CN106855695B - Robot safety control system and method - Google Patents
Robot safety control system and method Download PDFInfo
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- CN106855695B CN106855695B CN201611269758.0A CN201611269758A CN106855695B CN 106855695 B CN106855695 B CN 106855695B CN 201611269758 A CN201611269758 A CN 201611269758A CN 106855695 B CN106855695 B CN 106855695B
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Abstract
The invention relates to the field of robot control, and discloses a robot safety control system and a robot safety control method. Wherein, robot safety control system includes: the robot comprises a power failure detection module, a power failure holding module, a robot control module and a robot power supply module; the power failure detection module and the robot power module are respectively and electrically connected with the three-phase alternating-current power supply and the robot control module, and the robot power module is used for supplying power to the robot control module; the power failure detection module is used for sending a signal to the robot control module when detecting that the three-phase alternating-current power supply is in power failure, so that the robot control module can store data and control the robot body to execute contracting brake operation when receiving the signal; the power failure maintaining module is electrically connected with the three-phase alternating-current power supply, the robot control module and the robot power supply module and used for supplying power to the robot control module when the voltage of the robot power supply module is lower than a preset threshold value, so that the reliability and the safety of robot control are effectively improved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a robot safety control system and a robot safety control method.
Background
In recent years, the development of robotics and products thereof is fast, and the development of robotics and products thereof is increasingly remarkable in the aspects of improving the production automation level, labor productivity and economic benefit, ensuring product quality, improving labor conditions and the like. At present, as a device having multiple degrees of freedom to operate, a robot is increasingly emphasized in terms of stability and safety of its use.
In the prior art, in the use process of the robot, a power source of the robot, namely a three-phase alternating-current power supply, is detected, so that an operator can take safety protection measures in time under the condition that the three-phase alternating-current power supply is powered off, and the safety of the operator and equipment is ensured. However, in the process of implementing the present invention, the inventor finds that in the prior art, when a three-phase ac power supply is detected to be powered off, an operator needs to manually trigger the robot body to perform a contracting brake operation, so that the risk is high, the technical requirement on the operator is high, and the operation is complicated.
Disclosure of Invention
The invention aims to provide a robot safety control system and a robot safety control method, so that when a three-phase alternating-current power supply is powered off, a robot control module can store data in time to avoid data loss. And moreover, the robot control module can control the robot body to execute the contracting brake operation in time, so that the reliability and the safety of robot control are effectively improved.
In a first aspect, an embodiment of the present invention provides a robot safety control system, including: the robot comprises a power failure detection module, a power failure holding module, a robot control module and a robot power supply module;
the robot power supply module is electrically connected with the three-phase alternating-current power supply and the robot control module and used for supplying power to the robot control module;
the power failure detection module is electrically connected with the three-phase alternating current power supply and the robot control module and is used for sending a signal to the robot control module when the power failure of the three-phase alternating current power supply is detected; the robot control module is used for storing data and controlling the robot body to execute contracting brake operation when receiving the signal;
the power failure maintaining module is respectively electrically connected with the three-phase alternating-current power supply, the robot control module and the robot power supply module and used for supplying power to the robot control module when the voltage of the robot power supply module is lower than a preset threshold value.
In a second aspect, an embodiment of the present invention provides a robot safety control method applied to the robot safety control system, including: when the power failure detection module detects the power failure of the three-phase alternating-current power supply, a signal is sent to the robot control module; the robot control module stores data and controls the robot body to execute contracting brake operation when receiving a signal from the power failure detection module; when the voltage of the robot power module is lower than a preset threshold value, the power failure maintaining module supplies power to the robot control module.
Compared with the prior art, the power supply module of the robot supplies power to the robot control module when the three-phase alternating-current power supply is normal, so that the normal work of the robot is ensured. When the three-phase alternating-current power supply is powered down, the power failure detection module can detect the abnormal condition of the three-phase alternating-current power supply and sends a signal to the robot control module, so that the robot control module can timely store data when receiving the signal from the power failure detection module, and controls the robot body to execute contracting brake operation, thereby not only avoiding data loss, but also ensuring the safety of operators and equipment. Because when the three-phase alternating current power supply loses power, the power supply of the three-phase alternating current power supply is lost by the robot power supply module, the voltage can be reduced, the condition that the power supply voltage of the robot control module is insufficient is likely to occur, and the robot control module cannot normally work, therefore, when the voltage of the robot power supply module is lower than a preset threshold value, the robot control module can be powered by the power-down maintaining module, which is equivalent to setting up a 'standby power supply', thereby the normal work of the robot control module can be ensured, the data storage and the control of executing the contracting brake operation on the robot body are completed, and the reliability and the safety of the robot control are effectively improved.
In addition, the robot safety control system also comprises a safety loop detection module; the safety loop detection module is electrically connected with each safety loop of the robot control module and used for enabling the robot control module to control the robot body not to operate when the robot control module detects that one safety loop is abnormal. In this way, whether the robot is abnormal or not is detected by the safety loop detection module, so that the robot body can be controlled to stop running in time when the robot is detected to be abnormal under the condition that the robot body runs and works; when the robot body is restarted, the robot body can be controlled not to be started to operate when the robot is detected to be abnormal, so that the reliability and the safety of robot control are further improved.
In addition, the power down detection module includes: the rectifier comprises a first photoelectric coupler, a second photoelectric coupler, a first rectifier module and a second rectifier module; the first input end of the first rectifying module is electrically connected with a first-phase power supply of the three-phase alternating-current power supply, and the second input end of the first rectifying module is electrically connected with a second-phase power supply of the three-phase alternating-current power supply; a first input end of the first photoelectric coupler is electrically connected with a first output end of the first rectifying module, and a second input end of the first photoelectric coupler is electrically connected with a second output end of the first rectifying module; the output end of the first photoelectric coupler is electrically connected with the robot control module; the first input end of the second rectifying module is electrically connected with a second-phase power supply of the three-phase alternating-current power supply, and the second input end of the second rectifying module is electrically connected with a third-phase power supply of the three-phase alternating-current power supply; a first input end of the second photoelectric coupler is electrically connected with a first output end of the second rectifying module, and a second input end of the second photoelectric coupler is electrically connected with a second output end of the second rectifying module; and the output end of the second photoelectric coupler is electrically connected with the robot control module. A concrete implementation form of the power failure detection module is provided, and feasibility of the implementation mode of the invention is improved.
In addition, the first rectification module includes: a first bridge rectifier circuit and a first voltage dividing resistor circuit; the first input end of the first voltage-dividing resistor circuit is electrically connected with a first-phase power supply of the three-phase alternating-current power supply, and the second input end of the first voltage-dividing resistor circuit is electrically connected with a second-phase power supply of the three-phase alternating-current power supply; the first output end of the first voltage dividing resistor circuit is electrically connected with the first input end of the first bridge rectifier circuit, and the second output end of the first voltage dividing resistor circuit is electrically connected with the second input end of the first bridge rectifier circuit. A specific implementation of the first rectifier module is provided, increasing the feasibility of embodiments of the invention.
In addition, the power failure detection module further comprises: a first zener diode and a second zener diode; the positive electrode of the first voltage stabilizing diode is electrically connected with the first input end of the first photoelectric coupler, and the negative electrode of the first voltage stabilizing diode is electrically connected with the first output end of the first rectifying module; the positive pole of the second voltage stabilizing diode is electrically connected with the first input end of the second photoelectric coupler, and the negative pole of the second voltage stabilizing diode is electrically connected with the first output end of the second rectifying module. Like this, utilize first, second zener diode, for switching on of first photoelectric coupler and second photoelectric coupler sets up certain threshold value, can reduce the possibility that first photoelectric coupler and second photoelectric coupler triggered by mistake, improve the detection precision of falling electric detection module.
In addition, the power failure detection module further comprises: a first resistor and a second resistor; one end of the first resistor is electrically connected with the anode of the first voltage stabilizing diode, and the other end of the first resistor is electrically connected with the first input end of the first photoelectric coupler; one end of the second resistor is electrically connected with the positive electrode of the second voltage stabilizing diode, and the other end of the second resistor is electrically connected with the first input end of the second photoelectric coupler. Utilize first resistance and second resistance as current-limiting resistor, can restrict the electric current of first optoelectronic coupler and second optoelectronic coupler of flowing through to avoid the electric current too big condition that causes first optoelectronic coupler and second optoelectronic coupler to damage.
In addition, the power down maintaining module includes: the energy storage module and the power management module; the energy storage module is connected in parallel between the three-phase alternating current power supply and the power supply management module; the power management module is also electrically connected with the robot power module and the robot control module; the power management module is used for supplying power to the robot control module by using the energy storage module when the voltage of the robot power module is lower than a preset threshold value. A concrete implementation form of the power failure maintaining module is provided, and feasibility of the implementation mode of the invention is improved.
In addition, the power management module includes: a power control unit, a third diode, and a fourth diode; the energy storage module is connected between the three-phase alternating current power supply and the power supply control unit in parallel; the power supply control unit is electrically connected with the anode of the third diode; the cathode of the third diode is electrically connected with the cathode of the fourth diode and is electrically connected with the robot control module; and the anode of the fourth diode is electrically connected with the robot power supply module. A concrete implementation form of the power management module is provided, the feasibility of the implementation mode of the invention is improved, and the cost is lower.
Drawings
Fig. 1 is a schematic structural diagram of a robot safety control system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a power down detection module according to a first embodiment of the present invention;
fig. 3 is a detailed block diagram of a power down detection module according to a first embodiment of the present invention;
fig. 4 is another detailed structural diagram of a power down detection module according to the first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a power down maintaining module according to a first embodiment of the present invention;
FIG. 6 is a timing diagram of the operation of the power down hold module according to the first embodiment of the present invention;
fig. 7 is a schematic configuration diagram of a robot safety control system according to a second embodiment of the present invention;
fig. 8 is a flowchart of a robot safety control method according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a robot safety control system, as shown in fig. 1. The robot safety control system 1 includes: a power failure detection module 11, a power failure holding module 12, a robot control module 13 and a robot power supply module 14. The power failure detection module 11 is electrically connected with the three-phase alternating-current power supply 2 and the robot control module 13, the power failure holding module 12 is electrically connected with the three-phase alternating-current power supply 2, the robot control module 13 and the robot power supply module 14, and the robot power supply module 14 is electrically connected with the three-phase alternating-current power supply 2 and the robot control module 13.
In this embodiment, the robot power module 14 is configured to supply power to the robot control module 13, the power failure detection module 11 is configured to send a signal to the robot control module 13 when detecting that the three-phase ac power supply 2 is powered off, and the robot control module 13 is configured to store data and control the robot body to execute a contracting brake operation when receiving the signal. The power-down maintaining module 12 is configured to supply power to the robot control module 13 when the voltage of the robot power module 14 is lower than a preset threshold.
Specifically, when the three-phase ac power supply 2 is normal, the robot power supply module 14 supplies power to the robot control module 13 to ensure the normal operation of the robot. When the three-phase alternating-current power supply 2 is powered down, the power failure detection module 11 can detect the abnormal condition of the three-phase alternating-current power supply 2 and send a signal to the robot control module 13, so that the robot control module 13 can store data in time when receiving the signal from the power failure detection module 11, and control the robot body to execute the contracting brake operation, thereby not only avoiding the loss of data, but also ensuring the safety of operators and equipment.
More specifically, when the three-phase ac power supply 2 is powered off, the robot power supply module 14 loses the power supply of the three-phase ac power supply 2, the voltage may decrease, and there is a high possibility that the robot control module 13 cannot normally operate due to insufficient power supply voltage of the robot control module 13. Therefore, when the voltage of the robot power module 14 is lower than the preset threshold, the power-down maintaining module 12 replaces the robot power module 14 to supply power to the robot control module 13. Therefore, equivalently, a 'standby power supply' is arranged, normal work of the robot control module 13 can be guaranteed, so that the robot control module 13 can complete data storage and control of contracting brake operation of the robot body, the reliability of robot control in industrial field power failure is effectively improved, and the risk of field debugging is reduced. Wherein, the preset threshold value can be preset and stored in the robot safety control system at the beginning of the design.
The following describes specific implementation forms and working principles of the power down detection module 11 and the power down holding module 12:
in this embodiment, the power failure detection module 11 includes: first voltage regulator diode D1A second voltage regulator diode D2A first resistor R1A second resistor R2A first photoelectric couplerA coupler 111, a second photocoupler 112, a first rectifying module 113, and a second rectifying module 114, as shown in fig. 2. Wherein, the output end of the first photocoupler 111 is electrically connected with the output end of the second photocoupler 112 and electrically connected with the robot control module 13.
First voltage regulator diode D1The positive electrode of the first rectifying module is electrically connected to the first input terminal of the first photocoupler 111, and the negative electrode of the first rectifying module 113 is electrically connected to the first output terminal. Second zener diode D2The positive electrode of the second rectifier module 114 is electrically connected to the first input terminal of the second photocoupler 112, and the negative electrode of the second photocoupler is electrically connected to the first output terminal of the second rectifier module 112. Wherein, the first voltage-stabilizing diode D1A second voltage regulator diode D2The threshold value of (a) is preset by an operator.
A first resistor R1And a first zener diode D1And the other end is electrically connected to a first input terminal of the first photocoupler 111. A second resistor R2And a second zener diode D2And the other end is electrically connected to a first input terminal of the second photocoupler 112.
The first input terminal of the first rectifying module 113 is electrically connected to the first-phase power supply U of the three-phase ac power supply 2, and the second input terminal is electrically connected to the second-phase power supply V of the three-phase ac power supply 2. A first input terminal of the first photocoupler 111 is electrically connected to a first output terminal of the first rectifying module 113, and a second input terminal thereof is electrically connected to a second output terminal of the first rectifying module 113.
The second rectifying module 114 has a first input terminal electrically connected to the second phase power V of the three-phase ac power supply 2, and a second input terminal electrically connected to the third phase power W of the three-phase ac power supply 2. A first input terminal of the second photocoupler 112 is electrically connected to a first output terminal of the second rectifying module 114, and a second input terminal thereof is electrically connected to a second output terminal of the second rectifying module 114. The following illustrates specific implementation forms of the first rectifying module 113 and the second rectifying module 114:
wherein, the first rectification module 113 includes: the first bridge rectifier circuit 1132 and the first voltage dividing resistor circuit 1131 are shown in fig. 3. First, theA bridge rectifier circuit 1132 includes a diode DM1To DM4，DM1And DM2As a first output terminal of the first bridge rectifier circuit 1132, DM1Positive electrode of (2) and (D)M3As a first input terminal of the first bridge rectifier circuit 1132, DM2Positive electrode of (2) and (D)M4As a second input terminal of the first bridge rectifier circuit 1132, DM3Positive electrode of (2) and (D)M4Is electrically connected as a second output terminal of the first bridge rectifier circuit 1132.
The first voltage dividing resistor circuit 1131 includes a resistor RM1To the resistance RM9Resistance RM1、RM2、RM3Are connected in series in sequence, RM2Is connected to RM1And RM3R is a resistanceM1As a first input terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to the first-phase power supply U of the three-phase alternating-current power supply 2. Resistance RM6、RM7、RM8、RM9Are connected in series in sequence and are provided with a resistor RM7And RM8Is connected to a resistor RM6And RM9And a resistance RM6As a second input terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to the second-phase power supply V of the three-phase alternating-current power supply 2. Resistance RM4、RM5In series, and RM3、RM9Parallel connection, resistance RM4As a first output terminal of the first voltage dividing resistor circuit 1131, is electrically connected to a first input terminal of the first bridge rectifier circuit 1132, and the resistor RM5As a second output terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to a second input terminal of the first bridge rectifier circuit 1132.
The second rectification module 114 includes: a second bridge rectifier 1142 and a second voltage divider resistor 1141, as shown in fig. 3. The second bridge rectifier circuit 1142 includes a diode DN1To DN4，DN1And DN2As a first output terminal of the second bridge rectifier circuit 1142, DN1Positive electrode of (2) and (D)N3The negative electrodes of the two electrodes are electrically connected,as a first input terminal of a second bridge rectifier circuit 1142, DN2Positive electrode of (2) and (D)N4As a second input terminal of the second bridge rectifier circuit 1142, DN3Positive electrode of (2) and (D)N4Is electrically connected as a second output terminal of the second bridge rectifier circuit 1142.
The second voltage-dividing resistor circuit 1141 includes a resistor RN1To the resistance RN9Resistance RN1、RN2、RN3Are connected in series in sequence, RN2Is connected to RN1And RN3R is a resistanceN1As a first input terminal of the second voltage-dividing resistor circuit 1141, is electrically connected to the first-phase power supply U of the three-phase alternating-current power supply 2. Resistance RN6、RN7、RN8、RN9Are connected in series in sequence and are provided with a resistor RN7And RN8Is connected to a resistor RN6And RN9And a resistance RN6As a second input terminal of the second voltage-dividing resistor circuit 1141, is electrically connected to the second phase power supply V of the three-phase alternating-current power supply 2. Resistance RN4、RN5In series, and RN3、RN9Parallel connection, resistance RN4As a first output terminal of the second voltage-dividing resistor circuit 1141, and is electrically connected to a first input terminal of the first bridge rectifier circuit 1132, and the resistor RN5As a second output terminal of the second voltage-dividing resistor circuit 1141, is electrically connected to a second input terminal of the first bridge rectifier circuit 1132.
Specifically, when the three-phase ac power supply 2 is normal, the line voltage UV is divided by the first voltage dividing resistor circuit 1131 and rectified by the first bridge rectifier circuit 1132, so that the first photocoupler 111 is in a conducting state. The line voltage VW is divided by the second voltage dividing resistor circuit 1141, rectified by the second bridge rectifier circuit 1142, and the second photocoupler 112 is also in a conducting state. Since the output terminal of the first photocoupler 111 is electrically connected to the output terminal of the second photocoupler 112 and is electrically connected to the robot control module 13, the robot control module 13 receives an output signal of a high level.
When the three-phase ac power supply 2 is powered off, that is, when neither of the phase power supplies U, V, W outputs, both the first photocoupler 111 and the second photocoupler 112 are in the off state, and the robot control module 13 receives the output signal of the low level.
When the three-phase ac power supply 2 is powered down,
for example, when the phase power supply U does not output, the first photocoupler 111 is in an off state, the second photocoupler 112 is in an on state, and the robot control module 13 receives the output signal of the low level. For example, when the phase power supply W does not output, the first photocoupler 111 is in the on state, the second photocoupler 112 is in the off state, and the robot control module 13 receives the output signal that is still at the low level.
For example, when the phase power supply V is not outputting, the line voltage UW is simultaneously applied to the loop formed by the first photocoupler 111 and the first rectifying module 113 and the loop formed by the second photocoupler 112 and the second rectifying module 114, and the voltage of each loop is reduced by half compared with that of the normal three-phase ac power supply 2, at this time, the preset first voltage stabilizing diode D is set1A second voltage regulator diode D2The threshold value of (2) can ensure that the voltage generated by rectification is not enough to turn on the loops where the first photocoupler 111 and the second photocoupler 112 are located, so that the first photocoupler 111 and the second photocoupler 112 cannot be turned on, the first photocoupler 111 and the second photocoupler 112 are in the off state, and the robot control module 13 still receives the low-level output signal. Thus, the first voltage-stabilizing diode D is utilized1A second voltage regulator diode D2A certain threshold is set for the conduction of the first photocoupler 111 and the second photocoupler 112, so that the detection accuracy of the power failure detection module 11 can be improved.
It is easy to see that the power failure detection module 11 outputs a low-level output signal, and the robot control module 13 indicates that the three-phase ac power supply 2 is abnormal when receiving the low-level output signal. Compared with the prior art, the power failure detection module 11 provided in this embodiment does not need to detect each phase power supply of the three-phase ac power supply 2, so that a three-phase four-wire input circuit is not needed, and the power failure detection module 11 can be applied to connection of a robot without a zero line, and has a wide application range.
However, the above examples are merely illustrative, and in the present embodiment, no limitation is imposed on the specific implementation forms of the first rectifying module 113 and the second rectifying module 114. In practical operation, the first rectifying module 113 and the second rectifying module 114 may also be as shown in fig. 4, that is, the connection order of the first bridge rectifying circuit 1132 and the first voltage-dividing resistor circuit 1131 is exchanged, and the connection order of the second bridge rectifying circuit 1142 and the second voltage-dividing resistor circuit 1141 is exchanged.
Wherein the first bridge rectifier circuit 1132 includes a diode DP1To DP4，DP1And DP2As a first output terminal of the first bridge rectifier circuit 1132, DP1Positive electrode of (2) and (D)P3Is electrically connected as a first input terminal of the first bridge rectifier circuit 1132 with a first-phase power supply U of the three-phase ac power supply 2, DP2Positive electrode of (2) and (D)P4Is electrically connected as a second input terminal of the first bridge rectifier circuit 1132 with a second phase supply V of the three-phase alternating current supply 2, DP3Positive electrode of (2) and (D)P4Is electrically connected as a second output terminal of the first bridge rectifier circuit 1132.
The first voltage dividing resistor circuit 1131 includes a resistor RP1To the resistance RP9Resistance RP1、RP2、RP3Are connected in series in sequence, RP2Is connected to RP1And RP3R is a resistanceP1As a first input terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to a first output terminal of the first bridge rectifier circuit 1132. Resistance RP6、RP7、RP8、RP9Are connected in series in sequence and are provided with a resistor RP7And RP8Is connected to a resistor RP6And RP9And a resistance RP6As a second input terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to a second output terminal of the first bridge rectifier circuit 1132. Resistance RP4、RP5In series, and RP3、RP9Parallel connection, resistance RP4As a first output terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to a first input terminal of the first photocoupler 111, and the resistor RP5As a second output terminal of the first voltage-dividing resistor circuit 1131, is electrically connected to a second input terminal of the first photocoupler 111.
The second bridge rectifier circuit 1142 includes a diode DQ1To DQ4，DQ1And DQ2As a first output terminal of the second bridge rectifier circuit 1142, DQ1Positive electrode of (2) and (D)Q3Is electrically connected as a first input terminal of a second bridge rectifier circuit 1142 with a second phase power supply V of the three-phase ac power supply 2, DQ2Positive electrode of (2) and (D)Q4Is electrically connected as a second input terminal of the second bridge rectifier circuit 1142 to a third phase supply W of the three phase ac supply 2, DQ3Positive electrode of (2) and (D)Q4Is electrically connected as a second output terminal of the second bridge rectifier circuit 1142.
The second voltage-dividing resistor circuit 1141 includes a resistor RQ1To the resistance RQ9Resistance RQ1、RQ2、RQ3Are connected in series in sequence, RQ2Is connected to RQ1And RQ3R is a resistanceQ1One connection terminal of the second voltage-dividing resistor circuit 1141 is electrically connected to a first output terminal of the second bridge rectifier circuit 1142. Resistance RQ6、RQ7、RQ8、RQ9Are connected in series in sequence and are provided with a resistor RQ7And RQ8Is connected to a resistor RQ6And RQ9And a resistance RQ6One connection terminal of the second voltage-dividing resistor circuit 1141 is electrically connected to the second output terminal of the second bridge rectifier circuit 1142 as the second input terminal of the second voltage-dividing resistor circuit 1141. Resistance RQ4、RQ5In series, and RQ3、RQ9Parallel connection, resistance RQ4As a first output terminal of the second voltage-dividing resistor circuit 1141, is electrically connected to a first input terminal of the second photocoupler 112, and the resistor RQ5As the second output terminal and the second output terminal of the second voltage-dividing resistor circuit 1141The second input terminals of the two photocouplers 112 are electrically connected.
Specifically, the operation principle of the power down detection module 11 shown in fig. 4 is substantially the same as that of the power down detection module 11 shown in fig. 3, and for avoiding repetition, the details are not repeated herein. Moreover, the above examples of the power failure detection module 11 are only for illustration, and in this embodiment, no limitation is imposed on the specific implementation form of the power failure detection module 11.
In this embodiment, the power down holding module 12 includes: the method comprises the following steps: an energy storage module 121 and a power management module 122, as shown in fig. 5. The energy storage module 121 is connected in parallel between the three-phase alternating-current power supply 2 and the power management module 122; the power management module 122 is also electrically connected with the robot power module 14 and the robot control module 13; the power management module 122 is configured to supply power to the robot control module 13 by using the energy storage module 121 when the voltage of the robot power module 14 is lower than a preset threshold.
Specifically, in the present embodiment, since the energy storage module 121 is directly electrically connected to the three-phase ac power supply 2, the energy storage module 121 may include a rectifier bridge and an energy storage capacitor, the rectifier bridge and the energy storage capacitor are both connected in parallel to the three-phase ac power supply 2, the rectifier bridge is used for converting ac power into dc power, and the energy storage capacitor is used for storing power.
In this embodiment, the power management module 122 may include: power supply control unit 1221, third diode D1And a fourth diode D2. The energy storage module 121 is connected in parallel between the three-phase ac power supply 2 and the power control unit 1221, the power control unit 1221 and the third diode D1Is electrically connected to the anode of the third diode D1Negative pole of and a fourth diode D2Is electrically connected to the robot control module 13, and a fourth diode D2Is electrically connected to the robot power module 14.
Specifically, the energy storage module 121 of the power-down maintaining module 12 and the robot power module 14 are both connected to one phase power supply of the three-phase ac power supply 2, and receive single-phase ac power input. Furthermore, the energy storage module 121 of the power-down maintaining module 12 and the robot power module 14 are both from the same ac input, and the energy storage module 121 of the power-down maintaining module 12 is used as a "backup power supply" when the three-phase ac power supply 2 is powered down. The power control unit 1221 of the power-down maintaining module 12 is equivalent to a "switching power supply" and is configured to step down the output voltage of the energy storage module 121, so that the output voltage of the power-down maintaining module 12 may be slightly smaller than the output voltage of the robot power module 14.
For example, the robot power module 14 may be a 24V dc power supply to power the robot control module 13, and the output voltage of the power down maintaining module 12 may be set to be slightly less than 24V. At this time, the output voltage of the power-down maintaining module 12 is the preset voltage threshold of the robot power module 14. Thus, when the three-phase ac power supply 2 is normal, the robot power supply module 14 and the power-down holding module 12 output together, because of the third diode D1And a fourth diode D2And the output voltage of the power-down maintaining module 12 is smaller than that of the robot power module 14, at this time, the power-down maintaining module 12 cuts off the output, which is equivalent to an idle state, and the robot power module 14 works alone. When the three-phase alternating-current power supply 2 is powered off, the voltage of the robot power supply module 14 begins to drop after being kept for a certain time, and when the voltage value of the robot power supply module 14 drops to be slightly smaller than the output voltage of the power-down keeping module 12, the power-down keeping module 12 is conducted to supply power to the robot control module 13, so that the robot control module 13 can continuously execute corresponding operations. For example, the robot body is controlled to execute a contracting brake operation, current information, some key data and the like are stored, and data loss and the like caused by power failure are prevented.
As shown in fig. 6, a timing diagram of the operation of the powered down retention module 12 is given. Where V0 denotes the output of the three-phase ac power supply 2, V1 denotes the output of the robot power module 14, and V2 denotes the output of the power down hold module 12. At time T0 when the three-phase ac power supply 2 is powered down, the output voltage V1 of the robot power module 14 drops from 24V to below 22V between time T0 and time T1. At this time, the fourth diode D connected to the power down hold module 122The conducting and power-down maintaining module 12 replaces the robot power supply module 14 to be the robotThe control module 13 continues to supply power until T2, and the output voltage V2 of the power-down maintaining module drops to a value which is not enough to enable the robot control module 13 to work normally. Thus, at assurance T2>Under the premise of T1, the robot control module 13 has enough time to complete the corresponding work, and therefore, the power failure is safe.
In the present embodiment, the robot control module 13 includes: a robot controller and a servo driver. The robot controller is in communication connection with the servo driver; the robot controller is electrically connected with the power failure detection module and used for storing data and sending a control signal to the servo driver when receiving a signal sent by the power failure detection module; the servo driver is used for controlling the robot body to execute contracting brake operation when receiving the control signal. In this way, a concrete implementation of the robot control module 13 is provided, increasing the feasibility of the present embodiment.
In summary, in the present embodiment, the power failure detection module 11 is used to detect whether the three-phase ac power supply is abnormal, and the power failure holding module 12 is used as a backup power supply, so that when the three-phase ac power supply fails, the robot control module can store data in time to avoid data loss. And moreover, the robot control module can control the robot body to execute the contracting brake operation in time, so that the reliability and the safety of robot control are effectively improved.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A second embodiment of the present invention relates to a robot safety control system, as shown in fig. 7. The second embodiment is improved on the basis of the first embodiment, and the main improvement lies in that: in the second embodiment of the present invention, the robot safety control system further includes a safety loop detection module 15, and the safety loop detection module 15 is electrically connected to each safety loop of the robot control module 13, and is configured to enable the robot control module 13 to control the robot body not to operate when an abnormality of a certain safety loop is detected.
Specifically, the safety loop may connect all necessary signals in series, such as an external emergency stop signal, an entrance guard switch signal, a band-type brake power plug-in signal, and the like, and when the signals are normal, the robot is in a safe state. In actual operation, the safety circuit can connect all emergency control signals in series, and the signals are triggered manually, so that the robot can be switched to a safe state quickly. When the three-phase alternating-current power supply 2 is abnormally powered down, the locking of the brake device of the robot body may be caused. At this time, the contracting brake device of the robot body needs to be manually opened, and the contracting brake plate is independently operated under the condition that the robot is not electrified. Because the contracting brake power supply insertion signal is connected in series in the safety circuit, the signal is derived from a manual contracting brake plate, when the power supply of the manual contracting brake plate is inserted, the signal fed back by the manual contracting brake plate to be connected into the safety circuit is a circuit disconnection, so that the contracting brake device of the robot body can be operated independently, and the safety operation of the robot is ensured.
It is easy to see that whether the safety loop detection module 15 is normal or not is the premise that the robot works reliably, and whether the robot is abnormal or not is detected by using the safety loop detection module 15, so that the robot body can be controlled to stop running in time when the robot is detected to be abnormal under the condition that the robot body runs and works; when the robot body is restarted, the robot body can be controlled not to be started when the robot is detected to be abnormal. Therefore, the safety loop detection module 15 can perform priority check, so that the safety of robot control can be enhanced, meanwhile, the risk caused by misoperation is reduced, and the reliability and safety of robot control are further improved.
A third embodiment of the present invention relates to a robot safety control method, and a specific flow is shown in fig. 8. This embodiment can be implemented on the basis of the robot safety control system described in the first embodiment or the second embodiment, and includes the following steps:
Specifically, when the three-phase alternating-current power supply is normal, the robot power supply module supplies power to the robot control module so as to ensure the normal work of the robot. When the three-phase alternating current power supply is powered off, the power failure detection module can detect the abnormal condition of the three-phase alternating current power supply and sends a signal to the robot control module.
And 802, when the robot control module receives a signal from the power failure detection module, storing data and controlling the robot body to execute a brake operation.
Specifically, when receiving a signal from the power failure detection module, the robot controller of the robot control module stores the data and sends a control signal to the servo driver, so that the servo driver controls the robot body to execute a contracting brake operation when receiving the control signal, thereby not only avoiding data loss, but also ensuring the safety of operators and equipment. When the voltage of the robot power module is lower than a preset threshold value, the power failure maintaining module supplies power to the robot control module.
More specifically, when the three-phase ac power supply fails, the power supply of the three-phase ac power supply is lost, the voltage is reduced, and the situation that the robot control module cannot work normally due to insufficient power supply voltage of the robot control module is likely to occur. Therefore, when the voltage of the robot power module is lower than the preset threshold value, the power failure maintaining module replaces the robot power module to supply power to the robot control module. Therefore, the standby power supply is equivalently arranged, the normal work of the robot control module can be ensured, so that the robot control module can complete data storage and control over the brake operation of the robot body, the reliability of robot control in industrial field power failure is effectively improved, and the risk of field debugging is reduced. Wherein, the preset threshold value can be preset and stored in the robot safety control system at the beginning of the design.
It should be understood that this embodiment is a method example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
Those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (8)
1. A robot safety control system, comprising: the robot comprises a power failure detection module, a power failure holding module, a robot control module and a robot power supply module;
the robot power supply module is electrically connected with the three-phase alternating-current power supply and the robot control module and used for supplying power to the robot control module;
the power failure detection module is electrically connected with the three-phase alternating-current power supply and the robot control module and is used for sending a signal to the robot control module when the power failure of the three-phase alternating-current power supply is detected; the robot control module is used for storing data and controlling the robot body to execute contracting brake operation when receiving the signal;
the power failure maintaining module is respectively electrically connected with the three-phase alternating-current power supply, the robot control module and the robot power supply module and is used for supplying power to the robot control module when the voltage of the robot power supply module is lower than a preset threshold value;
the power failure detection module comprises: the rectifier circuit comprises a first photoelectric coupler, a second photoelectric coupler, a first rectifying module, a second rectifying module, a first voltage stabilizing diode and a second voltage stabilizing diode;
the first input end of the first rectifying module is electrically connected with a first-phase power supply of the three-phase alternating-current power supply, and the second input end of the first rectifying module is electrically connected with a second-phase power supply of the three-phase alternating-current power supply;
a first input end of the first photoelectric coupler is electrically connected with a first output end of the first rectifying module, and a second input end of the first photoelectric coupler is electrically connected with a second output end of the first rectifying module;
the first input end of the second rectifying module is electrically connected with a second-phase power supply of the three-phase alternating-current power supply, and the second input end of the second rectifying module is electrically connected with a third-phase power supply of the three-phase alternating-current power supply;
a first input end of the second photoelectric coupler is electrically connected with a first output end of the second rectifying module, and a second input end of the second photoelectric coupler is electrically connected with a second output end of the second rectifying module;
the output end of the first photoelectric coupler is electrically connected with the output end of the second photoelectric coupler and is electrically connected with the robot control module;
the anode of the first voltage stabilizing diode is electrically connected with the first input end of the first photoelectric coupler, and the cathode of the first voltage stabilizing diode is electrically connected with the first output end of the first rectifying module;
and the anode of the second voltage stabilizing diode is electrically connected with the first input end of the second photoelectric coupler, and the cathode of the second voltage stabilizing diode is electrically connected with the first output end of the second rectifying module.
2. The robot safety control system of claim 1, further comprising a safety loop detection module;
the safety loop detection module is electrically connected with each safety loop of the robot control module and used for enabling the robot control module to control the robot body not to run when the robot control module detects that one safety loop is abnormal.
3. The robot safety control system of claim 1, wherein the first rectification module comprises: a first bridge rectifier circuit and a first voltage dividing resistor circuit;
a first input end of the first voltage-dividing resistor circuit is electrically connected with a first-phase power supply of the three-phase alternating-current power supply, and a second input end of the first voltage-dividing resistor circuit is electrically connected with a second-phase power supply of the three-phase alternating-current power supply;
the first output end of the first voltage-dividing resistor circuit is electrically connected with the first input end of the first bridge rectifier circuit, and the second output end of the first voltage-dividing resistor circuit is electrically connected with the second input end of the first bridge rectifier circuit.
4. The robot safety control system of claim 1, wherein the power down detection module further comprises: a first resistor and a second resistor;
one end of the first resistor is electrically connected with the anode of the first voltage stabilizing diode, and the other end of the first resistor is electrically connected with the first input end of the first photoelectric coupler;
one end of the second resistor is electrically connected with the positive electrode of the second voltage stabilizing diode, and the other end of the second resistor is electrically connected with the first input end of the second photoelectric coupler.
5. The robot safety control system of claim 1, wherein the power down hold module comprises: the energy storage module and the power management module;
the energy storage module is connected between the three-phase alternating current power supply and the power supply management module in parallel;
the power management module is also electrically connected with the robot power module and the robot control module; the power management module is used for supplying power to the robot control module by using the energy storage module when the voltage of the robot power module is lower than a preset threshold value.
6. The robot safety control system of claim 5, wherein the power management module comprises: a power control unit, a third diode, and a fourth diode; the energy storage module is connected between the three-phase alternating-current power supply and the power supply control unit in parallel;
the power supply control unit is electrically connected with the anode of the third diode;
the cathode of the third diode is electrically connected with the cathode of the fourth diode and is electrically connected with the robot control module;
and the anode of the fourth diode is electrically connected with the robot power supply module.
7. The robot safety control system according to claim 1, wherein the robot control module includes: a robot controller and a servo driver;
the robot controller is in communication connection with the servo driver;
the robot controller is electrically connected with the power failure detection module and is used for storing data and sending a control signal to the servo driver when receiving a signal sent by the power failure detection module;
and the servo driver is used for controlling the robot body to execute the contracting brake operation when receiving the control signal.
8. A robot safety control method applied to the robot safety control system according to any one of claims 1 to 7, comprising:
when the power failure detection module detects the power failure of the three-phase alternating-current power supply, a signal is sent to the robot control module;
the robot control module stores data and controls the robot body to execute contracting brake operation when receiving the signal from the power failure detection module;
when the voltage of the robot power supply module is lower than a preset threshold value, the power failure maintaining module supplies power to the robot control module.
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| CN108092405A (en) * | 2017-12-29 | 2018-05-29 | 上海新时达机器人有限公司 | Electric power controller and robot control system |
| CN109032052B (en) * | 2018-06-26 | 2020-09-22 | 上海常仁信息科技有限公司 | Emergency intelligent control system based on robot identity card |
| CN108858206A (en) * | 2018-09-04 | 2018-11-23 | 珠海格力智能装备有限公司 | Band-type brake control device and system of robot and band-type brake control method of robot |
| CN110492594B (en) * | 2019-07-29 | 2021-10-08 | 北京未动科技有限公司 | Power management method and device of driving assistance system and driving assistance system |
| CN111697683B (en) * | 2020-06-10 | 2022-06-14 | 杭州凯尔达焊接机器人股份有限公司 | Power supply with power-off protection function |
| CN112564264B (en) * | 2020-12-02 | 2023-06-27 | 浙江凯耀照明有限责任公司 | Circuit with function memory before power failure |
| CN114670198B (en) * | 2022-03-29 | 2024-04-05 | 北京京东乾石科技有限公司 | System for be used for separating band-type brake and transfer robot |
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