CN107621799B - Transistor-based safety signal control circuit special for multi-joint robot - Google Patents
Transistor-based safety signal control circuit special for multi-joint robot Download PDFInfo
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- CN107621799B CN107621799B CN201711015440.4A CN201711015440A CN107621799B CN 107621799 B CN107621799 B CN 107621799B CN 201711015440 A CN201711015440 A CN 201711015440A CN 107621799 B CN107621799 B CN 107621799B
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Abstract
The invention discloses a transistor-based special safety signal control circuit for a multi-joint robot; the technical problems to be solved are as follows: the technical problem of the shortcoming that the adoption of a full relay control scheme for the starting-alarming-band-type brake of the existing multi-axis robot is solved. The technical scheme is as follows: a transistor-based special safety signal control circuit for a multi-joint robot comprises a multi-path servo alarm acquisition circuit, a servo alarm operation circuit connected with the output of the multi-path servo alarm acquisition circuit, a servo alarm driving circuit connected with the output of the servo alarm operation circuit, an alarm and start/stop signal operation circuit connected with the output of the servo alarm driving circuit, and an alarm output and start self-locking circuit connected with the output of the alarm and start/stop signal operation circuit. The circuit has the advantages that the acquisition and the processing of safety signals such as a servo alarm signal, an emergency stop alarm signal, a robot start/stop signal and the like of the multi-axis robot are realized through the transistor.
Description
Technical Field
The invention relates to a transistor-based safety signal control circuit special for a multi-joint robot.
Background
Based on the trend of miniaturization and integration of the existing robot control cabinet, the multi-axis control scheme is more adopted for robots at present to replace the original single-axis servo scheme. The multi-axis scheme has the advantages of high integration level, small volume and no loss of performance compared with the single-axis servo scheme. The control scheme aiming at multiple axes needs a circuit for uniformly coordinating all robot safety signals such as servo alarm, motor alarm, robot control information and the like.
The existing control scheme of the starting-alarming-band-type brake aiming at the multi-axis robot is realized in a full relay mode, a general six-axis robot is used as an example, six servo alarming, band-type brake of six motors, emergency stop alarming of the robot and starting and stopping functions of the robot are provided, and the functions are completed through the relays.
The disadvantage of the full relay approach is: 1. the number of relays is excessive, and more than ten relays are needed for the functions, so that the circuit is overlarge in size and the size of the control cabinet is influenced; 2. the response speed of the relay is slow, and millisecond-level time is needed; 3. the price of the relay is higher than that of the transistor; 4. the service life of the relay is directly related to the switching times, and the service life is not long enough; 5. the relay works with strong electromagnetic interference.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems of the prior multi-axis robot that the starting-alarming-band-type brake adopts a full relay control scheme.
The design idea of the invention is that aiming at the defects of the relay scheme, the patent designs a special safety signal control circuit for the multi-axis robot based on a transistor and a logic chip, wherein the safety signal comprises the start and stop of the robot, various alarms, band-type brakes and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the transistor-based special safety signal control circuit for the multi-joint robot comprises a multi-path servo alarm acquisition circuit for acquiring multi-path servo alarm signals of the multi-joint robot, a servo alarm operation circuit connected with the output of the multi-path servo alarm acquisition circuit and used for performing NOR operation on the output signals of the multi-path servo alarm acquisition circuit, a servo alarm driving circuit connected with the output of the servo alarm operation circuit and used for providing alarm driving signals, an alarm and start/stop signal operation circuit connected with the output of the servo alarm driving circuit, an alarm output and start self-locking circuit connected with the output of the alarm and start/stop signal operation circuit, and an alarm output and start self-locking circuit for outputting alarm signals;
The special safety signal control circuit of the multi-joint robot based on the transistor further comprises two external emergency stop buttons SE1 powered by a 24V power supply, signals S5 and S6 of the two external emergency stop buttons SE1 are respectively connected with two emergency stop alarm acquisition circuits for acquiring the external emergency stop buttons SE1, and the outputs of the two emergency stop alarm acquisition circuits are connected with an alarm and start/stop signal operation circuit;
a normally open start button SB1 and a normally closed stop button SB2 which are powered by a 24V power supply and are connected in series are connected in parallel between the normally open start button SB1 and the normally closed stop button SB2, and an alarm output and a normally open button K1A for starting a relay K1 in a self-locking circuit are connected in parallel, and an output signal S9 of the normally open button K1A is output; the start/stop signal S1 of the normally open start button SB1 and the normally closed stop button SB2 is connected to a start/stop signal acquisition circuit, and the output of the start/stop signal acquisition circuit is connected to an alarm and start/stop signal operation circuit.
According to the technical scheme, the transistor-based special safety signal control circuit for the multi-joint robot further comprises a multi-path band-type brake circuit for collecting multi-path motor band-type brake signals of the multi-joint robot; the multi-path band-type brake circuit comprises band-type brake circuits which are in one-to-one correspondence with motor band-type brake signals of the multi-joint robot; the multiple band-type brake circuits are the same; the motor band-type brake signal of the multi-joint robot is set as a motor 1 band-type brake signal BR1, a motor 2 band-type brake signal BR2 and a … … motor N band-type brake signal BRN, wherein N is a positive integer greater than or equal to 1;
The band-type brake circuit comprises a current-limiting resistor R31, a protection resistor R32, a capacitor C9, an optocoupler U3, a voltage-dividing resistor R33, a voltage-dividing resistor R34, +3.9V voltage-stabilizing tube, an anti-interference resistor R35 and an N-channel MOS tube, wherein one end of the current-limiting resistor R31 is connected with +24V, the other end of the current-limiting resistor R31 and a motor band-type brake signal BR1 are simultaneously connected with two inputs of the optocoupler U3, a filter capacitor C9 and a protection resistor R32 are connected in parallel at the input end of the optocoupler U3, and the protection resistor R32 and the filter capacitor C9 are connected in parallel; one of the two outputs of the optical coupler U3 is connected with direct current +24V voltage, the other output is connected with one end of a divider resistor R33 in series, the other end of the divider resistor R33 is connected with one end of a divider resistor R34, the positive electrode of the +3.9V voltage-stabilizing tube and one end of an anti-interference resistor R35, and the other end of the anti-interference resistor R35 is connected with the grid electrode of the N-channel MOS tube; the other end of the divider resistor R34, the negative electrode of the +3.9V voltage stabilizing tube and the source electrode of the N-channel MOS tube are grounded, and the drain electrode of the N-channel MOS tube is connected with the two ends of the band-type brake coil of the motor 1 of the multi-joint robot.
According to the technical scheme, the multi-path servo alarm acquisition circuit comprises servo alarm acquisition circuits which are in one-to-one correspondence with servo alarm signals of the multi-joint robot, and the servo alarm acquisition circuits are identical; setting servo alarm signals of the multi-joint robot as a servo 1 alarm signal, a servo 2 alarm signal, a servo 3 alarm signal and a … … servo N alarm signal; n is a positive integer greater than or equal to 1;
The servo alarm acquisition circuit comprises a thermistor PTC1, a current limiting resistor R1, a light emitting diode LED1, a protection resistor R2, an anti-interference capacitor C1 and a TVS diode,
one end of the thermistor PTC1 is used as an input end of the servo alarm acquisition circuit, an alarm signal of the servo 1 is connected to the input end, and meanwhile, one end of the thermistor PTC1 is connected with one end of a TVS diode, and the other end of the TVS diode is grounded; the other end of the thermistor PTC1 is connected with one end of the anti-interference capacitor C1, the negative electrode of the light-emitting diode LED1 and one end of the protection resistor R2 are simultaneously used as output ends of the servo alarm acquisition circuit, and an output signal AR1 of the servo alarm acquisition circuit is output; the other end of the anti-interference capacitor C1 is connected with the anode of the light-emitting diode LED1 and the other end of the protection resistor R2, the cathode of the light-emitting diode LED1 is connected with one end of the current-limiting resistor R1, and the other end of the current-limiting resistor R1 is externally connected with direct current +15V voltage.
According to the technical scheme, the servo alarm operation circuit comprises the steps of performing NOR operation on output signals (AR 1-ARN) of the multi-path servo alarm acquisition circuit, and performing AND operation on the NOR operation output; the specific operation formula is as follows:
AR= ((AR1+AR2)) & ((AR3+AR4)) & ((ARN-1+ARN)) & ()))) & … … & ((ARN-1+ARN)))
Wherein AR represents the total output of multi-axis servo alarms; AR1, AR 2-ARN are output signals of the servo alarm acquisition circuit;
according to the above formula, when the multi-path servo is in the normal working state, i.e. AR1 to ARN are all low level, ar=1; when there is a servo alarm, i.e., one or more of AR1 to ARN is high, ar=0.
The technical proposal of the invention is further improved, the servo alarm driving circuit comprises a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R25, a resistor R26, a resistor R27, a diode D1, a diode D2, an NPN triode Q1, a PNP triode Q2, +5V voltage stabilizing tube, a light emitting diode LED5, a capacitor C3 and a capacitor C7,
one end of the resistor R11 is connected with direct current +15V voltage, the other end of the resistor R11 is used as an output signal AR of a servo alarm operation circuit, meanwhile, the other end of the resistor R11 is connected with the positive electrode of the diode D1, the negative electrode of the diode D1 is connected with one end of the resistor R12, one end of the resistor R13 is connected with one end of the capacitor C3 and the base electrode of the NPN type triode Q1, the other end of the resistor R13, the other end of the capacitor C3 and the emitter electrode of the NPN type triode Q1 are grounded, the collector electrode of the NPN type triode Q1 is connected with one end of the resistor R14 and one end of the resistor R15, the other end of the resistor R14 is connected with direct current +24V voltage, the other end of the resistor R15 is connected with the base electrode of the PNP type triode Q2, the emitter electrode of the triode Q2 is connected with direct current +24V voltage, the collector electrode of the triode Q2 is connected with the positive electrode of the diode D2, the negative electrode of the diode D2 is connected with one end of the negative electrode of the +5V type triode Q1, one end of the positive electrode of the capacitor C7 is connected with the negative electrode of the +5V type triode, one end of the positive electrode of the +5V voltage stabilizing tube is connected with one end of the LED5 and the LED5, the other end of the LED5 is connected with the positive electrode of the LED 26 and the other end of the LED 26 is connected with the other end of the resistor R27, and the other end of the resistor R26 is connected with the other end of the resistor R27.
According to the technical scheme, the emergency stop alarm acquisition circuit for acquiring the signal S5 of the external emergency stop button SE1 comprises a capacitor C4, +5V voltage stabilizing tube, a resistor R16, a resistor R17, a resistor R18 and a light emitting diode LED2, wherein the negative electrode of the +5V voltage stabilizing tube is used as the input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage stabilizing tube is connected with one end of the capacitor C4, the positive electrode of the +5V voltage stabilizing tube is connected with one end of the resistor R16 and the positive electrode of the light emitting diode LED2, the negative electrode of the light emitting diode LED2 is connected with one end of the resistor R17, the other end of the resistor R17 is used as the output end of the emergency stop alarm acquisition circuit, signals S-S5 are output, and meanwhile, the other end of the resistor R17 is connected with one end of the resistor R18, and the other end of the capacitor C4, the resistor R16 and the other end of the resistor R18 are grounded;
the emergency stop alarm acquisition circuit for acquiring a signal S6 of an external emergency stop button SE1 comprises a capacitor C5, +5V voltage-stabilizing tube, a resistor R19, a resistor R20, a resistor R21 and a light-emitting diode LED3, wherein the negative electrode of the +5V voltage-stabilizing tube is used as an input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage-stabilizing tube is connected with one end of the capacitor C5, the positive electrode of the +5V voltage-stabilizing tube is connected with one end of the resistor R19 and the positive electrode of the light-emitting diode LED3, the negative electrode of the light-emitting diode LED3 is connected with one end of the resistor R20, the other end of the resistor R20 is used as an output end of the emergency stop alarm acquisition circuit, the signal S-S6 is output, and the other end of the resistor R20 is connected with one end of the resistor R21, and the other end of the capacitor C5, the resistor R19 and the other end of the resistor R21 are grounded;
The starting/stopping signal acquisition circuit for acquiring starting/stopping signals S1 of the normally-open starting button SB1 and the normally-closed stopping button SB2 comprises a capacitor C6, +5V voltage stabilizing tube, a resistor R22, a resistor R23, a resistor R24 and a light emitting diode LED4, wherein the negative electrode of the +5V voltage stabilizing tube is used as the input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage stabilizing tube is connected with one end of the capacitor C6, the positive electrode of the +5V voltage stabilizing tube is connected with one end of the resistor R22 and the positive electrode of the light emitting diode LED4, the negative electrode of the light emitting diode LED4 is connected with one end of the resistor R23, the other end of the resistor R23 is used as the output end of the emergency stop alarm acquisition circuit, the output signals S-S1 are output, meanwhile, the other end of the resistor R23 is connected with one end of the resistor R24, and the other end of the capacitor C6, the other end of the resistor R22 and the other end of the resistor R24 are grounded.
According to the technical scheme, the alarm and starting/stopping signal operation circuit comprises the steps of performing AND operation on output signals S-S5 and S-S6 of two paths of emergency stop alarm acquisition circuits, an output signal S-S1 of the starting/stopping signal acquisition circuit and an output signal S-AR-24V of the servo alarm driving circuit; the specific operation formula is as follows:
SS= (S-S6 & & S-S5) & & (S-S1 & & S-AR-24V) (equation 2)
Wherein SS represents the output of the alarm and start/stop signal operation circuit;
as can be seen from the formula 2, when the servo alarm and the scram alarm do not exist, the output signal SS of the alarm, start/stop signal operation circuit is in a high level state, and when the servo alarm, the scram alarm or the stop button is pressed, the output signal SS of the alarm, start/stop signal operation circuit is in a low level state;
from this, ss=1 when the robot is operating normally, and ss=0 when the robot is alarming or stopping.
According to the technical scheme, the alarm output and starting self-locking circuit comprises a diode D5, a diode D6, a diode D7, a diode D8, a resistor R29, a resistor R30, a capacitor C8, a capacitor C12, an NPN triode Q4 and a relay K1, wherein the positive electrode of the diode D5 is used as the input end of the alarm output and starting/stopping signal operation circuit, the output signal SS of the alarm and starting/stopping signal operation circuit is connected to the input end, the negative electrode of the diode D5 is connected with the positive electrode of the diode D6, the negative electrode of the diode D6 is connected with the positive electrode of the diode D7, the negative electrode of the diode D7 is connected with one end of the resistor R29, the other end of the resistor R29 is connected with one end of the resistor R30, one end of the capacitor C8 and the base electrode of the NPN triode Q4, the other end of the resistor R30, the emitter of the NPN triode Q4 are grounded, the collector of the NPN triode Q4 is connected with one end of the capacitor C12 and one end of the relay K1, the other end of the capacitor C12 is grounded, and the other end of the relay K1 is connected with the other end of the direct current +V24 and the two ends of the relay D8 are connected in parallel; one output of the relay K1 is an alarm output signal S11.
The working principle of the control circuit is as follows:
the working principle of the multi-axis robot safety signal control scheme is that a control circuit simultaneously detects servo alarm signals, emergency stop alarm signals and starting/stopping signals of all axes, if no alarm exists between the servo and the emergency stop, when a starting button (a self-recovery button and a normally open button) is pressed down, an operation signal can be output through a circuit, so that the robot is controlled to act, and meanwhile, a self-locking loop in the circuit board can lock a power supply in the circuit, so that the circuit board can work normally even if the starting button is reset. In the running process of the robot, if an alarm signal appears or a stop button (a self-recovery button and a normally closed button) is pressed, the circuit outputs the alarm signal, the robot stops acting, and the self-locking loop is disconnected. And receiving external motor band-type brake signals, and controlling each motor band-type brake.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with a circuit of a full relay scheme, the transistor-based safety signal control circuit special for the multi-joint robot has the advantage that the size of the circuit is reduced by 1/3.
2. The transistor-based special safety signal control circuit for the multi-joint robot has quicker response time compared with a circuit of a full relay scheme.
3. Compared with a circuit adopting a full relay scheme, the transistor-based safety signal control circuit special for the multi-joint robot reduces the cost.
4. The transistor-based special safety signal control circuit for the multi-joint robot has the advantages of small external electromagnetic interference, long service life and low up-and-down electrical noise.
Drawings
Fig. 1 is a block diagram of the operation of a transistor-based multi-joint robot-specific safety signal control circuit.
Fig. 2 is a circuit diagram of a band-type brake circuit.
FIG. 3 is a circuit diagram of a servo alarm acquisition circuit.
Fig. 4 is a circuit diagram of a servo alarm arithmetic circuit for an example of six servo alarm signals.
Fig. 5 is a circuit diagram of a servo alarm arithmetic circuit for sixteen-way servo alarm signal as an example.
Fig. 6 is a circuit diagram of a servo alarm drive circuit.
Fig. 7 is a circuit diagram of the scram alarm acquisition circuit that acquires the signal S5 of the external scram button SE 1.
Fig. 8 is a circuit diagram of the scram alarm acquisition circuit that acquires the signal S6 of the external scram button SE 1.
Fig. 9 is a circuit diagram of a start/stop signal acquisition circuit that acquires the start/stop signals S1 of the normally open start button SB1 and the normally closed stop button SB 2.
Fig. 10 is a circuit diagram of an alarm and start/stop signal operation circuit.
FIG. 11 is a circuit diagram of an alarm output and activation latch circuit.
Detailed Description
The technical scheme of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the contents of the present invention more comprehensible, the present invention is further described with reference to fig. 1 to 11 and the detailed description.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples:
as shown in fig. 1, the transistor-based safety signal control circuit special for the multi-joint robot comprises a multi-path servo alarm acquisition circuit for acquiring multi-path servo alarm signals of the multi-joint robot, a servo alarm operation circuit connected with the output of the multi-path servo alarm acquisition circuit and used for performing non-operation on the output signals of the multi-path servo alarm acquisition circuit, a servo alarm driving circuit connected with the output of the servo alarm operation circuit and used for providing alarm driving signals, an alarm and start/stop signal operation circuit connected with the output of the servo alarm driving circuit, an alarm output and start self-locking circuit connected with the output of the alarm and start/stop signal operation circuit, and an alarm output and start self-locking circuit for outputting alarm signals;
The special safety signal control circuit of the multi-joint robot based on the transistor further comprises two external emergency stop buttons SE1 powered by a 24V power supply, signals S5 and S6 of the two external emergency stop buttons SE1 are respectively connected with two emergency stop alarm acquisition circuits for acquiring the external emergency stop buttons SE1, and the outputs of the two emergency stop alarm acquisition circuits are connected with an alarm and start/stop signal operation circuit;
a normally open start button SB1 and a normally closed stop button SB2 which are powered by a 24V power supply and are connected in series are connected in parallel between the normally open start button SB1 and the normally closed stop button SB2, and an alarm output and a normally open button K1A for starting a relay K1 in a self-locking circuit are connected in parallel, and an output signal S9 of the normally open button K1A is output; the start/stop signal S1 of the normally open start button SB1 and the normally closed stop button SB2 is connected to a start/stop signal acquisition circuit, and the output of the start/stop signal acquisition circuit is connected to an alarm and start/stop signal operation circuit.
The special safety signal control circuit of the multi-joint robot based on the transistor further comprises a multi-path band-type brake circuit for collecting multi-path motor band-type brake signals of the multi-joint robot, and band-type brake faults of the multi-joint robot are prevented.
The multi-path band-type brake circuit comprises band-type brake circuits which are in one-to-one correspondence with motor band-type brake signals of the multi-joint robot; the multiple band-type brake circuits are the same; the motor band-type brake signal of the multi-joint robot is set as a motor 1 band-type brake signal BR1, a motor 2 band-type brake signal BR2 and a … … motor N band-type brake signal BRN, wherein N is a positive integer greater than or equal to 1;
In this embodiment, the motor 1 band-type brake signal BR1 is collected as an example for detailed description, and the collection of the remaining motor band-type brake signals is the same as that of the motor 1 band-type brake signal BR1, which is not described in detail.
As shown in fig. 2, the band-type brake circuit comprises a current-limiting resistor R31, a protection resistor R32, a capacitor C9, an optocoupler U3, a voltage-dividing resistor R33, a voltage-dividing resistor R34, +3.9v voltage-stabilizing tube, an anti-interference resistor R35 and an N-channel MOS tube, wherein one end of the current-limiting resistor R31 is connected with +24v, the other end of the current-limiting resistor R31 and a motor band-type brake signal BR1 are simultaneously connected with two inputs of the optocoupler U3, a filter capacitor C9 and the protection resistor R32 are connected in parallel at the input end of the optocoupler U3, and the protection resistor R32 and the filter capacitor C9 are connected in parallel; one of the two outputs of the optical coupler U3 is connected with direct current +24V voltage, the other output is connected with one end of a divider resistor R33 in series, the other end of the divider resistor R33 is connected with one end of a divider resistor R34, the positive electrode of the +3.9V voltage-stabilizing tube and one end of an anti-interference resistor R35, and the other end of the anti-interference resistor R35 is connected with the grid electrode of the N-channel MOS tube; the other end of the divider resistor R34, the negative electrode of the +3.9V voltage stabilizing tube and the source electrode of the N-channel MOS tube are grounded, and the drain electrode of the N-channel MOS tube is connected with the two ends of the band-type brake coil of the motor 1 of the multi-joint robot.
The current limiting resistor R31 in the band-type brake circuit is a current limiting resistor at the input end of the optical coupler U3, and the protection resistor R32 has the functions of ensuring that the input end of the optical coupler U3 is well turned off, R33 and R34 are voltage dividing resistors for dividing +24V-S to the voltage required by the grid conduction of the N-channel MOS tube chip, and the +3.9V voltage stabilizing tube is a protection function, so that the grid voltage of the N-channel MOS tube is not more than the rated value, the function of R35 is the function of reducing high-frequency noise interference, and the anti-interference capability of the circuit is improved.
The band-type brake circuits respectively control band-type brake coils of different motors, such as BR1 is a band-type brake control end of the motor 1, the outside is connected with a collector of an output end of an optical coupler, and an emitter of the external optical coupler is grounded. 1BP and 1BN are connected with two ends of a band-type brake coil of the motor 1, when an external optocoupler is conducted, a conducting loop is formed between +24V and BR1, the U3 optocoupler is conducted, the grid level of a power N-channel MOS tube is +3.9V, the band-type brake coil of the motor 1 is electrified, and the motor 1 works normally. When the external optocoupler is turned off, a conduction loop is not arranged between +24V and BR1, the U3 optocoupler is turned off, the grid level of the high-power N-channel MOS tube is 0V, the band-type brake coil of the motor 1 is not electrified, and the motor 1 band-type brake acts. As does a multiple band-type brake circuit.
The multi-path servo alarm acquisition circuit comprises servo alarm acquisition circuits which are in one-to-one correspondence with the servo alarm signals of the multi-joint robot, and the servo alarm acquisition circuits are identical; setting servo alarm signals of the multi-joint robot as a servo 1 alarm signal, a servo 2 alarm signal, a servo 3 alarm signal and a … … servo N alarm signal; n is a positive integer greater than or equal to 1.
In this embodiment, the acquisition of the servo 1 alarm signal is taken as an example to make a detailed description, and the acquisition of the rest servo alarm signals is the same as the acquisition of the servo 1 alarm signal, and will not be described in detail.
As shown in fig. 3, the servo alarm acquisition circuit comprises a thermistor PTC1, a current limiting resistor R1, a light emitting diode LED1, a protection resistor R2, an anti-interference capacitor C1 and a TVS diode,
one end of the thermistor PTC1 is used as an input end of the servo alarm acquisition circuit, an alarm signal of the servo 1 is connected to the input end, and meanwhile, one end of the thermistor PTC1 is connected with one end of a TVS diode, and the other end of the TVS diode is grounded; the other end of the thermistor PTC1 is connected with one end of the anti-interference capacitor C1, the negative electrode of the light-emitting diode LED1 and one end of the protection resistor R2 are simultaneously used as output ends of the servo alarm acquisition circuit, and an output signal AR1 of the servo alarm acquisition circuit is output; the other end of the anti-interference capacitor C1 is connected with the anode of the light-emitting diode LED1 and the other end of the protection resistor R2, the cathode of the light-emitting diode LED1 is connected with one end of the current-limiting resistor R1, and the other end of the current-limiting resistor R1 is externally connected with direct current +15V voltage.
Multipath servo alarm acquisition circuit of this embodiment
The servo 1 alarm input end of the servo alarm acquisition circuit is connected with the collector electrode of the output end of the external circuit optocoupler, and the emitter electrode of the output end of the external circuit optocoupler is connected with signal ground.
When the servo normally works, the external circuit optocoupler is in a conducting state, at the moment, the working state of the servo alarm acquisition circuit is that the power supply anode forms a series conducting loop with the external circuit optocoupler through the series current limiting resistor R1 and the luminous LED1, the luminous LED1 is lightened, and then the AR1 node is in a low level state. When the servo alarms, the external circuit optocoupler is in a cut-off state, and the AR1 node is in a high level state because a loop is not conducted.
The multi-path servo alarm acquisition circuits are consistent, AR1 represents an alarm acquisition signal of servo 1, AR2 represents an alarm acquisition signal of servo 2, and the like, and ARN represents an alarm acquisition signal of servo N.
The servo alarm operation circuit comprises performing NOR operation on output signals (AR 1-ARN) of the multi-path servo alarm acquisition circuit, and performing AND operation on the NOR operation output; the specific operation formula is as follows:
AR= ((AR1+AR2)) & ((AR3+AR4)) & ((ARN-1+ARN)) & ()))) & … … & ((ARN-1+ARN)))
Wherein AR represents the total output of multi-axis servo alarms; AR1, AR 2-ARN are output signals of the servo alarm acquisition circuit;
according to the above formula, when the multi-path servo is in the normal working state, i.e. AR1 to ARN are all low level, ar=1; when there is a servo alarm, i.e., one or more of AR1 to ARN is high, ar=0.
As shown in fig. 4, the present embodiment takes six paths of servo alarm signals as examples, that is, the servo alarm signal is a servo 1 alarm signal, a servo 2 alarm signal, a servo 3 alarm signal, a servo 4 alarm signal, a servo 5 alarm signal, and a servo 6 alarm signal; the six paths of servo alarm signals respectively pass through a servo alarm acquisition circuit to obtain six paths of output signals of the servo alarm, namely AR1, AR2, AR3, AR4, AR5 and AR6.
The servo alarm operation circuit comprises a CD4001 chip and a CD4081 chip, wherein the GND pin of the CD4001 chip is grounded, the VCC pin of the CD4001 chip is connected with direct current +15V voltage, meanwhile, the VCC pin of the CD4081 chip is connected with one end of a capacitor C2, and the other end of the capacitor C2 is grounded; the GND pin of the CD4081 chip is grounded, the VCC pin of the CD4081 chip is connected with direct current +15V voltage, meanwhile, the VCC pin of the CD4081 chip is connected with one end of a capacitor C10, and the other end of the capacitor C10 is grounded;
the pin 1A of the CD4001 chip is connected with one end of a resistor R3, and the other end of the resistor R3 is connected with an output signal AR1; the 1B pin of the CD4001 chip is connected with one end of a resistor R4, the other end of the resistor R4 is connected with an output signal AR2, the 1Y pin of the CD4001 chip is connected with one end of a resistor R5, and the other end of the resistor R5 is connected with the 4A pin of the CD4081 chip;
the pin 2A of the CD4001 chip is connected with one end of a resistor R7, and the other end of the resistor R7 is connected with an output signal AR3; the 2B pin of the CD4001 chip is connected with one end of a resistor R8, the other end of the resistor R8 is connected with an output signal AR4, the 2Y pin of the CD4001 chip is connected with one end of a resistor R6, and the other end of the resistor R6 is connected with the 4B pin of the CD4081 chip;
The 3A pin of the CD4001 chip is connected with one end of a resistor R11, and the other end of the resistor R11 is connected with an output signal AR5; the 3B pin of the CD4001 chip is connected with one end of a resistor R10, the other end of the resistor R10 is connected with an output signal AR6, the 3Y pin of the CD4001 chip is connected with one end of a resistor R9, and the other end of the resistor R9 is connected with the 3A pin of the CD4081 chip;
the 4Y pin of the CD4081 chip is connected with the 3B pin of the CD4081 chip, and the 3Y pin of the CD4081 chip outputs an AR signal.
The capacitors C2 and C10 in the servo alarm operation circuit have the functions of decoupling the power supply of the CD4001 chip, and the resistors R3, R4, R5, R6, R7, R8, R9, R10 and R11 have the functions of reducing high-frequency noise interference and improving the anti-interference capability of the circuit.
As shown in fig. 5, sixteen paths of servo alarm signals are taken as examples, namely, a servo 1 alarm signal, a servo 2 alarm signal, a servo 3 alarm signal, a servo 4 alarm signal, a servo 5 alarm signal, a servo 6 alarm signal and a … … servo 16 alarm signal; sixteen paths of servo alarm signals respectively pass through the servo alarm acquisition circuit to obtain six paths of output signals of servo alarms, namely AR1, AR2, AR3, AR4, AR5, AR6 and … … AR16.
The servo alarm operation circuit comprises two CD4001 chips and two CD4081 chips, wherein the two CD4001 chips are identical and are a first CD4001 chip and a second CD4001 chip; the two CD4081 chips are identical to the first CD4081 chip and the second CD4081 chip.
GND pins in the two CD4001 chips are grounded, a VCC pin of the first CD4001 chip is connected with direct current +15V voltage, and simultaneously a VCC pin of the CD4081 chip is connected with one end of a capacitor C2, and the other end of the capacitor C2 is grounded; the VCC pin of the second CD4001 chip is connected with the direct current +15V voltage, and simultaneously the VCC pin of the CD4081 chip is connected with one end of a capacitor C13, and the other end of the capacitor C13 is grounded.
The GND pins of the two CD4081 chips are grounded, the VCC pin of the first CD4081 chip is connected with direct current +15V voltage, and simultaneously the VCC pin of the CD4081 chip is connected with one end of a capacitor C10, and the other end of the capacitor C10 is grounded; the VCC pin of the second CD4081 chip is connected with the direct current +15V voltage, and meanwhile, the VCC pin of the second CD4081 chip is connected with one end of a capacitor C14, and the other end of the capacitor C14 is grounded.
The 1A pin of the first CD4001 chip is connected with one end of a resistor R3, and the other end of the resistor R3 is connected with an output signal AR1; the 1B pin of the first CD4001 chip is connected with one end of a resistor R4, the other end of the resistor R4 is connected with an output signal AR2, the 1Y pin of the first CD4001 chip is connected with one end of a resistor R5, and the other end of the resistor R5 is connected with the 4A pin of the first CD4081 chip;
the 2A pin of the first CD4001 chip is connected with one end of a resistor R7, and the other end of the resistor R7 is connected with an output signal AR3; the 2B pin of the first CD4001 chip is connected with one end of a resistor R8, the other end of the resistor R8 is connected with an output signal AR4, the 2Y pin of the first CD4001 chip is connected with one end of a resistor R6, and the other end of the resistor R6 is connected with the 4B pin of the first CD4081 chip;
The 3A pin of the first CD4001 chip is connected with one end of a resistor R11, and the other end of the resistor R11 is connected with an output signal AR5; the 3B pin of the first CD4001 chip is connected with one end of a resistor R10, the other end of the resistor R10 is connected with an output signal AR6, the 3Y pin of the first CD4001 chip is connected with one end of a resistor R9, and the other end of the resistor R9 is connected with the 3B pin of the first CD4081 chip;
the 4A pin of the first CD4001 chip is connected with one end of a resistor R38, and the other end of the resistor R38 is connected with an output signal AR7; the 4B pin of the first CD4001 chip is connected with one end of a resistor R37, the other end of the resistor R37 is connected with an output signal AR8, the 4Y pin of the first CD4001 chip is connected with one end of a resistor R36, and the other end of the resistor R36 is connected with the 3A pin of the first CD4081 chip;
the 1A pin of the second CD4001 chip is connected with one end of a resistor R39, and the other end of the resistor R39 is connected with an output signal AR9; the 1B pin of the second CD4001 chip is connected with one end of a resistor R40, the other end of the resistor R40 is connected with an output signal AR10, the 1Y pin of the second CD4001 chip is connected with one end of a resistor R41, and the other end of the resistor R41 is connected with the 2B pin of the first CD4081 chip;
the 2A pin of the second CD4001 chip is connected with one end of a resistor R43, and the other end of the resistor R43 is connected with an output signal AR11; the 2B pin of the second CD4001 chip is connected with one end of a resistor R44, the other end of the resistor R44 is connected with an output signal AR12, the 2Y pin of the second CD4001 chip is connected with one end of a resistor R42, and the other end of the resistor R42 is connected with the 2A pin of the first CD4081 chip;
The 3A pin of the second CD4001 chip is connected with one end of a resistor R45, and the other end of the resistor R45 is connected with an output signal AR13; the 3B pin of the second CD4001 chip is connected with one end of a resistor R46, the other end of the resistor R46 is connected with an output signal AR14, the 3Y pin of the second CD4001 chip is connected with one end of a resistor R47, and the other end of the resistor R47 is connected with the 1B pin of the first CD4081 chip;
the 4A pin of the second CD4001 chip is connected with one end of a resistor R50, and the other end of the resistor R50 is connected with an output signal AR16; the 4B pin of the second CD4001 chip is connected with one end of a resistor R49, the other end of the resistor R19 is connected with an output signal AR15, the 4Y pin of the second CD4001 chip is connected with one end of a resistor R48, and the other end of the resistor R48 is connected with the 1A pin of the first CD4081 chip;
the 1Y pin of the first CD4081 chip outputs a signal AR4-4 and is connected with the 2A pin of the second CD4081 chip, and the 2Y pin of the first CD4081 chip outputs a signal AR4-3 and is connected with the 2B pin of the second CD4081 chip; the 2Y pin of the second CD4081 chip is connected with the 3A pin of the second CD4081 chip;
the 3Y pin of the first CD4081 chip outputs the signal AR4-2 and is connected with the 1B pin of the second CD4081 chip, and the 4Y pin of the first CD4081 chip outputs the signal AR4-1 and is connected with the 2A pin of the second CD4081 chip; the 1Y pin of the second CD4081 chip is connected with the 3B pin of the second CD4081 chip; the 3Y pin of the second CD4081 chip outputs an AR signal.
As shown in fig. 5, the sixteen-way operation expansion circuit of the servo alarm operation circuit; and when the servo alarm operation circuit is used.
As shown in fig. 6, the servo alarm driving circuit of the present embodiment includes a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R25, a resistor R26, a resistor R27, a diode D1, a diode D2, an NPN transistor Q1, a PNP transistor Q2, +5v voltage regulator, a light emitting diode LED5, a capacitor C3, and a capacitor C7,
one end of the resistor R11 is connected with a direct current +15V voltage, the other end of the resistor R11 is used as an output signal AR of a servo alarm operation circuit, meanwhile, the other end of the resistor R11 is connected with the positive electrode of the diode D1, the negative electrode of the diode D1 is connected with one end of the resistor R12, one end of the resistor R13, one end of the capacitor C3 and the base electrode of the NPN type triode Q1 are grounded, the other end of the resistor R13, the other end of the capacitor C3 and the emitter electrode of the NPN type triode Q1 are grounded, the collector electrode of the NPN type triode Q1 is connected with one end of the resistor R14 and one end of the resistor R15, the other end of the resistor R14 is connected with a direct current +24V voltage, the other end of the resistor R15 is connected with the base electrode of the PNP type triode Q2, the emitter electrode of the PNP type triode Q2 is connected with the direct current +24V voltage, the negative electrode of the triode Q2 is connected with the positive electrode of the diode D2, one end of the diode D2 is connected with the negative electrode of the +5V voltage stabilizing tube, one end of the positive electrode of the capacitor C7 is connected with the positive electrode of the LED 5V voltage stabilizing tube, one end of the positive electrode of the +5V voltage stabilizing tube is grounded, one end of the resistor R25 and the other end of the LED5 is connected with the other end of the LED 26, and the other end of the resistor R26 is connected with the resistor R26, and the other end of the resistor R26 is connected with the output end of the resistor R27 is connected with the output signal R27.
Servo alarm driving circuit of this embodiment
The total output AR of the multi-path servo alarm is sent to the input end of the servo alarm driving circuit, when AR=1 (no alarm exists in the multi-path servo), the base electrode of the Q1 is in a conducting state according to the circuit, so that the Q2 is conducted, and the AR-24V node is connected with a 24V power supply. Otherwise, ar=1 (one or multiple servo alarms exist), Q1 and Q2 are in the off state, and the AR-24V node is disconnected from the 24V power supply.
In the servo alarm driving circuit, the resistor R11 has the functions of a pull-up resistor and a diode D1 to improve the conducting voltage of an AR input end so as to improve the anti-interference capability, the resistor R12 is a current limiting resistor of an NPN triode Q1 base electrode, the resistor R13 is a grounding resistor to ensure that the NPN triode Q1 is well turned off, the capacitor C3 is a decoupling protection capacitor, the resistor R14 has the clamping function to ensure that the PNP triode Q2 is well turned off, the resistor R15 is a current limiting resistor of the PNP triode Q2 base electrode, and the D2 is an anti-reverse diode to protect the Q2.
As shown in FIG. 7, the emergency stop alarm acquisition circuit for acquiring the signal S5 of the external emergency stop button SE1 comprises a capacitor C4, +5V voltage-stabilizing tube, a resistor R16, a resistor R17, a resistor R18 and a light-emitting diode LED2, wherein the negative electrode of the +5V voltage-stabilizing tube is used as the input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage-stabilizing tube is connected with one end of the capacitor C4, the positive electrode of the +5V voltage-stabilizing tube is connected with one end of the resistor R16 and the positive electrode of the light-emitting diode LED2, the negative electrode of the light-emitting diode LED2 is connected with one end of the resistor R17, the other end of the resistor R17 is used as the output end of the emergency stop alarm acquisition circuit, the signal S-S5 is output, meanwhile, the other end of the resistor R17 is connected with one end of the resistor R18, and the other end of the capacitor C4, the other end of the resistor R16 and the other end of the resistor R18 are grounded.
In this embodiment, when the emergency stop alarm, i.e., the external emergency stop button SE1 is turned off, the circuit node S-S5 is in a suspended state because of the resistor R17. When the emergency stop does not alarm, namely SE1 is in a conducting state, S5 is connected with a +24V power supply through an emergency stop button, +24V is divided into a high level input range required by a logic chip through R17 and R18, and S-S5 is in a high level state. The +5V voltage stabilizing tube has the function of improving the input anti-interference capability, R16 is a power resistor, and a current discharging passage is provided for ensuring the stable operation of the voltage stabilizing tubes connected in series.
As shown in FIG. 8, the emergency stop alarm acquisition circuit for acquiring the signal S6 of the external emergency stop button SE1 comprises a capacitor C5, +5V voltage-stabilizing tube, a resistor R19, a resistor R20, a resistor R21 and a light-emitting diode LED3, wherein the negative electrode of the +5V voltage-stabilizing tube is used as the input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage-stabilizing tube is connected with one end of the capacitor C5, the positive electrode of the +5V voltage-stabilizing tube is connected with one end of the resistor R19 and the positive electrode of the light-emitting diode LED3, the negative electrode of the light-emitting diode LED3 is connected with one end of the resistor R20, the other end of the resistor R20 is used as the output end of the emergency stop alarm acquisition circuit, the signal S-S6 is output, meanwhile, the other end of the resistor R20 is connected with one end of the resistor R21, and the other end of the capacitor C5, the other end of the resistor R19 and the other end of the resistor R21 are grounded.
The signal S6 is another scram input, which is identical to the signal S5 and will not be described in further detail.
As shown in fig. 9, the start/stop signal acquisition circuit for acquiring the start/stop signals S1 of the normally open start button SB1 and the normally closed stop button SB2 comprises a capacitor C6, +5v voltage regulator tube, a resistor R22, a resistor R23, a resistor R24 and a light emitting diode LED4, wherein the negative electrode of the +5v voltage regulator tube is used as the input end of the emergency stop alarm acquisition circuit, while the negative electrode of the +5v voltage regulator tube is connected with one end of the capacitor C6, the positive electrode of the +5v voltage regulator tube is connected with one end of the resistor R22 and the positive electrode of the light emitting diode LED4, the negative electrode of the light emitting diode LED4 is connected with one end of the resistor R23, the other end of the resistor R23 is used as the output end of the emergency stop alarm acquisition circuit, and the output signals S-S1 are simultaneously, and the other end of the resistor R23 is connected with one end of the resistor R24, and the other end of the capacitor C6, the other end of the resistor R22 and the other end of the resistor R24 are grounded.
The signal S1 is the robot start/stop signal input, AR-24V is the servo alert drive output already mentioned above.
The emergency stop alarm acquisition circuit for acquiring the signal S5 of the external emergency stop button SE1, the emergency stop alarm acquisition circuit for acquiring the signal S6 of the external emergency stop button SE1, and the start/stop signal acquisition circuit for acquiring the start/stop signals S1 of the normally open start button SB1 and the normally closed stop button SB2 in this embodiment are all the same.
The R17 and R18 resistors in the scram alarm acquisition circuit for acquiring the signal S5 of the external scram button SE1 have the voltage dividing function, so that the voltage of the node S-S5 is matched with the input signal range (R20 and R21, R23 and R24 functions are also realized) of the CD4081 chip, C4, C5 and C6 are decoupling protection capacitors, the +5V voltage stabilizing tube is used for improving the input voltage of the nodes S5, S6 and S1, the anti-interference capability is improved, the resistors R16, R19 and R22 are bleeding resistors, and the stable operation of the +5V voltage stabilizing tube is ensured.
The alarm and start/stop signal operation circuit comprises output signals S-S5 and S-S6 of the two paths of emergency stop alarm acquisition circuits, an output signal S-S1 of the start/stop signal acquisition circuit and an output signal S-AR-24V of the servo alarm driving circuit; the specific operation formula is as follows:
SS= (S-S6 & & S-S5) & & (S-S1 & & S-AR-24V) (equation 2)
Wherein SS represents the output of the alarm and start/stop signal operation circuit;
as can be seen from the formula 2, when the servo alarm and the scram alarm do not exist, the output signal SS of the alarm, start/stop signal operation circuit is in a high level state, and when the servo alarm, the scram alarm or the stop button is pressed, the output signal SS of the alarm, start/stop signal operation circuit is in a low level state;
From this, ss=1 when the robot is operating normally, and ss=0 when the robot is alarming or stopping.
As shown in fig. 10, the alarm and start/stop signal operation circuit in this embodiment includes a CD4081 chip, the GND pin of the CD4081 chip is grounded, the VCC pin of the CD4081 chip is connected to a dc+15v voltage, and simultaneously the VCC pin of the CD4081 chip is connected to one end of a capacitor C11, and the other end of the capacitor C11 is grounded; the 1A pin of the CD4081 chip is connected with the output signal S-S5 of the emergency stop alarm acquisition circuit, the 1B pin of the CD4081 chip is connected with the output signal S-S6 of the emergency stop alarm acquisition circuit, and the 1Y pin of the CD4081 chip is connected with the cathode of the diode D3; the 2A pin of the CD4081 chip is connected with the output signal S-S1 of the starting/stopping signal acquisition circuit, the 2B pin of the CD4081 chip is connected with the output signal S-AR-24V of the output servo alarm driving circuit, and the cathode of the 2Y pin diode D4 of the CD4081 chip;
the positive electrode of the diode D3 and the positive electrode of the diode D4 are used as output ends of the alarm and start/stop signal operation circuit to output a signal SS, and meanwhile, the positive electrode of the diode D3 and the positive electrode of the diode D4 are both connected with one end of a resistor R31, and the other end of the resistor R31 is connected with a direct current +15V voltage.
As shown in fig. 11, the alarm output and start-up self-locking circuit comprises a diode D5, a diode D6, a diode D7, a diode D8, a resistor R29, a resistor R30, a capacitor C8, a capacitor C12, an NPN-type triode Q4 and a relay K1, wherein the positive electrode of the diode D5 is used as the input end of the alarm output and start-up self-locking circuit, the output signal SS of the alarm and start/stop signal computing circuit is connected through the input end, the negative electrode of the diode D5 is connected with the positive electrode of the diode D6, the negative electrode of the diode D6 is connected with the positive electrode of the diode D7, the negative electrode of the diode D7 is connected with one end of the resistor R29, the other end of the resistor R29 is connected with one end of the resistor R30, one end of the capacitor C8 and the base electrode of the NPN-type triode Q4, the other end of the resistor R30 and the emitter electrode of the NPN-type triode Q4 are grounded, one end of the NPN-type triode Q4 is connected with one end of the capacitor C12 and one end of the relay K1, the other end of the capacitor C12 is grounded, and the other end of the relay K1 is connected with the direct current +24v 1, and the two ends of the collector voltage of the relay D8 is connected in parallel to the diode D8 in the opposite direction. One output of the relay K1 is an alarm output signal S11.
In the alarm output and start self-locking circuit of this embodiment, when the start button acts, and there is no servo alarm and emergency stop alarm, then SS is the high level state, and Q4 is the conducting state this moment, thus the coil of K1 relay is in the energized state, and two output terminals of K1 relay are put through, then S11, S9 link to each other at +24V signal respectively, S11 outputs normal working signal, S9 accomplishes the self-locking function. And when the button is stopped or servo or emergency stop alarm occurs, S11 and S9 are respectively disconnected with +24V, and an alarm signal is output outwards and the self-locking is disconnected.
The transistor-based special safety signal control circuit for the multi-joint robot realizes the acquisition and processing of safety signals such as a servo alarm signal, an emergency stop alarm signal, a robot start/stop signal and the like of the multi-axis robot through the transistor. Meanwhile, a driving circuit of the robot motor band-type brake is realized through a power N-channel MOS transistor.
The invention is not related in part to the same as or can be practiced with the prior art.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The transistor-based special safety signal control circuit for the multi-joint robot is characterized by comprising a multi-path servo alarm acquisition circuit for acquiring multi-path servo alarm signals of the multi-joint robot, a servo alarm operation circuit connected with the output of the multi-path servo alarm acquisition circuit and used for performing non-operation on the output signals of the multi-path servo alarm acquisition circuit, a servo alarm driving circuit connected with the output of the servo alarm operation circuit and used for providing alarm driving signals, an alarm and start/stop signal operation circuit connected with the output of the servo alarm driving circuit, an alarm output and start self-locking circuit connected with the output of the alarm and start/stop signal operation circuit, and an alarm output and start self-locking circuit for outputting alarm signals;
the special safety signal control circuit of the multi-joint robot based on the transistor further comprises two external emergency stop buttons SE1 powered by a 24V power supply, signals S5 and S6 of the two external emergency stop buttons SE1 are respectively connected with two emergency stop alarm acquisition circuits for acquiring the external emergency stop buttons SE1, and the outputs of the two emergency stop alarm acquisition circuits are connected with an alarm and start/stop signal operation circuit;
A normally open start button SB1 and a normally closed stop button SB2 which are powered by a 24V power supply and are connected in series are connected in parallel between the normally open start button SB1 and the normally closed stop button SB2, and an alarm output and a normally open button K1A for starting a relay K1 in a self-locking circuit are connected in parallel, and an output signal S9 of the normally open button K1A is output; the start/stop signal S1 of the normally open start button SB1 and the normally closed stop button SB2 is connected to a start/stop signal acquisition circuit, and the output of the start/stop signal acquisition circuit is connected to an alarm and start/stop signal operation circuit.
2. The transistor-based safety signal control circuit for a multi-joint robot of claim 1, further comprising a multi-channel band-type brake circuit for collecting multi-channel motor band-type brake signals of the multi-joint robot; the multi-path band-type brake circuit comprises band-type brake circuits which are in one-to-one correspondence with motor band-type brake signals of the multi-joint robot; the multiple band-type brake circuits are the same; the motor band-type brake signal of the multi-joint robot is set as a motor 1 band-type brake signal BR1, a motor 2 band-type brake signal BR2 and a … … motor N band-type brake signal BRN, wherein N is a positive integer greater than or equal to 1;
the band-type brake circuit comprises a current-limiting resistor R31, a protection resistor R32, a capacitor C9, an optocoupler U3, a voltage-dividing resistor R33, a voltage-dividing resistor R34, +3.9V voltage-stabilizing tube, an anti-interference resistor R35 and an N-channel MOS tube, wherein one end of the current-limiting resistor R31 is connected with +24V, the other end of the current-limiting resistor R31 and a motor band-type brake signal BR1 are simultaneously connected with two inputs of the optocoupler U3, a filter capacitor C9 and a protection resistor R32 are connected in parallel at the input end of the optocoupler U3, and the protection resistor R32 and the filter capacitor C9 are connected in parallel; one of the two outputs of the optical coupler U3 is connected with direct current +24V voltage, the other output is connected with one end of a divider resistor R33 in series, the other end of the divider resistor R33 is connected with one end of a divider resistor R34, the positive electrode of the +3.9V voltage-stabilizing tube and one end of an anti-interference resistor R35, and the other end of the anti-interference resistor R35 is connected with the grid electrode of the N-channel MOS tube; the other end of the divider resistor R34, the negative electrode of the +3.9V voltage stabilizing tube and the source electrode of the N-channel MOS tube are grounded, and the drain electrode of the N-channel MOS tube is connected with the two ends of the band-type brake coil of the motor 1 of the multi-joint robot.
3. The transistor-based safety signal control circuit special for the multi-joint robot according to claim 1, wherein the multi-path servo alarm acquisition circuit comprises servo alarm acquisition circuits which are in one-to-one correspondence with the servo alarm signals of the multi-joint robot, and the plurality of servo alarm acquisition circuits are identical; setting servo alarm signals of the multi-joint robot as a servo 1 alarm signal, a servo 2 alarm signal, a servo 3 alarm signal and a … … servo N alarm signal; n is a positive integer greater than or equal to 1;
the servo alarm acquisition circuit comprises a thermistor PTC1, a current limiting resistor R1, a light emitting diode LED1, a protection resistor R2, an anti-interference capacitor C1 and a TVS diode,
one end of the thermistor PTC1 is used as an input end of the servo alarm acquisition circuit, an alarm signal of the servo 1 is connected to the input end, and meanwhile, one end of the thermistor PTC1 is connected with one end of a TVS diode, and the other end of the TVS diode is grounded; the other end of the thermistor PTC1 is connected with one end of the anti-interference capacitor C1, the negative electrode of the light-emitting diode LED1 and one end of the protection resistor R2 are simultaneously used as output ends of the servo alarm acquisition circuit, and an output signal AR1 of the servo alarm acquisition circuit is output; the other end of the anti-interference capacitor C1 is connected with the anode of the light-emitting diode LED1 and the other end of the protection resistor R2, the cathode of the light-emitting diode LED1 is connected with one end of the current-limiting resistor R1, and the other end of the current-limiting resistor R1 is externally connected with direct current +15V voltage.
4. The transistor-based safety signal control circuit for a multi-joint robot according to claim 1, wherein the servo alarm operation circuit includes performing a nor operation on the output signals (AR 1 to ARN) of the multi-path servo alarm acquisition circuit, and performing an and operation on the nor operation output; the specific operation formula is as follows:
AR= ((AR1+AR2)) & ((AR3+AR4)) & ((ARN-1+ARN)) & ()))) & … … & ((ARN-1+ARN)))
Wherein AR represents the total output of multi-axis servo alarms; AR1, AR 2-ARN are output signals of the servo alarm acquisition circuit;
according to the above formula, when the multi-path servo is in the normal working state, i.e. AR1 to ARN are all low level, ar=1; when there is a servo alarm, i.e., one or more of AR1 to ARN is high, ar=0.
5. The transistor-based safety signal control circuit for the multi-joint robot according to claim 1, wherein the servo alarm driving circuit comprises a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a resistor R25, a resistor R26, a resistor R27, a diode D1, a diode D2, an NPN triode Q1, a PNP triode Q2, +5V voltage regulator, a light emitting diode LED5, a capacitor C3 and a capacitor C7,
One end of the resistor R11 is connected with direct current +15V voltage, the other end of the resistor R11 is used as an output signal AR of a servo alarm operation circuit, meanwhile, the other end of the resistor R11 is connected with the positive electrode of the diode D1, the negative electrode of the diode D1 is connected with one end of the resistor R12, one end of the resistor R13 is connected with one end of the capacitor C3 and the base electrode of the NPN type triode Q1, the other end of the resistor R13, the other end of the capacitor C3 and the emitter electrode of the NPN type triode Q1 are grounded, the collector electrode of the NPN type triode Q1 is connected with one end of the resistor R14 and one end of the resistor R15, the other end of the resistor R14 is connected with direct current +24V voltage, the other end of the resistor R15 is connected with the base electrode of the PNP type triode Q2, the emitter electrode of the triode Q2 is connected with direct current +24V voltage, the collector electrode of the triode Q2 is connected with the positive electrode of the diode D2, the negative electrode of the diode D2 is connected with one end of the negative electrode of the +5V type triode Q1, one end of the positive electrode of the capacitor C7 is connected with the negative electrode of the +5V type triode, one end of the positive electrode of the +5V voltage stabilizing tube is connected with one end of the LED5 and the LED5, the other end of the LED5 is connected with the positive electrode of the LED 26 and the other end of the LED 26 is connected with the other end of the resistor R27, and the other end of the resistor R26 is connected with the other end of the resistor R27.
6. The transistor-based safety signal control circuit special for the multi-joint robot according to claim 1, wherein the scram alarm acquisition circuit for acquiring the signal S5 of the external scram button SE1 comprises a capacitor C4, +5v voltage-stabilizing tube, a resistor R16, a resistor R17, a resistor R18 and a light emitting diode LED2, wherein the negative electrode of the +5v voltage-stabilizing tube is used as the input end of the scram alarm acquisition circuit, the negative electrode of the +5v voltage-stabilizing tube is connected with one end of the capacitor C4, the positive electrode of the +5v voltage-stabilizing tube is connected with one end of the resistor R16 and the positive electrode of the light emitting diode LED2, the negative electrode of the light emitting diode LED2 is connected with one end of the resistor R17, the other end of the resistor R17 is used as the output end of the scram alarm acquisition circuit, the signal S-S5 is output, and the other end of the resistor R17 is connected with one end of the resistor R18, and the other end of the capacitor C4, the resistor R16 and the other end of the resistor R18 are all grounded;
the emergency stop alarm acquisition circuit for acquiring a signal S6 of an external emergency stop button SE1 comprises a capacitor C5, +5V voltage-stabilizing tube, a resistor R19, a resistor R20, a resistor R21 and a light-emitting diode LED3, wherein the negative electrode of the +5V voltage-stabilizing tube is used as an input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage-stabilizing tube is connected with one end of the capacitor C5, the positive electrode of the +5V voltage-stabilizing tube is connected with one end of the resistor R19 and the positive electrode of the light-emitting diode LED3, the negative electrode of the light-emitting diode LED3 is connected with one end of the resistor R20, the other end of the resistor R20 is used as an output end of the emergency stop alarm acquisition circuit, the signal S-S6 is output, and the other end of the resistor R20 is connected with one end of the resistor R21, and the other end of the capacitor C5, the resistor R19 and the other end of the resistor R21 are grounded;
The starting/stopping signal acquisition circuit for acquiring starting/stopping signals S1 of the normally-open starting button SB1 and the normally-closed stopping button SB2 comprises a capacitor C6, +5V voltage stabilizing tube, a resistor R22, a resistor R23, a resistor R24 and a light emitting diode LED4, wherein the negative electrode of the +5V voltage stabilizing tube is used as the input end of the emergency stop alarm acquisition circuit, meanwhile, the negative electrode of the +5V voltage stabilizing tube is connected with one end of the capacitor C6, the positive electrode of the +5V voltage stabilizing tube is connected with one end of the resistor R22 and the positive electrode of the light emitting diode LED4, the negative electrode of the light emitting diode LED4 is connected with one end of the resistor R23, the other end of the resistor R23 is used as the output end of the emergency stop alarm acquisition circuit, the output signals S-S1 are output, meanwhile, the other end of the resistor R23 is connected with one end of the resistor R24, and the other end of the capacitor C6, the other end of the resistor R22 and the other end of the resistor R24 are grounded.
7. The transistor-based safety signal control circuit for the multi-joint robot according to claim 1, wherein the alarm and start/stop signal operation circuit includes an and operation of the output signals S-S5 and S-S6 of the two emergency stop alarm acquisition circuits, the output signal S-S1 of the start/stop signal acquisition circuit and the output signal S-AR-24V of the servo alarm driving circuit; the specific operation formula is as follows:
SS= (S-S6 & & S-S5) & & (S-S1 & & S-AR-24V) (equation 2)
Wherein SS represents the output of the alarm and start/stop signal operation circuit;
as can be seen from the formula 2, when the servo alarm and the scram alarm do not exist, the output signal SS of the alarm, start/stop signal operation circuit is in a high level state, and when the servo alarm, the scram alarm or the stop button is pressed, the output signal SS of the alarm, start/stop signal operation circuit is in a low level state;
from this, ss=1 when the robot is operating normally, and ss=0 when the robot is alarming or stopping.
8. The transistor-based safety signal control circuit for the multi-joint robot according to claim 1, wherein the alarm output and start self-locking circuit comprises a diode D5, a diode D6, a diode D7, a diode D8, a resistor R29, a resistor R30, a capacitor C8, a capacitor C12, an NPN transistor Q4 and a relay K1, the positive electrode of the diode D5 is used as the input end of the alarm output and start self-locking circuit, the output signal SS of the alarm and start/stop signal operation circuit is connected by the input end, the negative electrode of the diode D5 is connected with the positive electrode of the diode D6, the negative electrode of the diode D6 is connected with the positive electrode of the diode D7, the negative electrode of the diode D7 is connected with one end of a resistor R29, the other end of the resistor R29 is connected with one end of the resistor R30, one end of the capacitor C8 and the base electrode of the NPN transistor Q4, the other end of the resistor R30, the other end of the capacitor C8 and the emitter electrode of the NPN transistor Q4 are grounded, one end of the capacitor C12 and one end of the relay K12 of the other end of the NPN transistor Q4 are connected with the other end of the relay K1, and the other end of the resistor Q24 is connected with the other end of the relay K1 in parallel to the voltage of the reverse side of the resistor D1; one output of the relay K1 is an alarm output signal S11.
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