CN108092405A - Electric power controller and robot control system - Google Patents
Electric power controller and robot control system Download PDFInfo
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- CN108092405A CN108092405A CN201711486027.6A CN201711486027A CN108092405A CN 108092405 A CN108092405 A CN 108092405A CN 201711486027 A CN201711486027 A CN 201711486027A CN 108092405 A CN108092405 A CN 108092405A
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- power
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- robot
- alternating current
- electric power
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/08—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The present embodiments relate to robotic technology fields, disclose a kind of electric power controller and robot control system.The device includes being connected with the Switching Power Supply in the power-supply system of robot, and for distributing the output of Switching Power Supply to the power distribution module of several electrical equipments of power-supply system and alternating current monitoring modular and emergency service module；Whether alternating current monitoring modular is normal for detecting the alternating current of access, and when detecting alternating current power down, triggering robot performs power-off operation；The output terminal of Switching Power Supply is also connected with the input terminal of emergency service module, the input terminal of the output terminal connection power distribution module of emergency service module, and emergency service module is used for energy storage, and in alternating current power down, powers to complete power-off operation instead of Switching Power Supply.Using the embodiment of the present application, the axis tenesmus danger that powered-off fault is brought can be not only eliminated, but also with flexible configuration and the electricity consumption situation of electrical equipment can be monitored, improves robot stabilization and security.
Description
Technical field
The present embodiments relate to robotic technology field, more particularly to a kind of electric power controller and control system of robot
System.
Background technology
In recent years, with the propulsion of national 2025 intelligence manufacture plans, the application of industrial robot is just extending to increasingly
More industries, production is also more and more intelligent, and therefore, improving the security of robot system is particularly important.Power-supply system
As the important component of robot system, stability directly affects the work feelings of each board of robots internal system
Condition.
Inventor has found that at least there are the following problems in the prior art：Internal system is generally given each using Switching Power Supply at present
A board is powered, and when overload situations occurs in part board, entire power-supply system is often made to be stopped (to fall
Electricity) or be stopped since mains-supplied problem also results in entire power-supply system, and power down suddenly may result in for example
Axis tenesmus etc. danger, therefore, power-supply system it is above-mentioned deficiency to entire robot system stability and security bring it is hidden
Suffer from.
The content of the invention
Embodiment of the present invention is designed to provide a kind of electric power controller and robot control system, passes through increase
Emergency service module and alternating current monitoring modular, so as to eliminate the danger of the axis brought under system exception power-down conditions tenesmus etc.
The stability and security of entire robot system are improved in danger, meanwhile, the robot control system of embodiment of the present invention may be used also
With the demand flexible configuration according to electrical equipment and the electricity consumption situation of electrical equipment is monitored, further improves the peace of robot system
Quan Xing.
In order to solve the above technical problems, embodiments of the present invention provide a kind of electric power controller, including with machine
Switching Power Supply in the power-supply system of people is connected, and if for distributing the output of the Switching Power Supply to the power-supply system
The power distribution module of dry electrical equipment, the electric power controller further include：Alternating current monitoring modular and emergency service mould
Block；Whether the alternating current monitoring modular is normal for detecting the alternating current of access, and when detecting the alternating current power down, triggers institute
It states robot and performs power-off operation；The output terminal of the Switching Power Supply is also connected with the input terminal of the emergency service module, described
The output terminal of emergency service module connects the input terminal of the power distribution module, and the emergency service module is used for energy storage, and
And in the alternating current power down, power to complete the power-off operation instead of the Switching Power Supply.
Embodiments of the present invention provide a kind of robot control system, including：Robot controller and as above institute
The electric power controller stated；The robot controller is communicated to connect with the electric power controller；The electric power controller
For according to the electricity consumption configuration information that the robot controller provides to each power supply for electrical equipment；The electric power controller is also
Including：It is respectively used to multiple load monitoring modules of the electricity consumption situation of monitoring electrical equipment；The load monitoring module is used to supervise
Whether the electricity consumption situation for surveying each electrical equipment is less than or equal to default electricity consumption threshold value, and is detecting beyond default electricity consumption threshold value
When cut-out power supply.
Embodiment of the present invention in terms of existing technologies, in electric power controller increase alternating current monitoring modular and
Emergency service module, alternating current monitoring modular when detecting alternating current power down, can trigger the power-off operation of robot, and meet an urgent need and supply
Electric module can be used in energy storage, and in alternating current power down, power instead of Switching Power Supply to complete power-off operation, so as to be power supply
System burst power down provides strong safety precautions, can eliminate axis tenesmus brought under system exception power-down conditions etc.
Danger, improve the stability and security of entire robot system；Simultaneously as the control system of robot of the embodiment of the present invention
System can also carry out flexible configuration and monitoring to the electricity consumption situation of electrical equipment, so as to can further improve the safety of robot
Property and stability.
In addition, the emergency service module includes：Energy storage module, charging resistor and the first diode；The electricity that charges
The first end of resistance is connected with the output cathode of the Switching Power Supply, and the second end of the charging resistor connects the energy storage module
Anode, the cathode ground connection of the energy storage module；The anode of first diode connects the anode of the energy storage module, and described the
The cathode of one diode connects the input terminal of the power distribution module.Charging resistor can limit charging current when charging
Size, so as to avoid causing the self-protection of Switching Power Supply due to charging current is excessive.
In addition, the emergency service module further includes：Discharge resistance and discharge switch；The discharge resistance and described
Discharge switch is connected between the positive and negative electrode of the energy storage module；The electric power controller further includes the first control unit；Institute
The control terminal for stating discharge switch connects first control unit；First control unit is used to terminate in the power-off operation
After the discharge switch is controlled to turn on.The extra electricity of storage is bled off by discharge resistance and discharge switch, so as to carry
The security of high power-supply system.
In addition, the emergency service module further includes：Second diode；The output cathode of the Switching Power Supply and described
Anode of the input terminal of power distribution module with second diode is connected, and the cathode of second diode is filled with described
The first end of resistance is connected.When energy storage module discharges, the second diode can prevent charging resistor consumption energy storage module storage
Energy.
In addition, the energy storage module includes：The capacitor storage unit of several concatenations；The capacitor storage unit includes：Storage
It can capacitance and equalizer circuit；The equalizer circuit is connected in parallel on the both ends of the storage capacitor.It can be ensured by equalizer circuit
Voltage on each storage capacitor is more balanced, the voltage on storage capacitor is avoided beyond its pressure voltage, so as to be risen to storage capacitor
To protective effect, be conducive to improve its service life.
In addition, the equalizer circuit includes：The equalizing resistance and reference voltage source of concatenation.
In addition, the alternating current monitoring modular includes：Sequentially connected full bridge rectifier, optical coupling isolation circuit, comparison are electric
Road and the second control unit；The full bridge rectifier is used for the commercial power rectification that will be accessed into DC signal；The direct current
Electric signal is exported after being isolated by the optical coupling isolation circuit to the comparison circuit；The comparison circuit is used for comparative result
It exports to second control unit；Second control unit is used to judge whether the alternating current is different according to the comparative result
Often, and when detecting the alternating current power down, the power-off operation is triggered.
In addition, the load monitoring module includes：Sampling module, smart power switch and the 3rd control unit；It is described
Sampling module and the smart power switch are both connected in the current supply circuit of the electrical equipment；The sampling module is used for
It detects the voltage in the current supply circuit and/or whether electric current is less than or equal to default electricity consumption threshold value, and exceed detecting
The 3rd control unit is reported during default electricity consumption threshold value, the 3rd control unit is used to that the smart power switch to be controlled to break
Open the current supply circuit.So as to delicately detect the overload situations of electrical equipment, the electrical equipment of overload is cut off in time,
Improve the stability and security of entire power-supply system.
In addition, the load monitoring module is additionally operable to the abnormal power information of cut-off electrical equipment reporting the machine
Device people's controller；The robot controller is used for the abnormal power information and/or the power-off operation of the robot
Shutdown information reports platform of internet of things.So that user easily can safeguard robot according to the information reported.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in attached drawing are expressed as similar element, remove
Non- have a special statement, and composition does not limit the figure in attached drawing.
Fig. 1 is the structure diagram of first embodiment electric power controller according to the present invention；
Fig. 2 is the structure diagram of the alternating current monitoring modular of first embodiment electric power controller according to the present invention；
Fig. 3 is the structure diagram of the emergency service module of first embodiment electric power controller according to the present invention；
Fig. 4 is a kind of exemplary circuit knot of the emergency service module of first embodiment electric power controller according to the present invention
Structure schematic diagram；
Fig. 5 is the structure diagram of second embodiment robot control system according to the present invention；
Fig. 6 is the structure diagram of the load monitoring module of second embodiment robot control system according to the present invention；
Fig. 7,8 be second embodiment robot control system according to the present invention load monitoring module a kind of example electricity
The structure diagram on road.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
With many variations based on following embodiment and modification, the application technical solution claimed can also be realized.
The first embodiment of the present invention is related to a kind of electric power controllers.As shown in Figure 1, the power supply pipe of present embodiment
Reason device 1 includes：Power distribution module 10, emergency service module 11 and alternating current monitoring modular 12.Power distribution module 10 with
Switching Power Supply 2 in the power-supply system of robot is connected, and is used for the several of the output distribution of Switching Power Supply 2 to power-supply system
A electrical equipment (such as having N number of electrical equipment such as 1~N).Whether alternating current monitoring modular 12 is normal for detecting the alternating current of access,
And when detecting alternating current power down, triggering robot performs power-off operation.Emergency service module 11 is used for energy storage, and in alternating current
During power down, power to complete power-off operation instead of Switching Power Supply 2.Present embodiment compared with prior art, is filled in power management
Middle increase alternating current monitoring modular and emergency service module are put, alternating current monitoring modular can be triggered when detecting alternating current power down
The power-off operation of robot.The output terminal of Switching Power Supply 2 is also connected with the input terminal of emergency service module 11, emergency service module 11
Output terminal connection power distribution module 10 input terminal, emergency service module 11 is used for energy storage, and in alternating current power down, generation
It is powered for Switching Power Supply 2 so that robot completes power-off operation, so as to provide strong safety for power-supply system burst power down
Safeguard measure can eliminate the danger of the axis tenesmus brought under system exception power-down conditions etc., improve entire robot system
Stability and security.The realization details of the electric power controller of present embodiment is specifically described below, it is interior below
Hold only for convenience of the realization details of offer is understood, not implement the necessary of this programme.
As shown in Figure 1, the alternating current input module 3 in the power-supply system of robot is used for as the power supply pipe in present embodiment
It manages device 1 and Switching Power Supply 2 provides three-phase mains, in some instances, alternating current input module 3 can also provide single-phase city
Electricity.Specifically, Switching Power Supply 2 is used to provide 24V (volt) supply voltage to electric power controller 1, the electricity in electric power controller 1
Source distribution module 10 is used to provide operating voltage to several electrical equipments (such as N number of electrical equipment) of robot.This implementation
In mode, multiple electrical equipments of robot are, for example, servo-driver, robot controller, teaching machine, I/O module, coupler
And fan.Present embodiment is not particularly limited for the electrical equipment of robot.
In present embodiment, alternating current monitoring modular 12 detects for three-phase mains, in some instances, alternating current monitoring modular
12 can be also used for single-phase city's electro-detection or not only be detected for three-phase mains, but also for single-phase city's electro-detection, present embodiment
It is not specifically limited for alternating current monitoring modular 12.As shown in Fig. 2, alternating current monitoring modular 12 includes：Sequentially connected full-bridge is whole
Current circuit 120, optical coupling isolation circuit 121, comparison circuit 122, the second control unit 123 and two-way relay 124.Full-bridge is whole
Current circuit 120 is used to the alternating current (such as three-phase mains) accessed being rectified into DC signal, DC signal by optocoupler every
To comparison circuit 122, comparison circuit 122 is used to export comparative result to the second control unit for output after isolating from circuit 121
123, the second control unit 123 is used to judge whether alternating current is abnormal according to comparative result, and when detecting alternating current power down, triggering
Robot performs power-off operation.Specifically, the second control unit 123 is used for when judging alternating current power down, passes through two-way relay
Device 124 exports the safety return circuit for the security logic plate (not shown) that power down abnormal signal is cut off the power in system, so that machine
People performs power-off operation at once, and robot power-off operation process is well known to those skilled in the art, and details are not described herein again.Specifically
Ground, when three-phase electricity occurs abnormal, the waveform for the DC signal that full bridge rectifier 120 exports can change, optocoupler every
The signal exported from circuit 121 can also change, and then comparison circuit 122 generates the side of certain duty cycle more afterwards
Ripple, the second control unit 123 just can judge the working condition of three-phase electricity according to duty cycle.Wherein, the judgement side of three-phase electricity power down
Method is well known to those skilled in the art, and details are not described herein again.
As shown in figure 3, emergency service module includes：Energy storage module 110, charging resistor R1, the first diode D1 and
Two diode D2.The anode of the anode connection energy storage module 110 of first diode D1, the cathode connection power supply of the first diode D1
The input terminal of distribution module 10, the output terminal connection electrical equipment of power distribution module 10.The anode connection of second diode D2
The output cathode of Switching Power Supply 2 and the input terminal of power distribution module 10, the cathode connection charging resistor of the second diode D2
The first end of R1, the anode of the second end connection energy storage module 110 of charging resistor R1, the cathode ground connection of energy storage module 110.Its
In, the second diode D2 can prevent the energy of 110 storage of charging resistor R1 consumption energy storage module when energy storage module 110 discharges
Amount since the energy of charging resistor R1 consumption is very small compared with electrical equipment, can be ignored, so in some examples substantially
In, the second diode D2 can also be saved in emergency service module.
In some instances, emergency service module can also include：3rd diode D3.3rd diode D3 is connected to out
Between the anode of the output cathode in powered-down source 2 and the second diode D2, the 3rd diode D3 can be when wiring be reversed, to switch
Power supply 2 plays a protective role.In some instances, emergency service module can also include：Discharge resistance R2 and discharge switch
K1.Discharge resistance R2 and discharge switch K1 are connected between the positive and negative electrode of energy storage module 110, and electric power controller further includes
First control unit, the control terminal of discharge switch K1 connect the first control unit, and the first control unit is used in power-off operation knot
Discharge switch K1 conductings are controlled after beam, so as to discharge the residual charge in energy storage module 110.Present embodiment pair
It is not particularly limited in the structure of emergency service module.In practical applications, the first control unit and the second control unit can be with
A control unit is merged into, and is realized using MCU (micro-control unit), present embodiment does not limit specifically for control unit
System.
The operation principle for power supply module of meeting an urgent need is described as follows below：Energy storage module 110 is emergency service module
Energy storage section, at the beginning of powering on, by the 24V supply voltages that Switching Power Supply 2 provides by the 3rd diode D3, the second diode D2 with
And charging resistor R1 charges for energy storage module 110, charging resistor R1 can also play the role of limiting the size of charging current, when
When being charged to certain voltage value, energy storage module 110 is full of, at this point, energy storage module 110 can be as the standby electricity of power-supply system
Source uses.When power down occurs, energy storage module 110 can discharge electric energy, be supplied instead of Switching Power Supply 2 for each electrical equipment
Electricity, to ensure that robot can have time enough to complete necessary data preservation and the work of motor internal contracting brake etc., the first control
It singly can be also used for after the completion of shutdown, control discharge switch K1 conductings, so that the remaining capacity in energy storage module 110 is slow
Slow release is bled off.Wherein, Switching Power Supply 2, the 3rd diode D3,110 structure of the second diode D2, charging resistor R1 and energy storage module
Into charge circuit.First diode D1, energy storage module 110 and electrical equipment form the electric discharge current supply circuit of energy storage module 110.
Energy storage module 110, discharge resistance R2 and discharge switch K1 form the remaining discharge of electricity circuit of energy storage module.
As shown in figure 4, energy storage module includes：The capacitor storage unit of several concatenations, capacitor storage unit include：Energy storage electricity
Appearance and equalizer circuit.Equalizer circuit is connected in parallel on the both ends of storage capacitor.Equalizer circuit includes：The equalizing resistance and base of concatenation
Reference voltage source.By taking one of capacitor storage unit as an example, including：First storage capacitor C1, the first equalizing resistance R3 and base
Reference voltage source U1, wherein the first equalizing resistance R3 is connected in parallel on the both ends of the first storage capacitor C1 after connecting with reference voltage source U1.
For the supply voltage switch of 24V, present embodiment choose single storage capacitor (such as:C1~C12) pressure voltage
For 2.7V, therefore 9 storage capacitors that at least need to connect could meet supply voltage requirement, it is contemplated that emergency service module 11
Voltage need to have certain allowance, and present embodiment selects 12 storage capacitors to connect, then pressure voltage can be improved to 32.4V.
Present embodiment for each storage capacitor by configuring equalizer circuit, so that the voltage of each storage capacitor is substantially balanced.It is logical
It crosses after pressing setting, the voltage substantially 2V that each storage capacitor is born.In present embodiment, each storage capacitor can select appearance
It is worth for the capacitance of 2.5F (method), present embodiment is not specifically limited for storage capacitor.
Backup power supply module of the emergency service module as a robot, at the beginning of powering on, electric power controller access is opened
The 24V power supplys that powered-down source provides, by series connection second and the 3rd diode (D2, D3) and charging resistor R1 to energy storage module
It charges, while the first control unit exports a control signal, the line of control normally closed relay RL4 (i.e. discharge switch K1)
Circle works on power, and disconnects the output of relay, so as to mitigate the load of Switching Power Supply in charging process.Due to second and
The presence of 3rd diode when energy storage module charges to 23V or so, is just completed to charge.
When power down occurs for the 24V of Switching Power Supply or three-phase mains, emergency service module is directly cut as backup power supply
It changes over and provides power supply for the electrical equipment of robot.And the second control unit then notifies machine when detecting power-off signal at once
Device people execution power-off operation (such as carry out corresponding data and preserve work, and band-type brake etc. is carried out to motor.).Complete power-off operation
Afterwards, the first control unit can export a control signal driving normally closed relay RL4 coil not work after preset time is postponed
Make, so that discharge resistance R2 is parallel to the both ends of energy storage module, accelerate the electric discharge of energy storage module, to ensure safety.
Present embodiment in terms of existing technologies, increases alternating current monitoring modular and is met an urgent need in electric power controller
Power supply module, alternating current monitoring modular when detecting alternating current power down, can trigger the power-off operation of robot, and emergency service mould
Block then can be used for energy storage, and in alternating current power down, power instead of Switching Power Supply to complete power-off operation, so as to be power supply system
System burst power down provides strong safety precautions, can eliminate the axis tenesmus brought under system exception power-down conditions etc.
Danger improves the stability and security of entire robot system.
Second embodiment of the present invention is related to a kind of robot control system, including robot controller and such as first
Electric power controller described in embodiment.
It refers to shown in Fig. 5, the robot control system of present embodiment includes：Electric power controller 1 and robot
Controller.Wherein, robot controller is an electrical equipment of electric power controller 1.Robot controller and power management
Device 1 communicates to connect.Specifically, robot controller can be connected with electric power controller 1 by RS-485 bus communications, this
Embodiment is not restricted for the specific communication mode of robot controller and electric power controller 1.Wherein, power management fills
MCU (micro-control unit) realizations may be employed in the first control unit and the second control unit in putting, and MCU can be used for being responsible for
It communicates with robot controller.
In present embodiment, the electricity consumption configuration information that electric power controller is used to be provided according to robot controller is to each use
Electric equipment is powered, and specifically, robot controller by electricity consumption configuration information by RS-485 buses for example for being transmitted to power supply
Managing device, the power distribution module 10 in electric power controller are configurable hardware power distribution module, i.e. power distribution
Module is used for according to electricity consumption configuration information to each power supply for electrical equipment.Wherein, electricity consumption configuration information is, for example, each electrical equipment
Maximum operating currenbt, present embodiment are not particularly limited for electricity consumption configuration information.Electricity consumption configuration information can pass through machine
The user interface or interface of people's control system are inputted to robot controller, can also pass through wireless network remote transmission
To robot controller, present embodiment is not specifically limited for the acquisition modes of electricity consumption configuration information.
The electric power controller 1 of present embodiment further includes the multiple of electricity consumption situation for being respectively used to monitoring electrical equipment and bears
Monitoring module 13 is carried, the number of load monitoring module can be determined according to the number of electrical equipment, in practical applications, load prison
The number for controlling module can be identical with the number of electrical equipment, is that each electrical equipment sets corresponding load monitoring module,
The number of load monitoring module can also be less than the number of electrical equipment, as overload the larger electrical equipment of risk and set correspondence
Load monitoring module, present embodiment is not particularly limited for the number of load monitoring module.Each load monitoring module 13
For monitoring whether the electricity consumption situation of corresponding electrical equipment is less than or equal to default electricity consumption threshold value, and detecting beyond pre-
If power supply is cut off during electricity consumption threshold value.
It is noted that in some instances, load monitoring module 13 is additionally operable to the different of cut-off electrical equipment
Common power information reports robot controller, and robot controller is used to grasp the shutdown of abnormal power information and/or robot
The shutdown information of work reports platform of internet of things 6.Specifically, abnormal power information for example including cut-off electrical equipment most
Big operating current, present embodiment are not particularly limited for abnormal power information.The shutdown information of robot can be used for instead
The operating status of robot when reflecting shutdown, the shutdown information of the power-off operation of robot for example including：The operating shaft of robot
Location information etc., so that maintenance personnel can be convenient according to the multiplexing electric abnormality information and/or shutdown information that robot reports
Robot is safeguarded on ground.Certainly, in practical applications, platform of internet of things can also be to the mobile terminal active of maintenance personnel
Above-mentioned shutdown information or multiplexing electric abnormality information are pushed, is safeguarded so as to easily facilitate maintenance personnel.
As shown in fig. 6, load monitoring module 13 includes：Sampling module 130, smart power switch 131 and the 3rd control
Unit 132.Sampling module 130 and smart power switch 131 are both connected in the current supply circuit of electrical equipment, that is, are connected to electricity
In each road current supply circuit of source distribution module.Sampling module 130 is used to detect voltage in current supply circuit and/or whether electric current is small
In or equal to default electricity consumption threshold value, and the 3rd control unit 132, the 3rd control are reported when detecting beyond default electricity consumption threshold value
Unit 132 processed is used to that smart power switch 131 to be controlled to disconnect current supply circuit.In one example, the 3rd control unit 132 is also used
In the abnormal power information for the electrical equipment being cut off is reported robot controller.Default electricity consumption threshold value is, for example, that each electricity consumption is set
Standby maximum current, i.e., when the electric current of electrical equipment exceeds maximum current, load monitoring module automatically cuts off the electricity consumption and sets
Standby power supply, and the abnormal power information of the electrical equipment is fed back into robot controller, then should by robot controller
Abnormal power information feeds back to platform of internet of things, and the mobile terminal device of maintenance personnel can be uniformly distributed to by platform of internet of things
On.
As shown in Figure 7, Figure 8, it is a kind of exemplary construction of load monitoring module 13.Load monitoring module 13 uses power supply pipe
The 24V operating voltages that the power distribution module of device provides are managed, sampling module specifically includes sampling resistor R15, optocoupler U2, compares
Device U4, smart power switch use switch chip U3.Wherein, the first end connection 24V output terminals of sampling resistor R5, second end connect
The input terminal of switch chip U3 is connect, optocoupler U2 is in parallel with sampling resistor R5, and the output terminal of switch chip U3 is used for as electrical equipment
Operating voltage is provided, the control terminal of switch chip U3 connects the 3rd control unit.In this way, the power distribution mould of electric power controller
The 24V of block input controls the 24V of electrical equipment to export by the sampling resistor R15 and switch chip U3 of series connection.Nominal operation feelings
Under condition, the electric current of electrical equipment (i.e. board) consumption is all little, and the pressure drop at R15 both ends is also smaller.Because operating not during use
When or the reasons such as board aging, when causing short circuit or overload, the current supply circuit electric current of board increases, the pressure drop at R15 both ends
Increase immediately, the primary of optocoupler U2 in parallel turns on due to the increase of input current therewith, passes through certain transfer ratio, optocoupler U3
Secondary export certain electric current, then, the pressure drop INA at R16 both ends is consequently increased, when INA is more than predetermined threshold value, comparator
U4 exports a high level INB, this high level INB is after conversion, and inputing to the 3rd control unit, (the 3rd control unit can be with
For foregoing MCU), the high level INB signals that MCU is exported according to comparator U4 are judged as overloading, and then export a shut-off letter
Number, by level conversion into signal INC, so as to driving switch chip U3 shut-off outputs.Wherein, predetermined threshold value can be according to specific
Ground electrical equipment determines.For example, the predetermined threshold value of servo-driver can be 5A, that is, it is supplied to the maximum current of servo-driver
No more than 5A, present embodiment is not specifically limited for predetermined threshold value.Those skilled in the art can also be to load monitoring
Module makes various modifications, and present embodiment is not restricted for the structure of load monitoring module.Present embodiment passes through to electricity
The monitoring of stream and/or voltage can be very good to ensure to distribute to the power work of each electrical equipment within the scope of defined,
So as to avoid situation of some electrical equipment because influencing other electrical equipments during overload.
It is noted that electric power controller can also include Switching Power Supply detection module (not shown), Switching Power Supply
Whether detection module is abnormal for the output of detection switch power supply, and switch is disconnected when detecting the output abnormality of Switching Power Supply
Power supply, so as to prevent Switching Power Supply from extremely electrical equipment being caused to be damaged.Switching Power Supply detection module is for detection switch electricity
Within a preset range whether, specifically, output voltage is abnormal during abnormity of power supply, often causes to export for the output voltage in source
Pressure is under-voltage.It is divided by resistance, then respectively compared with over-pressed a reference value and under-voltage a reference value, result of the comparison
Input to MCU, can detection switch power supply voltage whether within normal range (NR).Those skilled in the art may be employed ripe
The mode known realizes Switching Power Supply detection module, and present embodiment is not specifically limited it.
Compared with prior art, electric power controller can be provided actively present embodiment when detecting alternating current power down
Emergency service so as to provide strong safety precautions for power-supply system burst power down, can eliminate system exception power down
In the case of the axis tenesmus that brings etc. danger, improve the stability and security of entire robot system.Meanwhile robot controls
System can also carry out the electricity consumption of electrical equipment flexible configuration, and monitor the electricity consumption situation of electrical equipment in real time, cut off electric current
More than the power supply of the electrical equipment of default maximum current, so as to further improve the security of robot control system electricity consumption,
Also, robot control system can also report its abnormal power information and shutdown information etc., so as to be carried out for maintenance personnel
It safeguards and facility is provided.
It is noted that each module involved in present embodiment is logic module, and in practical applications, one
A logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude the innovative part of the present invention, it will not be with solving institute of the present invention in present embodiment
The technical issues of proposition, the less close unit of relation introduced, but this is not intended that in present embodiment that there is no other single
Member.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of electric power controller is connected including the Switching Power Supply in the power-supply system with robot, and for being opened described
The output in powered-down source is distributed to the power distribution module of several electrical equipments of the power-supply system, which is characterized in that described
Electric power controller further includes：Alternating current monitoring modular and emergency service module；
Whether the alternating current monitoring modular is normal for detecting the alternating current of access, and when detecting the alternating current power down, triggering
The robot performs power-off operation；
The output terminal of the Switching Power Supply is also connected with the input terminal of the emergency service module, the output of the emergency service module
End connects the input terminal of the power distribution module, and the emergency service module is used for energy storage, and in the alternating current power down,
It powers to complete the power-off operation instead of the Switching Power Supply.
2. electric power controller according to claim 1, which is characterized in that the emergency service module includes：Energy storage mould
Group, charging resistor and the first diode；
The first end of the charging resistor is connected with the output cathode of the Switching Power Supply, the second end connection of the charging resistor
The anode of the energy storage module, the cathode ground connection of the energy storage module；
The anode of first diode connects the anode of the energy storage module, and the cathode of first diode connects the electricity
The input terminal of source distribution module.
3. electric power controller according to claim 2, which is characterized in that the emergency service module further includes：Electric discharge
Resistance and discharge switch；
The discharge resistance and the discharge switch are connected between the positive and negative electrode of the energy storage module；
The electric power controller further includes the first control unit；
The control terminal of the discharge switch connects first control unit；
First control unit is used to that the discharge switch to be controlled to turn on after the power-off operation.
4. electric power controller according to claim 2, which is characterized in that the emergency service module further includes：Second
Diode；
The output cathode of the Switching Power Supply and the input terminal of the power distribution module with second diode just
Extremely it is connected, the cathode of second diode is connected with the first end of the charging resistor.
5. electric power controller according to claim 2, which is characterized in that the energy storage module includes：Several concatenations
Capacitor storage unit；
The capacitor storage unit includes：Storage capacitor and equalizer circuit；
The equalizer circuit is connected in parallel on the both ends of the storage capacitor.
6. electric power controller according to claim 5, which is characterized in that the equalizer circuit includes：The pressure of concatenation
Resistance and reference voltage source.
7. electric power controller according to claim 1, which is characterized in that the alternating current monitoring modular includes：Connect successively
Full bridge rectifier, optical coupling isolation circuit, comparison circuit and the second control unit connect；
The full bridge rectifier is used for the commercial power rectification that will be accessed into DC signal；
The DC signal is exported after being isolated by the optical coupling isolation circuit to the comparison circuit；
The comparison circuit is used to export comparative result to second control unit；
Second control unit is used to judge whether the alternating current is abnormal according to the comparative result, and is detecting the city
During electric power down, the power-off operation is triggered.
8. a kind of robot control system, which is characterized in that including：It is any in robot controller and such as claim 1 to 7
Electric power controller described in；
The robot controller is communicated to connect with the electric power controller；
The electric power controller is used to be supplied to each electrical equipment according to the electricity consumption configuration information that the robot controller provides
Electricity；
The electric power controller further includes：It is respectively used to multiple load monitoring modules of the electricity consumption situation of monitoring electrical equipment；
Whether the electricity consumption situation that the load monitoring module is used to monitor each electrical equipment is less than or equal to default electricity consumption threshold value,
And the cut-out power supply when detecting beyond default electricity consumption threshold value.
9. robot control system according to claim 8, which is characterized in that
The load monitoring module includes：Sampling module, smart power switch and the 3rd control unit；
The sampling module and the smart power switch are both connected in the current supply circuit of the electrical equipment；
Whether the voltage and/or electric current that the sampling module is used to detect in the current supply circuit are less than or equal to default electricity consumption
Threshold value, and the 3rd control unit is reported when detecting beyond default electricity consumption threshold value, the 3rd control unit is used to control
It makes the smart power switch and disconnects the current supply circuit.
10. robot control system according to claim 8, which is characterized in that the load monitoring module be additionally operable to by
The abnormal power information of cut-off electrical equipment reports the robot controller；
The robot controller is used for the shutdown information of the power-off operation by the abnormal power information and/or the robot
Report platform of internet of things.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711486027.6A CN108092405A (en) | 2017-12-29 | 2017-12-29 | Electric power controller and robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486027.6A CN108092405A (en) | 2017-12-29 | 2017-12-29 | Electric power controller and robot control system |
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| CN201711486027.6A Pending CN108092405A (en) | 2017-12-29 | 2017-12-29 | Electric power controller and robot control system |
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Cited By (9)
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| CN109831022A (en) * | 2019-03-21 | 2019-05-31 | 上海采日能源科技有限公司 | Electric power management circuit and power supply system |
| CN109822620A (en) * | 2019-03-05 | 2019-05-31 | 北京海益同展信息科技有限公司 | A kind of robot device and control method |
| CN110932384A (en) * | 2019-12-16 | 2020-03-27 | 珠海格力电器股份有限公司 | Power supply management system and method and robot |
| CN111650494A (en) * | 2020-05-27 | 2020-09-11 | 上海新时达电气股份有限公司 | Safety loop detection device and detection method thereof |
| CN111697683A (en) * | 2020-06-10 | 2020-09-22 | 杭州凯尔达机器人科技股份有限公司 | Power supply with power-off protection function |
| CN112186879A (en) * | 2020-09-08 | 2021-01-05 | 杭州迪普信息技术有限公司 | Power-off control system |
| CN112615424A (en) * | 2020-12-25 | 2021-04-06 | 南京工业职业技术大学 | Temporary power supply state monitoring system and method |
| CN113675815A (en) * | 2021-08-25 | 2021-11-19 | 深圳市杰芯创电子科技有限公司 | Power supply management system and method |
| CN115864605A (en) * | 2023-02-08 | 2023-03-28 | 广州里工实业有限公司 | Power distribution device and method for mobile robot, robot and medium |
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| CN113675815A (en) * | 2021-08-25 | 2021-11-19 | 深圳市杰芯创电子科技有限公司 | Power supply management system and method |
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