistors is connected to the enable pin of the voltage conversion control unit, and the second end of the third resistor is grounded.

[0025] The first terminal of the first capacitor is connected to the switching pin of the voltage conversion control unit, the cathode of the Zener diode, and the first terminal of the first inductor. The second terminal of the first capacitor is connected to the bootstrap pin of the voltage conversion control unit. The anode of the Zener diode is grounded. The second terminal of the first inductor is connected to the input terminal of the voltage regulator module.

[0026] The first end of the fourth resistor is connected to the second end of the first inductor, the series node of the fourth and fifth resistors is connected to the feedback pin of the voltage conversion control unit, and the second end of the fifth resistor is grounded.

[0027] The first terminal of the second capacitor and the first terminal of the third capacitor are connected to the compensation pin of the voltage conversion control unit. The second terminal of the second capacitor is connected to the first terminal of the sixth resistor. The second terminal of the third capacitor and the second terminal of the sixth resistor are grounded.

[0028] The second filter unit includes a fourth capacitor and a fifth capacitor, and the third filter unit includes a sixth capacitor and a seventh capacitor.

[0029] The first terminal of the fourth capacitor and the first terminal of the fifth capacitor are connected to the power input pin of the voltage regulator unit, and the second terminal of the fourth capacitor and the second terminal of the fifth capacitor are grounded; the first terminal of the sixth capacitor and the first terminal of the seventh capacitor are connected to the power output pin of the voltage regulator unit.

[0030] In one possible implementation of the first aspect, the control module includes: a control unit, a fourth filtering unit, a fifth filtering unit, and a sixth filtering unit;

[0031] The fourteenth GPIO pin of the control unit is connected to the second end of the fourth filter unit, the fifteenth GPIO pin of the control unit is connected to the fourth end of the fourth filter unit, the first end of the fourth filter unit is connected to the power supply, and the third end of the fourth filter unit is grounded.

[0032] The first main power input pin of the control unit is connected to the first end of the fifth filter unit, the asynchronous reset pin of the control unit is connected to the third end of the fifth filter unit, the second end of the fifth filter unit is connected to the power supply, and the fourth end of the fifth filter unit is grounded.

[0033] The analog power input pin of the control unit is connected to the first end of the sixth filter unit, the second end of the sixth filter unit is connected to the power supply, and the third end of the sixth filter unit is grounded.

[0034] The fourth filter unit is used to filter the power supply voltage, the fifth filter unit is used to filter the power supply voltage, and the sixth filter unit filters the voltage after voltage regulation and conversion.

[0035] In one possible implementation of the first aspect, the fourth filter unit includes: a seventh resistor, an eighth resistor, and an eighth capacitor; the fifth filter unit includes: a ninth resistor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, and a twelfth capacitor; and the sixth filter unit includes: a thirteenth capacitor, a fourteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a seventeenth capacitor, a second inductor, and a third inductor.

[0036] The first end of the seventh resistor and the first end of the eighth capacitor are connected to the power supply. The second end of the seventh resistor is connected to the fourteenth GPIO pin of the control unit. The second end of the eighth capacitor and the first end of the eighth resistor are grounded. The second end of the eighth resistor is connected to the fifteenth GPIO pin of the control unit.

[0037] The ninth resistor, tenth capacitor, eleventh capacitor, and twelfth capacitor are connected in parallel. The first terminal of the ninth capacitor is connected to the second terminal of the ninth resistor, the second terminal of the ninth capacitor is connected to the second terminal of the tenth capacitor, the first terminal of the ninth resistor is connected to the first main power input pin of the control unit, the second terminal of the ninth resistor is connected to the asynchronous reset pin of the control unit, the first terminal of the twelfth capacitor is connected to the power supply, and the second terminal of the twelfth capacitor is grounded.

[0038] The thirteenth, fourteenth, fifteenth, sixteenth, and seventeenth capacitors are connected in parallel. The first terminal of the second inductor is connected to the first terminal of the sixteenth capacitor, and the second terminal of the second inductor is connected to the first terminal of the seventeenth capacitor. The first terminal of the third inductor is connected to the first terminal of the seventeenth capacitor, and the second terminal of the third inductor is connected to the power supply. The first terminal of the thirteenth capacitor is connected to the analog power input pin of the control unit. The first terminal of the sixteenth capacitor is connected to the power supply. The first terminal of the seventeenth capacitor is connected to the output terminal of the voltage regulator module, and the second terminal of the seventeenth capacitor is grounded.

[0039] In one possible implementation of the first aspect, the signal transmission module includes: a signal transmission unit, a tenth resistor, an eleventh resistor, a twelfth resistor, an eighteenth capacitor, and a nineteenth capacitor;

[0040] The power input pin of the signal transmission unit is connected to the output terminal of the voltage conversion module and the second terminal of the eighteenth capacitor, and the first terminal of the eighteenth capacitor is grounded; the multiplexing function pin of the signal transmission unit is connected to the first terminal of the twelfth resistor, and the second terminal of the twelfth resistor is grounded.

[0041] The serial data transmitting pin of the signal transmission unit is connected to the control module, and the serial data receiving pin of the signal transmission unit is also connected to the control module.

[0042] The high-level signal output pin of the signal transmission unit is connected to the first end of the tenth resistor, and the second end of the tenth resistor is connected to the host computer. The low-level signal output pin of the signal transmission unit is connected to the first end of the eleventh resistor, and the second end of the eleventh resistor is connected to the host computer.

[0043] The system power latch control pin of the signal transmission unit is connected to the first end of the nineteenth capacitor, and the second end of the nineteenth capacitor is grounded; the ground pin of the signal transmission unit is grounded.

[0044] In one possible implementation of the first aspect, the driving module includes: a driving unit, a thirteenth resistor, a twentieth capacitor, a twenty-first capacitor, a twenty-second capacitor, a twenty-third capacitor, a twenty-fourth capacitor, and a twenty-fifth capacitor;

[0045] The first power output pin of the drive unit is connected to the first end of the twentieth capacitor, and the second end of the twentieth capacitor is grounded; the second power output pin of the drive unit is connected to the first end of the thirteenth resistor and the first end of the twentieth capacitor, the second end of the thirteenth resistor is connected to the power supply, and the second end of the twentieth capacitor is grounded.

[0046] The serial peripheral interface mode configuration pin of the driver unit is connected to the first terminal of the twenty-second capacitor, the power supply, and the first power input pin, and the second terminal of the twenty-second capacitor is grounded; the power control pin of the driver unit is connected to the first terminal of the twenty-third capacitor, and the power supply input pin of the driver unit is connected to the second terminal of the twenty-third capacitor.

[0047] The current parameter input pin of the drive unit is connected to the first terminal of the twenty-fourth capacitor, and the current parameter output pin of the drive unit is connected to the second terminal of the twenty-fourth capacitor; the second power supply input pin of the drive unit is connected to the first terminal of the twenty-fifth capacitor, and the second terminal of the twenty-fifth capacitor is grounded.

[0048] In one possible implementation of the first aspect, the current regulation module includes: a first sampling resistor, a second sampling resistor, a first power switch, a second power switch, a third power switch, and a fourth power switch;

[0049] The first terminal of the first sampling resistor is connected to the first and second sources of the second power switch, and the second terminal of the first sampling resistor is grounded; the first terminal of the second sampling resistor is connected to the first and second sources of the fourth power switch, and the second terminal of the second sampling resistor is grounded.

[0050] The first source of the first power switch is connected to the first drain of the second power switch, the second source of the first power switch is connected to the second drain of the second power switch, the first gate and the second gate of the first power switch are connected to the driving module, the drain of the first power switch is connected to the drain of the third power switch, and the first gate and the second gate of the second power switch are connected to the driving module.

[0051] The first source of the third power switch is connected to the first drain of the fourth power switch, the second source of the third power switch is connected to the second drain of the fourth power switch, the first gate and the second gate of the third power switch are connected to the driving module, and the first gate and the second gate of the fourth power switch are connected to the driving module.

[0052] In one possible implementation of the first aspect, the driver board further includes: a storage module and a heat dissipation module;

[0053] The storage module is connected to the control module and is used to store the communication interface ID and motor configuration parameters; the heat dissipation module is set on the voltage conversion module, drive module and current regulation module to dissipate heat from the voltage conversion module, drive module and current regulation module.

[0054] Secondly, embodiments of this application provide an electric motor, which includes: an electric motor body and a motor drive board as described in any of the first aspects, wherein the motor drive board is fixed to the outside of the electric motor body in the form of a backpack, and the drive module of the motor drive board is connected to the electric motor body.

[0055] In this application, a voltage conversion module is used to perform DC-DC conversion on the voltage input to the power supply terminal, which can be of various types; a voltage regulation module is used to regulate and convert the DC-converted voltage; a signal transmission module is used to receive instructions from the host computer based on the DC-converted voltage and transmit the instructions to the control module; a control module is used to generate control signals based on the regulated voltage according to the instructions and transmit the control signals to the signal transmission module and the drive module; the signal transmission module is also used to receive control signals and feed them back to the host computer; a drive module is used to generate drive signals based on the voltage input to the power supply terminal according to the control signals and drive the motor to run according to the drive signals and configuration parameters; and a current regulation module is used to adjust the maximum drive current output by the drive module.

[0056] The proposed solution offers a variety of power supplies, and the maximum drive current can be adjusted via a current regulation module, making it highly user-friendly and practical.

[0057] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a schematic block diagram of the motor drive board provided in an embodiment of this application;

[0060] Figure 2 This is a schematic circuit diagram of the voltage conversion module provided in the embodiments of this application;

[0061] Figure 3 This is a schematic circuit diagram of the voltage regulator module provided in the embodiments of this application;

[0062] Figure 4 This is a schematic circuit diagram of the control module provided in the embodiments of this application;

[0063] Figure 5 This is a schematic circuit diagram of the signal transmission module provided in an embodiment of this application;

[0064] Figure 6 This is a schematic circuit diagram of the driving module provided in an embodiment of this application;

[0065] Figure 7 This is a schematic circuit diagram of the current regulation module provided in the embodiments of this application;

[0066] Figure 8 This is a schematic circuit diagram of the storage module provided in an embodiment of this application;

[0067] Figure 9 This is a schematic block diagram of the motor provided in the embodiments of this application. Detailed Implementation

[0068] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0069] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0070] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0071] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0072] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0073] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0074] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in some other embodiments," "in other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0075] In this application specification, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to the orientation or positional relationship based on the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use.

[0076] In this application specification, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0077] Currently, existing stepper motor drive controllers are large in size, have many communication interfaces, are not flexible enough in terms of customization, are difficult to maintain and debug, and the drive circuit has unreliable performance, poor protection performance, and high cost.

[0078] In industries and commerce, medicine and optics, robotics, and other fields requiring low power consumption, especially in in vitro diagnostic medical devices, high-precision, high-reliability, and stable two-phase stepper motor drive boards are essential for controlling motion components and enabling the linkage of various components in the equipment, sample collection and analysis, etc.

[0079] However, the power supply of the existing motor drive board is single and the maximum drive current is not adjustable, which leads to excessive stall current or short circuit faults.

[0080] To address the aforementioned deficiencies, this application provides a motor drive board. A voltage conversion module performs DC-DC conversion on the voltage input to the power supply terminal, which can be of various types. A voltage regulator module regulates the converted voltage. A signal transmission module receives instructions from a host computer based on the converted voltage and transmits these instructions to a control module. The control module generates control signals based on the regulated voltage and transmits these signals to the signal transmission module and the drive module. The signal transmission module also receives control signals and feeds them back to the host computer. The drive module generates drive signals based on the control signals and drives the motor to operate according to the drive signals and configuration parameters. A current regulation module adjusts the maximum drive current output by the drive module.

[0081] The proposed solution offers a variety of power supplies, and the maximum drive current can be adjusted via a current regulation module, making it highly user-friendly and practical.

[0082] The overall structure of the motor drive board provided in this application is described below through specific embodiments.

[0083] Please see Figure 1 , Figure 1 This is a schematic block diagram of the motor drive board 100 provided in an embodiment of this application. Figure 1As shown, the motor drive board 100 includes: a voltage conversion module 110, a voltage regulator module 120, a control module 130, a signal transmission module 140, a drive module 150, and a current regulation module 160.

[0084] The output terminal of the voltage conversion module 110 is connected to the input terminal of the voltage regulator module 120 and the signal transmission module 140. The voltage conversion module 110 is used to perform DC-DC conversion on the voltage connected to the power supply input terminal DCIN. The voltage connected to the power supply input terminal DCIN can be of various types.

[0085] In one embodiment, the voltage connected to the power supply input terminal DCIN is a wide operating voltage: DC12V or 24V.

[0086] The voltage regulator module 120 is also connected to the control module 130. The voltage regulator module 120 is used to regulate and convert the voltage after DC-DC conversion. The signal transmission module 140 is also connected to the CAN communication interface of the host computer 200 and the control module 130. It is used to receive instructions from the host computer 200 based on the DC-DC converted voltage and transmit instructions to the control module 130.

[0087] The control module 130 is also connected to the drive module 150. The position detection optocoupler switch K of the control module 130 is connected to the position detection interface of the motor body 310. The control module 130 is used to generate control signals according to instructions based on the voltage after voltage regulation and conversion, and transmit the control signals to the signal transmission module 140 and the drive module 150.

[0088] The drive module 150 is also connected to the power supply input terminal DCIN and the current regulation module 160. It generates a drive signal based on the voltage input to the power supply input terminal DCIN and the control signal, and drives the motor to operate according to the drive signal and configuration parameters. The current regulation module 160 is used to adjust the maximum drive current output by the drive module 150.

[0089] The power supply in this embodiment is diverse, and the maximum driving current can be adjusted by the current adjustment module 160, which has strong ease of use and practicality.

[0090] The specific structure of the motor drive board 100 provided in this application embodiment is described below through specific embodiments.

[0091] Please see Figure 2 , Figure 2 This is a schematic circuit diagram of the voltage conversion module 110 provided in an embodiment of this application. Figure 2 As shown, the voltage conversion module 110 includes: a voltage conversion control unit 111, a first current limiting unit 112, a rectifier and filter unit 113, a first voltage divider unit 114, a first filter unit 115, and a first resistor R1.

[0092] The power input pin VIN of the voltage conversion control unit 111 is connected to the first terminal of the first current limiting unit 112 and the power input terminal DCIN. The enable pin EN of the voltage conversion control unit 111 is connected to the second terminal of the first current limiting unit 112. The ground pin GND of the voltage conversion control unit 111 and the third terminal of the first current limiting unit 112 are grounded.

[0093] The frequency adjustment pin FREQ of the voltage conversion control unit 111 is connected to the first end of the first resistor R1, and the second end of the first resistor R1 is connected to the second end of the first filter unit 115.

[0094] The switching pin SW of the voltage conversion control unit 111 is connected to the first end of the rectifier filter unit 113, the bootstrap pin BST of the voltage conversion control unit 111 is connected to the second end of the rectifier filter unit 113, the third end of the rectifier filter unit 113 is connected to the power supply VCC and the first end of the first voltage divider unit 114, and the fourth end of the rectifier filter unit 113 is grounded.

[0095] The feedback pin FB of the voltage conversion control unit 111 is connected to the second end of the first voltage divider unit 114, and the third end of the first voltage divider unit 114 is grounded; the compensation pin COMP of the voltage conversion control unit 111 is connected to the first end of the first filter unit 115, and the third end of the first filter unit 115 is grounded.

[0096] The voltage conversion control unit 111 is used to control the supply voltage to perform DC conversion, the first current limiting unit 112 is used to limit the supply voltage, the rectification and filtering unit 113 is used to rectify and filter the output voltage, the first voltage divider unit 114 is used to divide the output voltage, and the first filtering unit 115 is used to filter the output voltage.

[0097] In one embodiment, the voltage conversion control unit 111 is a DC-DC power conversion chip, model MP1584EN. The voltage conversion control unit 111 can control the conversion of 12V or 24V voltage to 5V.

[0098] Please see Figure 3 , Figure 3 This is a schematic circuit diagram of the voltage regulator module 120 provided in an embodiment of this application. According to a first embodiment of this application, the voltage regulator module 120 includes: a voltage regulator unit 122, a second filter unit 124, and a third filter unit 126.

[0099] The power input pin VIN of the voltage regulator unit 122 is connected to the output terminal of the voltage conversion module 110 and the first terminal of the second filter unit 124. The second terminal of the second filter unit 124 is grounded to the second terminal of the third filter unit 126.

[0100] The power output pin VOUT of the voltage regulator unit 122 is connected to the first end of the third filter unit 126, and the first end of the third filter unit 126 is also connected to the control module 130; the ground pin GND of the voltage regulator unit 122 is grounded.

[0101] The voltage regulator unit 122 is used to regulate and convert the voltage after DC-DC conversion, the second filter unit 124 is used to filter the voltage after DC-DC conversion, and the third filter unit 126 is used to filter the voltage after voltage regulation and conversion.

[0102] In one embodiment, the voltage regulator unit 122 is an LDO voltage regulator chip, model AMS1117-3.3V. The voltage regulator unit 122 can convert 5V voltage to 3.3V. The voltage conversion control unit 111 and the voltage regulator unit 122 together provide operating voltages, such as 3.3V, 5V, and 24V, for signal control, storage, data processing, and driving.

[0103] Please continue reading Figure 2 According to one embodiment of this application, the first current limiting unit 112 includes a second resistor R2 and a third resistor R3, the rectifier and filter unit 113 includes a first capacitor C1, a Zener diode D1 and a first inductor L1, the first voltage divider unit 114 includes a fourth resistor R4 and a fifth resistor R5, and the first filter unit 115 includes a second capacitor C2, a third capacitor C3 and a sixth resistor R6.

[0104] The first end of the second resistor R2 is connected to the power supply input terminal DCIN. The series node of the second resistor R2 and the third resistor R3 is connected to the enable pin EN of the voltage conversion control unit 111. The second end of the third resistor R3 is grounded.

[0105] The first terminal of the first capacitor C1 is connected to the switch pin SW of the voltage conversion control unit 111, the cathode of the Zener diode D1, and the first terminal of the first inductor L1. The second terminal of the first capacitor C1 is connected to the bootstrap pin BST of the voltage conversion control unit 111. The anode of the Zener diode D1 is grounded. The second terminal of the first inductor L1 is connected to the input terminal of the voltage regulator module 120.

[0106] The first end of the fourth resistor R4 is connected to the second end of the first inductor L1. The series connection of the fourth resistor R4 and the fifth resistor R5 is connected to the feedback pin FB of the voltage conversion control unit 111. The second end of the fifth resistor R5 is grounded.

[0107] The first terminal of the second capacitor C2 and the first terminal of the third capacitor C3 are connected to the compensation pin COMP of the voltage conversion control unit 111. The second terminal of the second capacitor C2 is connected to the first terminal of the sixth resistor R6. The second terminal of the third capacitor C3 and the second terminal of the sixth resistor R6 are grounded.

[0108] Please continue reading Figure 3 According to the first embodiment of this application, the second filtering unit 124 includes a fourth capacitor C4 and a fifth capacitor C5, and the third filtering unit 126 includes a sixth capacitor C6 and a seventh capacitor C7.

[0109] The first terminal of the fourth capacitor C4 and the first terminal of the fifth capacitor C5 are connected to the power input pin VIN of the voltage regulator unit 122, and the second terminal of the fourth capacitor C4 and the second terminal of the fifth capacitor C5 are grounded; the first terminal of the sixth capacitor C6 and the first terminal of the seventh capacitor C7 are connected to the power output pin VOUT of the voltage regulator unit 122.

[0110] Please see Figure 4 , Figure 4 This is a schematic circuit diagram of the control module 130 provided in an embodiment of this application. According to one embodiment of this application, the control module 130 includes: a control unit 132, a fourth filtering unit 134, a fifth filtering unit 136, and a sixth filtering unit 138.

[0111] The fourteenth GPIO pin PA13 of the control unit 132 is connected to the second end of the fourth filter unit 134, the fifteenth GPIO pin PA14 of the control unit 132 is connected to the fourth end of the fourth filter unit 134, the first end of the fourth filter unit 134 is connected to the power supply VDDA, and the third end of the fourth filter unit 134 is grounded.

[0112] The first main power input pin VDD_1 of the control unit 132 is connected to the first end of the fifth filter unit 136, the asynchronous reset pin NRST of the control unit 132 is connected to the third end of the fifth filter unit 136, the second end of the fifth filter unit 136 is connected to the power supply VDDA, and the fourth end of the fifth filter unit 136 is grounded.

[0113] The analog power input pin VDDA of the control unit 132 is connected to the first end of the sixth filter unit 138, the second end of the sixth filter unit 138 is connected to the power supply VCCA, and the third end of the sixth filter unit 138 is grounded.

[0114] The fourth filter unit 134 is used to filter the power supply voltage, the fifth filter unit 136 is used to filter the power supply voltage, and the sixth filter unit 138 filters the voltage after voltage regulation and conversion.

[0115] In one embodiment, the control unit 132 is a control chip, model STM32F103RCT6.

[0116] Please continue reading Figure 4According to one embodiment of this application, the fourth filter unit 134 includes: a seventh resistor R7, an eighth resistor R8, and an eighth capacitor C8; the fifth filter unit 136 includes: a ninth resistor R9, a ninth capacitor C9, a tenth capacitor C10, an eleventh capacitor C11, and a twelfth capacitor C12; and the sixth filter unit 138 includes: a thirteenth capacitor C13, a fourteenth capacitor C14, a fifteenth capacitor C15, a sixteenth capacitor C16, a seventeenth capacitor C17, a second inductor L2, and a third inductor L3.

[0117] The first end of the seventh resistor R7 and the first end of the eighth capacitor C8 are connected to the power supply VDDA. The second end of the seventh resistor R7 is connected to the fourteenth GPIO pin PA13 of the control unit 132. The second end of the eighth capacitor C8 and the first end of the eighth resistor R8 are grounded. The second end of the eighth resistor R8 is connected to the fifteenth GPIO pin PA14 of the control unit 132.

[0118] The ninth resistor R9, the tenth capacitor C10, the eleventh capacitor C11, and the twelfth capacitor C12 are connected in parallel. The first terminal of the ninth capacitor C9 is connected to the second terminal of the ninth resistor R9, and the second terminal of the ninth capacitor C9 is connected to the second terminal of the tenth capacitor C10. The first terminal of the ninth resistor R9 is connected to the first main power input pin VDD_1 of the control unit 132, and the second terminal of the ninth resistor R9 is connected to the asynchronous reset pin NRST of the control unit 132. The first terminal of the twelfth capacitor C12 is connected to the power supply VDDA, and the second terminal of the twelfth capacitor C12 is grounded.

[0119] The thirteenth capacitor C13, the fourteenth capacitor C14, the fifteenth capacitor C15, the sixteenth capacitor C16, and the seventeenth capacitor C17 are connected in parallel. The first end of the second inductor L2 is connected to the first end of the sixteenth capacitor C16, and the second end of the second inductor L2 is connected to the first end of the seventeenth capacitor C17. The first end of the seventeenth capacitor C17 is also connected to the output terminal of the voltage regulator module 120. The first end of the third inductor L3 is connected to the first end of the seventeenth capacitor C17, and the second end of the third inductor L3 is connected to the power supply VCCA. The first end of the thirteenth capacitor C13 is connected to the analog power input pin VDDA of the control unit 132. The first end of the sixteenth capacitor C16 is connected to the power supply VDDA, and the first end of the seventeenth capacitor C17 is connected to the output terminal of the voltage regulator module 120. The second end of the seventeenth capacitor C17 is grounded.

[0120] According to one embodiment of this application, the GPIO pin PC2 of the control unit 132 is connected to the anode of the light-emitting diode LED1, the cathode of the light-emitting diode LED1 is connected to the first end of the sixteenth resistor R16, and the second end of the sixteenth resistor R16 is connected to the power supply VDDA.

[0121] The GPIO pin (PD0OSC_IN) of control unit 132 is connected to the first end of the seventeenth resistor R17. The boot mode selection pin BOOT0 of control unit 132 is connected to the first end of the eighteenth resistor R18. The first digital ground pin VSS_1 of control unit 132 is connected to the second end of the eighteenth resistor R18, the second end of the twenty-sixth capacitor C26, and the third end of the active crystal oscillator J1. The first digital ground pin VSS_1 of control unit 132 is grounded. The digital ground pins (VSS_1 to VSS_4) of control unit 132 are connected to the analog ground pin VSSA.

[0122] The second terminal of the seventeenth resistor R17 is connected to the first terminal of the twenty-sixth capacitor C26 and the first terminal of the active crystal oscillator J1. The second terminal of the active crystal oscillator J1 is connected to the power supply VDDA and the first terminal of the twenty-seventh capacitor C27. The second terminal of the twenty-seventh capacitor C27 is grounded.

[0123] In one embodiment, the active crystal oscillator J1 is model OT322524MJBA4SL.

[0124] Please see Figure 5 , Figure 5 This is a schematic circuit diagram of the signal transmission module 140 provided in an embodiment of this application. According to one embodiment of this application, the signal transmission module 140 includes: a signal transmission unit 142, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, an eighteenth capacitor C18, and a nineteenth capacitor C19.

[0125] The power input pin VCC of the signal transmission unit 142 is connected to the output terminal of the voltage conversion module 110 and the second terminal of the eighteenth capacitor C18, and the first terminal of the eighteenth capacitor C18 is grounded; the multiplexing function pin SFB of the signal transmission unit 142 is connected to the first terminal of the twelfth resistor R12, and the second terminal of the twelfth resistor R12 is grounded.

[0126] The serial data transmit pin TXD of the signal transmission unit 142 is connected to the control module 130, and the serial data receive pin RXD of the signal transmission unit 142 is also connected to the control module 130. The high-level signal output pin CANH of the signal transmission unit 142 is connected to the first end of the tenth resistor R10, and the second end of the tenth resistor R10 is connected to the host computer 200. The low-level signal output pin CANL of the signal transmission unit 142 is connected to the first end of the eleventh resistor R11, and the second end of the eleventh resistor R11 is connected to the host computer 200.

[0127] The system power latch control pin SPLIT of the signal transmission unit 142 is connected to the first end of the nineteenth capacitor C19, and the second end of the nineteenth capacitor C19 is grounded; the ground pin GND of the signal transmission unit 142 is grounded.

[0128] In one embodiment, the signal transmission unit 142 is a CAN communication transceiver, model ATJ1040, used to establish CAN communication and command interaction between the control unit 132 and the host computer 200 main control unit.

[0129] Please see Figure 6 , Figure 6 This is a schematic circuit diagram of the driving module 150 provided in an embodiment of this application. According to one embodiment of this application, the driving module 150 includes: a driving unit 152, a thirteenth resistor R13, a twentieth capacitor C22, a twenty-first capacitor C21, a twenty-second capacitor C22, a twenty-third capacitor C23, a twenty-fourth capacitor C24, and a twenty-fifth capacitor C25.

[0130] The first power output pin 12VOUT of the drive unit 152 is connected to the first end of the twentieth capacitor C20, and the second end of the twentieth capacitor C20 is grounded; the second power output pin 5VOUT of the drive unit 152 is connected to the first end of the thirteenth resistor R13 and the first end of the twentieth capacitor C21, the second end of the thirteenth resistor R13 is connected to the power supply MP_VCC, and the second end of the twentieth capacitor C21 is grounded.

[0131] The serial peripheral interface mode configuration pin SPI_MODE of the driver unit 152 is connected to the first end of the 22nd capacitor C22, the power supply VCCA, and the first power input pin VCC_IO. The second end of the 22nd capacitor C22 is grounded. The power control pin VCP of the driver unit 152 is connected to the first end of the 23rd capacitor C23, and the power supply input pin VS of the driver unit 152 is connected to the second end of the 23rd capacitor C23.

[0132] The current parameter input pin CPI of the drive unit 152 is connected to the first end of the twenty-fourth capacitor C24, and the current parameter output pin CPO of the drive unit 152 is connected to the second end of the twenty-fourth capacitor C24; the second power supply input pin VCC of the drive unit 152 is connected to the first end of the twenty-fifth capacitor C25, and the second end of the twenty-fifth capacitor C25 is grounded.

[0133] In one embodiment, the driving unit 152 is a driving chip, model TMC1560-TA. The driving unit 152 communicates with the control unit 132 via SPI (Serial Peripheral Interface).

[0134] Combination Figure 4 and Figure 6According to one embodiment of this application, the clock input pin CLK of the driving unit 152 is connected to the GPIO pin PC8 of the control unit 132, the chip select signal pin CSN_CFG3 of the driving unit 152 is connected to the GPIO pin PC4 of the control unit 132, and the serial clock input SCK_CFG2 of the driving unit 152 is connected to the GPIO pin PA5 of the control unit 132.

[0135] The serial data input pin SDI_CFG1 of the driver unit 152 is connected to the GPIO pin PA7 of the control unit 132, the serial data output pin SDO_CFG0 of the driver unit 152 is connected to the GPIO pin PA6 of the control unit 132, the step input pin REFL_STEP of the driver unit 152 is connected to the GPIO pin PC12 of the control unit 132, and the direction input pin REFR_DIR of the driver unit 152 is connected to the GPIO pin PC10 of the control unit 132.

[0136] The enable input pin DRV_ENN of the drive unit 152 is connected to the GPIO pin PC3 of the control unit 132. The second diagnostic signal output pin DLAG1_SWP of the drive unit 152 is connected to the GPIO pin PC5 of the control unit 132. The first diagnostic signal output pin DLAG0_SWN of the drive unit 152 is connected to the GPIO pin PC1 of the control unit 132. The encoder N-channel signal input pin ENCN_DCO_CFC6 of the drive unit 152 is connected to the GPIO pin PC11 of the control unit 132.

[0137] Please see Figure 7 , Figure 7 This is a schematic circuit diagram of the current regulation module 160 provided in an embodiment of this application. According to one embodiment of this application, the current regulation module 160 includes: a first sampling resistor R14, a second sampling resistor R15, a first power switch Q1, a second power switch Q2, a third power switch Q3, and a fourth power switch Q4.

[0138] The first terminal of the first sampling resistor R14 is connected to the first source S1 and the second source S2 of the second power switch Q2, and the second terminal of the first sampling resistor R14 is grounded; the first terminal of the second sampling resistor R15 is connected to the first source S1 and the second source S2 of the fourth power switch Q4, and the second terminal of the second sampling resistor R15 is grounded.

[0139] In one embodiment, the maximum drive current can be adjusted by changing the resistance values ​​of the first sampling resistor R14 and the second sampling resistor R15. The first source S1 of the first power switch Q1 is connected to the first drain D1 of the second power switch Q2, the second source S2 of the first power switch Q1 is connected to the second drain D2 of the second power switch Q2, the first gate G1 and the second gate G2 of the first power switch Q1 are connected to the drive module 150, the drain of the first power switch Q1 is connected to the drain of the third power switch Q3, and the first gate G1 and the second gate G2 of the second power switch Q2 are connected to the drive module 150.

[0140] The first source S1 of the third power switch Q3 is connected to the first drain D1 of the fourth power switch Q4, the second source S2 of the third power switch Q3 is connected to the second drain D2 of the fourth power switch Q4, the first gate G1 and the second gate G2 of the third power switch Q3 are connected to the driving module 150, and the first gate G1 and the second gate G2 of the fourth power switch Q4 are connected to the driving module 150.

[0141] In one embodiment, power switches Q1 to Q4 can each be two N-channel power MOSFETs, model AOT4882. Power switches Q1 to Q4 cooperate with drive unit 152 to drive the motor with high current and torque. Power switches Q1 to Q4 are respectively connected to the four phases of motor 200, and drive unit 152 drives motor 200 to rotate according to the set microstepping, speed, and forward / reverse direction.

[0142] Please continue reading Figure 7 According to one embodiment of this application, the second gate G2 of the first power switch Q1 is connected to the first end of the nineteenth resistor R19, and the second end of the nineteenth resistor R19 is connected to the high-side A-bridge arm control pin HA2 of the drive unit 152. The first gate G1 of the first power switch Q1 is connected to the first end of the twentieth resistor R20, and the second end of the twentieth resistor R20 is connected to the high-side A-bridge arm control pin HA1 of the drive unit 152.

[0143] The second source S2 of the first power switch Q1 is connected to the first terminal of the twenty-eighth capacitor C28, and the second terminal of the twenty-eighth capacitor C28 is connected to the second configuration calibration control pin CA2 of the drive unit 152. The first source S1 of the first power switch Q1 is connected to the first terminal of the twenty-ninth capacitor C29, and the second terminal of the twenty-ninth capacitor C29 is connected to the first configuration calibration control pin CA1 of the drive unit 152.

[0144] The first end of the twenty-eighth capacitor C28 is also connected to the second bridge arm A current balance control pin BMA2 of the drive unit 152, and the first end of the twenty-ninth capacitor C29 is also connected to the first bridge arm A current balance control pin BMA1 of the drive unit 152.

[0145] The second gate G2 of the second power switch Q2 is connected to the first end of the twenty-first resistor R21, and the second end of the twenty-first resistor R21 is connected to the low-side A-bridge arm control pin LA2 of the drive unit 152. The first gate G1 of the second power switch Q2 is connected to the first end of the twenty-second resistor R22, and the second end of the twenty-second resistor R22 is connected to the low-side A-bridge arm control pin LA1 of the drive unit 152.

[0146] The first source S1 and the second source S2 of the second power switch Q2 are connected to the first terminal of the twenty-third resistor R23 and the first terminal of the first sampling resistor R14. The second terminal of the twenty-third resistor R23 is connected to the first high-level state register access pin SRAH of the drive unit 152. The second terminal of the first sampling resistor R14 and the first terminal of the twenty-fourth resistor R24 ​​are grounded. The second terminal of the twenty-fourth resistor R24 ​​is connected to the first low-level state register access pin SRAL of the drive unit 152.

[0147] The first terminal of the thirty-second capacitor C32 is connected to the second drain D2 of the third power switch Q3, and the second terminal of the thirty-second capacitor C32 is grounded.

[0148] The second gate G2 of the third power switch Q3 is connected to the first end of the twenty-fifth resistor R25, and the second end of the twenty-fifth resistor R25 is connected to the high-side B-bridge arm control pin HB1 of the drive unit 152. The first gate G1 of the third power switch Q3 is connected to the first end of the twenty-sixth resistor R26, and the second end of the twenty-sixth resistor R26 is connected to the high-side B-bridge arm control pin HB1 of the drive unit 152.

[0149] The second source S2 of the third power switch Q3 is connected to the first terminal of the thirtieth capacitor C30, and the second terminal of the thirtieth capacitor C30 is connected to the second configuration bridge arm control pin CB2 of the drive unit 152. The first source S1 of the third power switch Q3 is connected to the first terminal of the thirty-first capacitor C31, and the second terminal of the thirty-first capacitor C31 is connected to the first configuration bridge arm control pin CB1 of the drive unit 152.

[0150] The first end of the thirtieth capacitor C30 is also connected to the second bus master control mode buffer pin BMB2 of the drive unit 152, and the first end of the thirty-first capacitor C31 is also connected to the first bus master control mode buffer pin BMB1 of the drive unit 152.

[0151] The second gate G2 of the fourth power switch Q4 is connected to the first end of the twenty-seventh resistor R27, and the second end of the twenty-seventh resistor R27 is connected to the low-side B-bridge arm control pin LB2 of the drive unit 152. The first gate G1 of the second power switch Q2 is connected to the first end of the twenty-eighth resistor R28, and the second end of the twenty-eighth resistor R28 is connected to the low-side B-bridge arm control pin LB1 of the drive unit 152.

[0152] The first source S1 and the second source S2 of the fourth power switch Q4 are connected to the first terminal of the twenty-ninth resistor R29 and the first terminal of the second sampling resistor R15. The second terminal of the twenty-ninth resistor R29 is connected to the second high-level state register access pin SRBH of the drive unit 152. The second terminal of the second sampling resistor R15 and the first terminal of the thirtieth resistor R30 are grounded. The second terminal of the thirtieth resistor R30 is connected to the second low-level state register access pin SRBL of the drive unit 152.

[0153] In the prior art, after a stepper driver has been working for a long time, the temperature may become too high, which may lead to a decrease in driver performance or even damage.

[0154] Please continue reading Figure 1 According to one embodiment of this application, the motor drive board 100 further includes a storage module 180 and a heat dissipation module (not shown in the figure). The storage module 180 is connected to the control module 130 and is used to store the communication interface ID and motor configuration parameters; the heat dissipation module is disposed on the voltage conversion module 110, the drive module 150 and the current regulation module 160, and is used to dissipate heat from the voltage conversion module 110, the drive module 150 and the current regulation module 160.

[0155] In one embodiment, the heat dissipation module dissipates heat through contact between thermal grease and the main heat-generating components (such as driver chips, power MOSFETs, and inductors), ensuring that they operate within a suitable temperature range and guaranteeing their stability and reliability.

[0156] Please see Figure 8 , Figure 8 This is a schematic circuit diagram of the storage module 180 provided in an embodiment of this application. According to one embodiment of this application, the storage module 180 includes: a storage cell 182, a thirty-first resistor R31, a thirty-second resistor R32, a thirty-third resistor R33, and a thirty-third capacitor C33.

[0157] The power input pin VCC of storage cell 182 is connected to the first end of resistor R31 (31), the first end of resistor R32 (32), the first end of capacitor C33 (33), and the power supply VDDA. The second end of capacitor C33 (33) is grounded.

[0158] The write protection control pin WP of memory cell 182 is connected to the second end of resistor R33 (the 33rd resistor), the serial clock pin SCL of memory cell 182 is connected to the second end of resistor R32 (the 32nd resistor), and the serial data pin SDA of memory cell 182 is connected to the second end of resistor R31 (the 31st resistor). The ground pin of memory cell 182 is grounded.

[0159] In one embodiment, the storage unit 182 is a FLASH chip, model ATMLH224, which communicates with the control unit 132 via the I2C protocol.

[0160] It should be noted that the models of each unit and power switch in the embodiments of this application can be determined according to the specific circumstances in the actual application scenario, and are not specifically limited.

[0161] This application's solution selects a wide-voltage DC-DC unit and driver IC, solving the design problem of adapting to mainstream 12V and 24V wide-voltage power supplies. The newly selected driver IC can be designed according to the maximum load current under stall conditions based on actual application scenarios. The TMC5160 protects the MOSFET power stage from short-circuit or overload conditions by monitoring the voltage drop in the high-side MOSFET, sampling resistor, and low-side MOSFET, avoiding failures due to excessive current or short circuits. The newly selected driver IC has built-in load-related speed control, enabling the motor to move as fast as possible and making it less prone to losing steps. Heat dissipation devices are added to the DC-DC unit, driver IC, and external MOSFEET to ensure that they operate within a suitable temperature range, guaranteeing their stability and reliability.

[0162] In existing technologies, motor operating noise is relatively high, and maximum dynamic efficiency and torque control cannot be effectively achieved. The TMC5160 in this application supports TMC's unique StallGuard2 (sensorless load detection technology), CoolStep (adaptive current control technology), DcStep (speed control technology), SpreadCycle (chopper algorithm), and StealthChop (ultra-quiet operation mode) functions, which optimize driver performance, balance speed and motor torque, optimize energy efficiency, drive smoothly, and are noiseless.

[0163] This application proposes a low-cost backpack design for the driver board and heat sink (heat dissipation device) of a standard 57 stepper motor. The drive circuit structure is simple and reasonable, and highly modular, saving on the components used in the peripheral circuits of each module, while providing good driving function and self-protection performance. The motor driver board is separated from the motor body, effectively reducing production and assembly difficulty, facilitating subsequent replacement or repair of the motor driver board, and reducing costs.

[0164] This application also provides a motor 300, please refer to [link / reference]. Figure 9 , Figure 9 This is a schematic block diagram of the motor 300 provided in an embodiment of this application. Figure 9 As shown, the motor 300 includes a motor body 310 and a motor drive board 100.

[0165] According to the first embodiment of this application, the motor drive board 100 is fixed to the outside of the motor body 310 in the form of a backpack, and the drive module 150 of the motor drive board 100 is connected to the four-phase wire of the motor body 310. The motor 300 can be a stepper motor.

[0166] In one embodiment, the motor 300 further includes a heat dissipation device, which and the motor drive plate 100 are jointly fixed to the outside of the motor body 310 by fasteners (e.g., screws).

[0167] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0168] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A motor drive board, characterized in that, The driver board includes: a voltage conversion module, a voltage regulation module, a control module, a signal transmission module, a drive module, and a current regulation module; The output terminal of the voltage conversion module is connected to the input terminal of the voltage regulator module and the signal transmission module. The voltage conversion module is used to perform DC-DC conversion on the voltage connected to the power supply input terminal, and the voltage connected to the power supply input terminal can be of various types. The voltage regulator module is also connected to the control module, and the voltage regulator module is used to regulate and convert the voltage after DC-DC conversion. The signal transmission module is also connected to the CAN communication interface of the host computer and the control module, and is used to receive instructions from the host computer based on the voltage after DC conversion, and transmit the instructions to the control module. The control module is also connected to the drive module. The position detection optocoupler switch of the control module is connected to the position detection interface of the motor body. The control module is used to generate a control signal based on the voltage after voltage regulation and conversion, according to the instruction, and transmit the control signal to the signal transmission module and the drive module. The drive module is also connected to the power supply input terminal and the current regulation module, and is used to generate a drive signal based on the voltage connected to the power supply input terminal and the control signal, and drive the motor to run according to the drive signal and configuration parameters. The current regulation module is used to adjust the maximum drive current output by the drive module.

2. The motor drive board according to claim 1, characterized in that, The voltage conversion module includes: a voltage conversion control unit, a first current limiting unit, a rectification and filtering unit, a first voltage divider unit, a first filtering unit, and a first resistor; The power input pin of the voltage conversion control unit is connected to the first terminal of the first current limiting unit and the power supply input terminal. The enable pin of the voltage conversion control unit is connected to the second terminal of the first current limiting unit. The ground pin of the voltage conversion control unit and the third terminal of the first current limiting unit are grounded. The frequency adjustment pin of the voltage conversion control unit is connected to the first end of the first resistor, and the second end of the first resistor is connected to the second end of the first filter unit. The switching pin of the voltage conversion control unit is connected to the first terminal of the rectifier and filter unit, the bootstrap pin of the voltage conversion control unit is connected to the second terminal of the rectifier and filter unit, the third terminal of the rectifier and filter unit is connected to the power supply and the first terminal of the first voltage divider unit, and the fourth terminal of the rectifier and filter unit is grounded. The feedback pin of the voltage conversion control unit is connected to the second terminal of the first voltage divider unit, and the third terminal of the first voltage divider unit is grounded; the compensation pin of the voltage conversion control unit is connected to the first terminal of the first filter unit, and the third terminal of the first filter unit is grounded. The voltage conversion control unit is used to control the power supply voltage to perform DC conversion, the first current limiting unit is used to limit the current of the power supply voltage, the rectification and filtering unit is used to rectify and filter the output voltage, the first voltage divider unit is used to divide the output voltage, and the first filtering unit is used to filter the output voltage.

3. The motor drive board according to claim 1, characterized in that, The voltage regulator module includes: a voltage regulator unit, a second filter unit, and a third filter unit; The power input pin of the voltage regulator unit is connected to the output terminal of the voltage conversion module and the first terminal of the second filter unit, and the second terminal of the second filter unit is grounded to the second terminal of the third filter unit. The power output pin of the voltage regulator unit is connected to the first end of the third filter unit, and the first end of the third filter unit is also connected to the control module; the ground pin of the voltage regulator unit is grounded. The voltage stabilizing unit is used to stabilize and convert the voltage after DC-DC conversion, the second filtering unit is used to filter the voltage after DC-DC conversion, and the third filtering unit is used to filter the voltage after voltage stabilization and conversion.

4. The motor drive board according to claim 2, characterized in that, The first current limiting unit includes a second resistor and a third resistor; the rectifier and filter unit includes a first capacitor, a Zener diode, and a first inductor; the first voltage divider unit includes a fourth resistor and a fifth resistor; and the first filter unit includes a second capacitor, a third capacitor, and a sixth resistor. The first end of the second resistor is connected to the power supply input terminal, the series node of the second resistor and the third resistor is connected to the enable pin of the voltage conversion control unit, and the second end of the third resistor is grounded. The first terminal of the first capacitor is connected to the switch pin of the voltage conversion control unit, the cathode of the Zener diode, and the first terminal of the first inductor. The second terminal of the first capacitor is connected to the bootstrap pin of the voltage conversion control unit. The anode of the Zener diode is grounded. The second terminal of the first inductor is connected to the input terminal of the voltage regulator module. The first end of the fourth resistor is connected to the second end of the first inductor, the series node of the fourth resistor and the fifth resistor is connected to the feedback pin of the voltage conversion control unit, and the second end of the fifth resistor is grounded. The first terminal of the second capacitor and the first terminal of the third capacitor are connected to the compensation pin of the voltage conversion control unit. The second terminal of the second capacitor is connected to the first terminal of the sixth resistor. The second terminal of the third capacitor and the second terminal of the sixth resistor are grounded.

5. The motor drive board according to claim 1, characterized in that, The control module includes: a control unit, a fourth filtering unit, a fifth filtering unit, and a sixth filtering unit; The fourteenth GPIO pin of the control unit is connected to the second end of the fourth filter unit, the fifteenth GPIO pin of the control unit is connected to the fourth end of the fourth filter unit, the first end of the fourth filter unit is connected to the power supply, and the third end of the fourth filter unit is grounded. The first main power input pin of the control unit is connected to the first end of the fifth filter unit, the asynchronous reset pin of the control unit is connected to the third end of the fifth filter unit, the second end of the fifth filter unit is connected to the power supply, and the fourth end of the fifth filter unit is grounded. The analog power input pin of the control unit is connected to the first end of the sixth filter unit, the second end of the sixth filter unit is connected to the power supply, and the third end of the sixth filter unit is grounded. The fourth filtering unit is used to filter the power supply voltage, the fifth filtering unit is used to filter the power supply voltage, and the sixth filtering unit filters the voltage after voltage regulation and conversion.

6. The motor drive board according to claim 5, characterized in that, The fourth filter unit includes a seventh resistor, an eighth resistor, and an eighth capacitor; the fifth filter unit includes a ninth resistor, a ninth capacitor, a tenth capacitor, an eleventh capacitor, and a twelfth capacitor; and the sixth filter unit includes a thirteenth capacitor, a fourteenth capacitor, a fifteenth capacitor, a sixteenth capacitor, a seventeenth capacitor, a second inductor, and a third inductor. The first end of the seventh resistor and the first end of the eighth capacitor are connected to the power supply. The second end of the seventh resistor is connected to the fourteenth GPIO pin of the control unit. The second end of the eighth capacitor and the first end of the eighth resistor are grounded. The second end of the eighth resistor is connected to the fifteenth GPIO pin of the control unit. The ninth resistor, the tenth capacitor, the eleventh capacitor, and the twelfth capacitor are connected in parallel. The first terminal of the ninth capacitor is connected to the second terminal of the ninth resistor, and the second terminal of the ninth capacitor is connected to the second terminal of the tenth capacitor. The first terminal of the ninth resistor is connected to the first main power input pin of the control unit, and the second terminal of the ninth resistor is connected to the asynchronous reset pin of the control unit. The first terminal of the twelfth capacitor is connected to the power supply, and the second terminal of the twelfth capacitor is grounded. The thirteenth, fourteenth, fifteenth, sixteenth, and seventeenth capacitors are connected in parallel. The first terminal of the second inductor is connected to the first terminal of the sixteenth capacitor, and the second terminal of the second inductor is connected to the first terminal of the seventeenth capacitor. The first terminal of the third inductor is connected to the first terminal of the seventeenth capacitor, and the second terminal of the third inductor is connected to the power supply. The first terminal of the thirteenth capacitor is connected to the analog power input pin of the control unit. The first terminal of the sixteenth capacitor is connected to the power supply, and the first terminal of the seventeenth capacitor is connected to the output terminal of the voltage regulator module. The second terminal of the seventeenth capacitor is grounded.

7. The motor drive board according to claim 1, characterized in that, The signal transmission module includes: a signal transmission unit, a tenth resistor, an eleventh resistor, a twelfth resistor, an eighteenth capacitor, and a nineteenth capacitor; The power input pin of the signal transmission unit is connected to the output terminal of the voltage conversion module and the second terminal of the eighteenth capacitor, and the first terminal of the eighteenth capacitor is grounded; the multiplexing function pin of the signal transmission unit is connected to the first terminal of the twelfth resistor, and the second terminal of the twelfth resistor is grounded. The serial data transmission pin of the signal transmission unit is connected to the control module, and the serial data reception pin of the signal transmission unit is connected to the control module. The high-level signal output pin of the signal transmission unit is connected to the first end of the tenth resistor, the second end of the tenth resistor is connected to the host computer, the low-level signal output pin of the signal transmission unit is connected to the first end of the eleventh resistor, and the second end of the eleventh resistor is connected to the host computer. The system power latch control pin of the signal transmission unit is connected to the first end of the nineteenth capacitor, and the second end of the nineteenth capacitor is grounded; the ground pin of the signal transmission unit is grounded.

8. The motor drive board according to claim 1, characterized in that, The driving module includes: a driving unit, a thirteenth resistor, a twentieth capacitor, a twenty-first capacitor, a twenty-second capacitor, a twenty-third capacitor, a twenty-fourth capacitor, and a twenty-fifth capacitor; The first power output pin of the drive unit is connected to the first end of the twentieth capacitor, and the second end of the twentieth capacitor is grounded; the second power output pin of the drive unit is connected to the first end of the thirteenth resistor and the first end of the eleventh capacitor, the second end of the thirteenth resistor is connected to the power supply, and the second end of the eleventh capacitor is grounded. The serial peripheral interface mode configuration pin of the driving unit is connected to the first terminal of the 22nd capacitor, the power supply, and the first power input pin, and the second terminal of the 22nd capacitor is grounded; the power control pin of the driving unit is connected to the first terminal of the 23rd capacitor, and the power supply input pin of the driving unit is connected to the second terminal of the 23rd capacitor. The current parameter input pin of the driving unit is connected to the first end of the 24th capacitor, and the current parameter output pin of the driving unit is connected to the second end of the 24th capacitor; the second power input pin of the driving unit is connected to the first end of the 25th capacitor, and the second end of the 25th capacitor is grounded.

9. The motor drive board according to claim 1, characterized in that, The current regulation module includes: a first sampling resistor, a second sampling resistor, a first power switch, a second power switch, a third power switch, and a fourth power switch; The first end of the first sampling resistor is connected to the first source and the second source of the second power switch, and the second end of the first sampling resistor is grounded; the first end of the second sampling resistor is connected to the first source and the second source of the fourth power switch, and the second end of the second sampling resistor is grounded. The first source of the first power switch is connected to the first drain of the second power switch, the second source of the first power switch is connected to the second drain of the second power switch, the first gate and the second gate of the first power switch are connected to the driving module, the drain of the first power switch is connected to the drain of the third power switch, and the first gate and the second gate of the second power switch are connected to the driving module. The first source of the third power switch is connected to the first drain of the fourth power switch, the second source of the third power switch is connected to the second drain of the fourth power switch, the first gate and the second gate of the third power switch are connected to the driving module, and the first gate and the second gate of the fourth power switch are connected to the driving module.

10. The motor drive board according to any one of claims 1-9, characterized in that, The driver board also includes: a storage module and a heat dissipation module; The storage module is connected to the control module and is used to store the communication interface ID and motor configuration parameters; the heat dissipation module is disposed on the voltage conversion module, the drive module and the current regulation module and is used to dissipate heat from the voltage conversion module, the drive module and the current regulation module.

11. An electric motor, characterized in that, The motor includes: a motor body and a motor drive board as described in any one of claims 1 to 10, wherein the motor drive board is fixed to the outside of the motor body in the form of a backpack, and the drive module of the motor drive board is connected to the motor body.

Images