CN109888759B - Robot braking protection circuit - Google Patents
Robot braking protection circuit Download PDFInfo
- Publication number
- CN109888759B CN109888759B CN201910149462.2A CN201910149462A CN109888759B CN 109888759 B CN109888759 B CN 109888759B CN 201910149462 A CN201910149462 A CN 201910149462A CN 109888759 B CN109888759 B CN 109888759B
- Authority
- CN
- China
- Prior art keywords
- resistor
- pin
- module
- diode
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Emergency Protection Circuit Devices (AREA)
Abstract
The invention discloses a robot brake protection circuit which comprises a voltage monitoring unit, a control unit and a discharging unit, wherein the voltage monitoring unit comprises a high-voltage monitoring module and a low-voltage monitoring module, the control unit comprises an MOS (metal oxide semiconductor) tube driving module and a clock module, and the discharging unit comprises a discharging module and a fan; the high-voltage monitoring module is connected with the clock module, the low-voltage monitoring module is connected with the discharging module, the MOS tube driving module is connected with the clock module, the MOS tube driving module is also connected with the discharging module, and the discharging module is connected with the fan; the invention has the advantages of monitoring the high voltage and the low voltage of the power supply in real time and avoiding the damage of high-voltage pulse to equipment.
Description
Technical Field
The invention relates to the technical field of robot brake protection, in particular to a robot brake protection circuit.
Background
The brake protection circuit of the traditional industrial robot is generally completed by a servo driver, the design of a robot manufacturer is not needed, the brake protection circuit is realized only by connecting a high-power brake resistor externally through the servo driver, and a cooperative robot generally packages a servo drive, a motor, an encoder and the like into a shutdown module which is arranged on a robot arm, so that the shutdown module is short in space and limited in space layout, and a brake protection function module is required to be arranged in a control cabinet; the traditional industrial robot driver is internally provided with a CPU module, a part of resources can be allocated for brake protection, and the control scheme is flexible, but some defects exist, such as only monitoring current and incapability of avoiding damage of high-voltage pulse to equipment; the discharge resistor has large resistance value and small discharge current, and the equipment is always discharged after being electrified.
Disclosure of Invention
The invention aims to solve the technical problem that a robot brake protection circuit in the prior art cannot avoid the damage of high-voltage pulses to equipment.
The invention solves the technical problems through the following technical scheme: a robot brake protection circuit comprises a voltage monitoring unit, a control unit and a discharging unit, wherein the voltage monitoring unit comprises a high-voltage monitoring module and a low-voltage monitoring module, the control unit comprises an MOS (metal oxide semiconductor) tube driving module and a clock module, and the discharging unit comprises a discharging module and a fan; the high-voltage monitoring module is connected with the clock module, the low-voltage monitoring module is connected with the discharging module, the MOS tube driving module is connected with the clock module, the MOS tube driving module is further connected with the discharging module, and the discharging module is connected with the fan. This application is integrated in the module of an organic whole, generates heat and concentrates very, through reasonable spatial layout, integrates in an organic whole with the fan, and the heat is taken away to the very first time, avoids polluting the control unit of switch board, and does not have CPU's participation, adopts the realization of hardware module completely, compares more traditional industrial robot, and the reaction is faster. The resistance value of the discharge resistor is small, the device cannot discharge all the time after being electrified, only when the power supply voltage exceeds the set safe voltage, the discharge module works, the discharge resistor discharges, the power supply voltage value is limited to be at the safe value, the power supply is powered off, the voltage drops to the set threshold value, and the electric quantity release of the system device is accelerated.
Preferably, the high-voltage monitoring module comprises a diode D1, a resistor R1, a resistor R2, a triode Q1 and a resistor R3, wherein a cathode of the diode D1 is connected with a monitoring target, and the monitoring target voltage is V1; the anode of the diode D1 is grounded through the resistor R1 and the resistor R2 in sequence, the base of the triode Q1 is connected to the connection line between the resistor R1 and the resistor R2, and the emitter of the triode Q1 is grounded; one end of the resistor R3 is connected with a power supply VDD, and the other end is connected with the collector of the triode Q1 and the clock module. The diode D1, the resistor R1, and the resistor R2 form a voltage divider, the transistor Q1 is a transistor switch, and the resistor R3 is an output pull-up resistor. When the monitored target voltage V1 exceeds the safety voltage, the voltage difference Vbe between the base electrode and the emitter electrode of the triode Q1 is increased and is larger than the starting voltage, the triode Q1 is conducted, a low-level enabling signal is output, and otherwise, the output keeps a high level all the time.
Preferably, the low-voltage monitoring module includes a diode D2, a resistor R4, a resistor R5, a capacitor C1, a triode Q2, an LED lamp D3, a resistor R6, a diode D4, and a diode D5, a negative electrode of the diode D2 is connected to the monitoring target, a monitoring target voltage is V1, a positive electrode of the diode D2 is grounded through the resistor R4 and the resistor R5 in sequence, and a base of the triode Q2 is connected to a connection line between the resistor R4 and the resistor R5; one end of the capacitor C1 is connected with the base of the triode Q2, and the other end is connected with the grounding end of the resistor R5; the emitting electrode of the triode Q2 is connected with the positive electrode of the LED lamp D3, and the negative electrode of the LED lamp D3 is grounded; the collector of the triode Q2 is connected with one end of the resistor R6, and the other end of the resistor R6 is connected with the cathode of the diode D2; the cathode of the diode D4 is connected to one end of the resistor R6 and the discharge module, the anode of the diode D4 is connected to the cathode of the diode D5, and the anode of the diode D5 is grounded. When the monitored target voltage V1 is higher than the set low voltage, the difference Vbe between the base voltage of the triode Q2 and the emitter voltage is larger than the starting voltage, the triode Q2 is conducted, the LED lamp D3 is bright, the output signal voltage is approximately equal to the voltage drop of two ends of the LED lamp D3, when the monitored target voltage V1 is lower than the set low voltage, the difference Vbe between the base voltage of the triode Q2 and the emitter voltage is smaller than the starting voltage, the triode Q2 is cut off, the monitored target voltage V1 forms a loop through a resistor R6, a diode D4 and a diode D5, and the output signal voltage is the sum of the voltage stabilizing values of the diode D4 and the diode D5.
Preferably, the clock module includes a schmitt trigger U1, a capacitor C2, a capacitor C3 and a resistor R7, a first pin and a second pin of the schmitt trigger U1 are both connected to the other end of the resistor R3, a third pin of the schmitt trigger U1 is connected to the MOS transistor driving module, a fourth pin of the schmitt trigger U1 is connected to a ninth pin thereof, one end of the resistor R7 is connected to a fourth pin of the schmitt trigger U1, and the other end of the resistor R7 is grounded through the capacitor C3; a fifth pin of the Schmitt trigger U1 is connected with a power supply VDD, a sixth pin is connected with the other end of the resistor R7, a seventh pin is grounded, and an eighth pin is connected with the power supply VDD; a tenth pin of the schmitt trigger U1 is connected to the MOS transistor driving module, a fourteenth pin of the schmitt trigger U1 is connected to one end of the capacitor C2, one end of the capacitor C2 is connected to a power supply VDD, and the other end is grounded. One NAND gate of the Schmitt trigger U1, a resistor R7 and a capacitor C3 form an oscillating circuit to generate a clock with fixed frequency to the MOS tube driving module.
Preferably, the Schmitt trigger U1 is HEF4093 BT.
Preferably, the MOS transistor driving module includes a shift register U2, a capacitor C4, and eight push-pull circuits, namely, a first push-pull circuit to an eighth push-pull circuit, a sixteenth pin of the shift register U2 is connected to one end of the capacitor C4, one end of the capacitor C4 is connected to a power supply VDD, and the other end is grounded; the sixth pin, the eighth pin and the fourteenth pin of the shift register U2 are all grounded; the first pin and the ninth pin of the shift register U2 are both connected with the tenth pin of the Schmitt trigger U1; a fifteenth pin of the shift register U2 is connected with a third pin of the Schmitt trigger U1; the first push-pull circuit to the eighth push-pull circuit are respectively connected with a thirteenth pin, a twelfth pin, an eleventh pin, a second pin, a fifth pin, a fourth pin, a third pin and a tenth pin of the shift register U2. The shift register U2 is a dual serial-in parallel-out four-bit shift register, the clock source is the clock generated by the clock module, the output signal of the high-voltage monitoring circuit is sampled and sequentially output by the clock frequency, when the low-level effective discharge enable signal is adopted, 8 paths of IO output sequentially output high levels by the clock frequency, and the IO state is updated continuously and regularly.
Preferably, the model of the shift register U2 is HEF4015 BT.
Preferably, each of the push-pull circuits is formed by two triodes, the first push-pull circuit includes a triode Q3 and a triode Q4, bases of the triode Q3 and the triode Q4 are both connected with a thirteenth pin of the shift register U2, a collector of the triode Q3 is connected with a power supply VDD, an emitter of the triode Q3 is respectively connected with the emitter of the triode Q4 and the discharge module, and the collector of the triode Q4 is grounded. The push-pull circuit improves the driving capability.
Preferably, the discharge module includes nine discharge circuits, that is, a first discharge circuit to a ninth discharge circuit, the first discharge circuit is connected to the low-voltage monitoring module, the second discharge circuit to the ninth discharge circuit are respectively connected to the first push-pull circuit to the eighth push-pull circuit, and the first discharge circuit to the ninth discharge circuit are all connected to the monitoring target.
Preferably, each discharge circuit comprises an MOS transistor, two resistors and two diodes; the first discharge circuit comprises a MOS tube Q19, a resistor R8, a resistor R9, a diode D6 and an LED lamp D7, wherein the grid of the MOS tube Q19 is connected with the negative electrode of the diode D4, the source of the MOS tube Q19 is grounded, the drain of the MOS tube Q19 is respectively connected with the positive electrode of the diode D6 and one end of the resistor R9, the negative electrode of the LED lamp D7 is connected with one end of the resistor R9, the other end of the resistor R9 is connected with the monitoring target, the positive electrode of the LED lamp D7 is connected with one end of the resistor R8, the negative electrode of the diode D6 is connected with the other end of the resistor R8, and the other end of the resistor R8 is connected with the monitoring target; the second discharge circuit comprises a MOS tube Q20, a resistor R10, a resistor R11, a diode D8 and an LED lamp D9, and is different from the first discharge circuit in that the grid electrode of the MOS tube Q20 of the second discharge circuit is connected with the emission of the triode Q3. The discharging module comprises multichannel discharge circuit and fan, and the fan is used for accelerating discharge resistance heat dissipation, can reduce discharge circuit quantity according to actual need, and resistance R9 is high-power cement resistance, and one end connects the monitoring target power cord, and the other end receives MOS pipe Q19 control. When the voltage monitoring unit monitors that the voltage is too high or too low, the gate voltage MOS _ Driver1 of the MOS tube Q19 is high level VDD, the MOS tube Q19 works in a constant current region, the MOS tube Q19 is turned on, the resistor R9 consumes energy, and the LED lamp D7 is on. The monitoring target voltage V1 is in a normal range, the MOS transistor Q19 is in a pinch-off region, and the monitoring target voltage V1 is disconnected to the ground.
Compared with the prior art, the invention has the following advantages:
(1) the voltage monitoring unit is provided for monitoring the high voltage and the low voltage of the power supply in real time, when the power supply voltage exceeds a set safe voltage, the discharging module works, the discharging resistor discharges, the power supply voltage value is limited to be at a safe value, the power supply is powered off, the voltage drops to a set threshold value, the electric quantity release of system equipment is accelerated, and the damage of high-voltage pulses to the equipment is avoided.
(2) The discharge unit based on MOS tube control is provided, the resistance value of the discharge resistor is small, the device cannot discharge all the time after being electrified, and the discharge module works only when the power supply voltage exceeds the set safe voltage.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.
Fig. 1 is a block diagram of a brake protection circuit of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic circuit diagram of a high voltage monitoring module of a robot brake protection circuit according to an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a low voltage monitoring module of a robot brake protection circuit according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a clock module of a robot brake protection circuit according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram of an MOS transistor driving module of a robot brake protection circuit according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram of a discharging module of a robot brake protection circuit according to an embodiment of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1, a robot brake protection circuit includes a voltage monitoring unit, a control unit and a discharging unit, wherein the voltage monitoring unit includes a high voltage monitoring module and a low voltage monitoring module, the control unit includes an MOS transistor driving module and a clock module, and the discharging unit includes a discharging module and a fan; the high-voltage monitoring module is connected with the clock module, the low-voltage monitoring module is connected with the discharging module, the MOS tube driving module is connected with the clock module, the MOS tube driving module is further connected with the discharging module, and the discharging module is connected with the fan.
As shown in fig. 2, the high voltage monitoring module includes a diode D1, a resistor R1, a resistor R2, a transistor Q1, and a resistor R3, a negative electrode of the diode D1 is connected to a monitoring target, and a monitoring target voltage is V1; the anode of the diode D1 is grounded through the resistor R1 and the resistor R2 in sequence, the base of the triode Q1 is connected to the connection line between the resistor R1 and the resistor R2, and the emitter of the triode Q1 is grounded; one end of the resistor R3 is connected with a power supply VDD, and the other end is connected with the collector of the triode Q1.
As shown in fig. 3, the low voltage monitoring module includes a diode D2, a resistor R4, a resistor R5, a capacitor C1, a transistor Q2, an LED lamp D3, a resistor R6, a diode D4, and a diode D5, a cathode of the diode D2 is connected to the monitoring target, a voltage of the monitoring target is V1, an anode of the diode D2 is grounded through the resistor R4 and the resistor R5 in sequence, and a base of the transistor Q2 is connected to a connection line between the resistor R4 and the resistor R5; one end of the capacitor C1 is connected with the base of the triode Q2, and the other end is connected with the grounding end of the resistor R5; the emitting electrode of the triode Q2 is connected with the positive electrode of the LED lamp D3, and the negative electrode of the LED lamp D3 is grounded; the collector of the triode Q2 is connected with one end of the resistor R6, and the other end of the resistor R6 is connected with the cathode of the diode D2; the cathode of the diode D4 is connected to one end of the resistor R6, the anode of the diode D4 is connected to the cathode of the diode D5, and the anode of the diode D5 is grounded.
As shown in fig. 4, the clock module includes a schmitt trigger U1, a capacitor C2, a capacitor C3, and a resistor R7, and the schmitt trigger U1 is of a model HEF4093 BT. A first pin and a second pin of the Schmitt trigger U1 are both connected with the other end of the resistor R3, a fourth pin of the Schmitt trigger U1 is connected with a ninth pin thereof, one end of the resistor R7 is connected with a fourth pin of the Schmitt trigger U1, and the other end of the resistor R7 is grounded through the capacitor C3; a fifth pin of the Schmitt trigger U1 is connected with a power supply VDD, a sixth pin is connected with the other end of the resistor R7, a seventh pin is grounded, and an eighth pin is connected with the power supply VDD; the fourteenth pin of the schmitt trigger U1 is connected to one end of the capacitor C2, one end of the capacitor C2 is connected to the power supply VDD, and the other end is grounded.
As shown in fig. 5, the MOS transistor driving module includes a shift register U2, a capacitor C4, and eight push-pull circuits, i.e., a first push-pull circuit to an eighth push-pull circuit, where the shift register U2 is of a type HEF4015 BT. A sixteenth pin of the shift register U2 is connected with one end of the capacitor C4, one end of the capacitor C4 is connected with a power supply VDD, and the other end of the capacitor C4 is grounded; the sixth pin, the eighth pin and the fourteenth pin of the shift register U2 are all grounded; the first pin and the ninth pin of the shift register U2 are both connected with the tenth pin of the Schmitt trigger U1; a fifteenth pin of the shift register U2 is connected with a third pin of the Schmitt trigger U1; the first push-pull circuit to the eighth push-pull circuit are respectively connected with a thirteenth pin, a twelfth pin, an eleventh pin, a second pin, a fifth pin, a fourth pin, a third pin and a tenth pin of the shift register U2. Each of the push-pull circuits is formed by two triodes, in this embodiment, the first push-pull circuit is taken as an example to describe a circuit connection relationship, and the second to eighth push-pull circuits have the same structure as the first push-pull circuit, which is not described herein again. The first push-pull circuit comprises a triode Q3 and a triode Q4, bases of the triode Q3 and the triode Q4 are connected with a thirteenth pin of the shift register U2, a collector of the triode Q3 is connected with a power supply VDD, an emitter of the triode Q3 is connected with an emitter of the triode Q4, and a collector of the triode Q4 is grounded.
As shown in fig. 6, the discharging module includes nine discharging circuits, that is, a first discharging circuit to a ninth discharging circuit, the discharging module can reduce the number of the discharging circuits according to actual needs, the first discharging circuit is connected to the low voltage monitoring module, the second discharging circuit to the ninth discharging circuit are respectively connected to the first push-pull circuit to the eighth push-pull circuit, and the first discharging circuit to the ninth discharging circuit are all connected to the monitoring target. Each discharge circuit comprises an MOS tube, two resistors and two diodes; the first discharge circuit comprises a MOS tube Q19, a resistor R8, a resistor R9, a diode D6 and an LED lamp D7, wherein the grid of the MOS tube Q19 is connected with the negative electrode of the diode D4, the source of the MOS tube Q19 is grounded, the drain of the MOS tube Q19 is respectively connected with the positive electrode of the diode D6 and one end of the resistor R9, the negative electrode of the LED lamp D7 is connected with one end of the resistor R9, the other end of the resistor R9 is connected with the monitoring target, the positive electrode of the LED lamp D7 is connected with one end of the resistor R8, the negative electrode of the diode D6 is connected with the other end of the resistor R8, and the other end of the resistor R8 is connected with the monitoring target; the second discharge circuit comprises a MOS tube Q20, a resistor R10, a resistor R11, a diode D8 and an LED lamp D9, and is different from the first discharge circuit in that the grid electrode of the MOS tube Q20 of the second discharge circuit is connected with the emission of the triode Q3. The third to ninth discharge circuits have the same structure as the second discharge circuit, and are not described herein.
The working process and the working principle of the invention are as follows: in the high-voltage monitoring module, a diode D1, a resistor R1 and a resistor R2 form a voltage divider, a triode Q1 is a triode switch, and a resistor R3 is an output pull-up resistor. When the monitored target voltage V1 exceeds the safety voltage, the voltage difference Vbe between the base electrode and the emitter electrode of the triode Q1 is increased and is larger than the starting voltage, the triode Q1 is conducted, a low-level enabling signal is output, and otherwise, the output keeps a high level all the time. In the low-voltage monitoring module, when a monitored target voltage V1 is higher than a set low voltage, a difference Vbe between a base voltage and an emitter voltage of a triode Q2 is larger than a starting voltage, a triode Q2 is turned on, an LED lamp D3 is turned on, an output signal voltage is approximately equal to a voltage drop between two ends of an LED lamp D3, when the monitored target voltage V1 is lower than the set low voltage, the difference Vbe between the base voltage and the emitter voltage of a triode Q2 is smaller than the starting voltage, the triode Q2 is turned off, the monitored target voltage V1 forms a loop through a resistor R6, a diode D4 and a diode D5, and the output signal voltage is the sum of voltage stabilizing values of a diode D4 and a.
The input signal of the clock module is the output of the high-voltage monitoring module, one nand gate of the schmitt trigger U1, the resistor R7 and the capacitor C3 form an oscillation circuit, and a fixed-frequency clock is generated to the MOS transistor driving module. In the MOS tube driving module, a shift register U2 is a double-serial-in parallel-out four-bit shift register, a clock source is a clock generated by a clock module, the output signal of the high-voltage monitoring circuit is sampled and sequentially output by clock frequency, when a low-level effective discharge enabling signal is acquired, 8 paths of IO output sequentially output high levels by clock frequency, and the IO state is updated continuously. Each drive is a push-pull circuit formed by two triodes, so that the drive capability is improved.
The discharging module comprises multichannel discharge circuit and fan, and the fan is used for accelerating discharge resistance heat dissipation, can reduce discharge circuit quantity according to actual need, and resistance R9 is high-power cement resistance, and one end connects the monitoring target power cord, and the other end receives MOS pipe Q19 control. When the voltage monitoring unit monitors that the voltage is too high or too low, the gate voltage MOS _ Driver1 of the MOS tube Q19 is high level VDD, the MOS tube Q19 works in a constant current region, the MOS tube Q19 is turned on, the resistor R9 consumes energy, and the LED lamp D7 is on. The monitoring target voltage V1 is in a normal range, the MOS transistor Q19 is in a pinch-off region, and the monitoring target voltage V1 is disconnected to the ground.
Through above technical scheme, the application provides a robot braking protection circuit is integrated in module of an organic whole, generates heat and concentrates very much, through reasonable spatial layout, is integrated in an organic whole with the fan, and the heat is taken away to the very first time, avoids polluting the control unit of switch board, and does not have CPU's participation, adopts the realization of hardware module completely, compares than traditional industrial robot, and the reaction is faster. The resistance value of the discharge resistor is small, the device cannot discharge all the time after being electrified, only when the power supply voltage exceeds the set safe voltage, the discharge module works, the discharge resistor discharges, the power supply voltage value is limited to be at the safe value, the power supply is powered off, the voltage drops to the set threshold value, and the electric quantity release of the system device is accelerated.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A robot brake protection circuit is characterized by comprising a voltage monitoring unit, a control unit and a discharging unit, wherein the voltage monitoring unit comprises a high-voltage monitoring module and a low-voltage monitoring module, the control unit comprises an MOS (metal oxide semiconductor) tube driving module and a clock module, and the discharging unit comprises a discharging module and a fan; the high-voltage monitoring module is connected with the clock module, the low-voltage monitoring module is connected with the discharging module, the MOS tube driving module is connected with the clock module, the MOS tube driving module is also connected with the discharging module, and the discharging module is connected with the fan;
the high-voltage monitoring module comprises a diode D1, a resistor R1, a resistor R2, a triode Q1 and a resistor R3, wherein the cathode of the diode D1 is connected with a monitoring target, and the voltage of the monitoring target is V1; the anode of the diode D1 is grounded through the resistor R1 and the resistor R2 in sequence, the base of the triode Q1 is connected to the connection line between the resistor R1 and the resistor R2, and the emitter of the triode Q1 is grounded; one end of the resistor R3 is connected with a power supply VDD, and the other end is connected with the collector of the triode Q1 and the clock module;
the low-voltage monitoring module comprises a diode D2, a resistor R4, a resistor R5, a capacitor C1, a triode Q2, an LED lamp D3, a resistor R6, a diode D4 and a diode D5, wherein the cathode of the diode D2 is connected with a monitoring target, the voltage of the monitoring target is V1, the anode of the diode D2 is grounded through the resistor R4 and the resistor R5 in sequence, and the base of the triode Q2 is connected with the connecting line of the resistor R4 and the resistor R5; one end of the capacitor C1 is connected with the base of the triode Q2, and the other end is connected with the grounding end of the resistor R5; the emitting electrode of the triode Q2 is connected with the positive electrode of the LED lamp D3, and the negative electrode of the LED lamp D3 is grounded; the collector of the triode Q2 is connected with one end of the resistor R6, and the other end of the resistor R6 is connected with the cathode of the diode D2; the cathode of the diode D4 is respectively connected with one end of the resistor R6 and the discharge module, the anode of the diode D4 is connected with the cathode of the diode D5, and the anode of the diode D5 is grounded;
the clock module comprises a Schmitt trigger U1, a capacitor C2, a capacitor C3 and a resistor R7, wherein a first pin and a second pin of the Schmitt trigger U1 are both connected with the other end of the resistor R3, a third pin of the Schmitt trigger U1 is connected with the MOS tube driving module, a fourth pin of the Schmitt trigger U1 is connected with a ninth pin of the Schmitt trigger U1, one end of the resistor R7 is connected with a fourth pin of the Schmitt trigger U1, and the other end of the resistor R7 is grounded through the capacitor C3; a fifth pin of the Schmitt trigger U1 is connected with a power supply VDD, a sixth pin is connected with the other end of the resistor R7, a seventh pin is grounded, and an eighth pin is connected with the power supply VDD; a tenth pin of the schmitt trigger U1 is connected to the MOS transistor driving module, a fourteenth pin of the schmitt trigger U1 is connected to one end of the capacitor C2, one end of the capacitor C2 is connected to a power supply VDD, and the other end is grounded;
the MOS tube driving module comprises a shift register U2, a capacitor C4 and eight push-pull circuits, namely a first push-pull circuit to an eighth push-pull circuit, wherein a sixteenth pin of the shift register U2 is connected with one end of the capacitor C4, one end of the capacitor C4 is connected with a power supply VDD, and the other end of the capacitor C4 is grounded; the sixth pin, the eighth pin and the fourteenth pin of the shift register U2 are all grounded; the first pin and the ninth pin of the shift register U2 are both connected with the tenth pin of the Schmitt trigger U1; a fifteenth pin of the shift register U2 is connected with a third pin of the Schmitt trigger U1; the first push-pull circuit to the eighth push-pull circuit are respectively connected with a thirteenth pin, a twelfth pin, an eleventh pin, a second pin, a fifth pin, a fourth pin, a third pin and a tenth pin of the shift register U2;
the discharging module comprises nine discharging circuits from a first discharging circuit to a ninth discharging circuit, and each discharging circuit comprises an MOS (metal oxide semiconductor) tube, two resistors and two diodes; the first discharge circuit comprises a MOS tube Q19, a resistor R8, a resistor R9, a diode D6 and an LED lamp D7, wherein the grid of the MOS tube Q19 is connected with the negative electrode of the diode D4, the source of the MOS tube Q19 is grounded, the drain of the MOS tube Q19 is respectively connected with the positive electrode of the diode D6 and one end of the resistor R9, the negative electrode of the LED lamp D7 is connected with one end of the resistor R9, the other end of the resistor R9 is connected with a monitoring target, the positive electrode of the LED lamp D7 is connected with one end of the resistor R8, the negative electrode of the diode D6 is connected with the other end of the resistor R8, and the other end of the resistor R8 is connected with the monitoring target; the second discharge circuit comprises a MOS tube Q20, a resistor R10, a resistor R11, a diode D8 and an LED lamp D9, and is different from the first discharge circuit in that the grid electrode of the MOS tube Q20 of the second discharge circuit is connected with the MOS tube driving module.
2. A robot brake protection circuit according to claim 1, characterized in that the Schmitt trigger U1 is of type HEF4093 BT.
3. The robot brake protection circuit of claim 2, wherein the shift register U2 is HEF4015 BT.
4. A robot brake protection circuit as claimed in claim 2, wherein each of the push-pull circuits is formed by two transistors, the first push-pull circuit includes a transistor Q3 and a transistor Q4, bases of the transistor Q3 and the transistor Q4 are connected to the thirteenth pin of the shift register U2, a collector of the transistor Q3 is connected to the power supply VDD, emitters of the transistor Q3 are connected to an emitter of the transistor Q4 and a gate of the MOS transistor Q20, and a collector of the transistor Q4 is grounded.
5. A robot brake protection circuit according to claim 4, wherein the first discharge circuit is connected to the low voltage monitoring module, the second discharge circuit to the ninth discharge circuit are connected to the first push-pull circuit to the eighth push-pull circuit, respectively, and the first discharge circuit to the ninth discharge circuit are connected to the monitoring target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149462.2A CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910149462.2A CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109888759A CN109888759A (en) | 2019-06-14 |
| CN109888759B true CN109888759B (en) | 2021-01-26 |
Family
ID=66929840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910149462.2A Active CN109888759B (en) | 2019-02-28 | 2019-02-28 | Robot braking protection circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109888759B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88210948U (en) * | 1988-04-04 | 1988-12-21 | 山东电子研究所 | Automatic power saving protection unit |
| CN202353178U (en) * | 2011-11-08 | 2012-07-25 | 淮南万泰电子股份有限公司 | Universal protector |
| US10680432B2 (en) * | 2017-08-04 | 2020-06-09 | Dell Products L.P. | Over-voltage detection and port protection |
| CN208028797U (en) * | 2018-01-30 | 2018-10-30 | 大族激光科技产业集团股份有限公司 | A kind of regenerative braking circuit of servo-drive system |
-
2019
- 2019-02-28 CN CN201910149462.2A patent/CN109888759B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109888759A (en) | 2019-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109888759B (en) | Robot braking protection circuit | |
| CN114039589B (en) | MOS tube driving circuit | |
| CN212785304U (en) | Startup and shutdown circuit and POS machine | |
| CN106100433A (en) | A kind of pulse power supply circuit being applicable to more modulation pattern | |
| CN214591137U (en) | MOS tube driving bleeder circuit of switching power supply | |
| CN210578247U (en) | Protection circuit and device | |
| CN210327368U (en) | Driving circuit for MOSFET driving | |
| CN210867554U (en) | Power PMOS tube driving circuit and driving circuit for three-phase motor | |
| CN219107418U (en) | Trigger circuit of long-touch switch | |
| CN111464158A (en) | MOS tube pulse driving circuit | |
| CN216437532U (en) | Drive circuit and lighting equipment thereof | |
| CN212811658U (en) | Application circuit capable of automatically adapting power-on time sequence | |
| CN216749749U (en) | Multifunctional circuit for efficiently controlling relay in frequency converter | |
| CN216362369U (en) | Drive circuit and electronic equipment | |
| CN219372270U (en) | Driving protection device of IGBT module | |
| CN220470115U (en) | Become oar driver and wind-powered electricity generation transmission equipment | |
| CN219960390U (en) | Driving circuit of switching tube and vehicle | |
| CN218526094U (en) | Circuit structure for realizing three-state control by using power line | |
| CN221633625U (en) | Coil driving circuit with current limiting protection | |
| CN219372072U (en) | Charging circuit with multifunctional pin and charging equipment | |
| CN211044011U (en) | Drive control circuit and robot | |
| CN216490434U (en) | Preceding stage driving circuit for switching high-power high-frequency switch | |
| CN215379303U (en) | Acquisition circuit and illumination driving system | |
| CN219576718U (en) | Double-coil gating circuit of wireless charging device | |
| CN220527866U (en) | Power supply switching circuit and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200927 Address after: 230000 Room 501, building 3, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Hagong Renji Intelligent Technology Co., Ltd Address before: 236000 Anhui city of Hefei Province Economic and Technological Development Zone Cuiwei Road No. 6 Haiheng building room 6012 Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 230000 room 510, building 3, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Hagong Renji Intelligent Technology Co., Ltd Address before: 230000 Room 501, building 3, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant before: Hefei Hagong Renji Intelligent Technology Co., Ltd |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |