CN110471320A - Robot emergency stop control circuit - Google Patents
Robot emergency stop control circuit Download PDFInfo
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- CN110471320A CN110471320A CN201910899061.9A CN201910899061A CN110471320A CN 110471320 A CN110471320 A CN 110471320A CN 201910899061 A CN201910899061 A CN 201910899061A CN 110471320 A CN110471320 A CN 110471320A
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- semiconductor
- oxide
- metal
- emergency stop
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention provides a kind of robot emergency stop control circuit, it is characterized by comprising: emergency stop switch, null class emergency stop circuit, a kind of emergency stop circuit, control circuit, driver and executing agency, one end of the emergency stop switch connects to power supply, the output end of the emergency stop switch is connect with control circuit input terminal and a kind of emergency stop circuit input end respectively, the output end of one kind emergency stop circuit and the emergency stop end of driver connect, the output end of the driver is connect with the executing agency, the current detecting output end of the executing agency is connect with the feedback control input terminal of the control circuit, the output end of the control circuit is connect with the control terminal of the null class emergency stop circuit, the input terminal of the null class emergency stop circuit connects to power supply, the null class emergency stop circuit output end is connect with the power end of the driver.The present invention provide it is a kind of guarantee sudden-stop function reliability, on production efficiency influence it is low and on robot service life substantially no influence robot emergency stop control circuit.
Description
Technical field
The present invention relates to robot control field more particularly to a kind of robot emergency stop control circuits.
Background technique
With the development of science and technology the research application field of robot is constantly extending, but when robot occur it is out of control or
When failure, if not stopping at once movement be easy to cause the adverse consequences such as personal injury and/or equipment damage, therefore robot is urgent
Braking, i.e. emergency stop, are the technical issues of being concerned.The emergent stopping scheme of robot field mainly includes null class emergency stop, one
Class emergency stop and two class emergency stops.Wherein, null class emergency stop is to stop robot with the method for cutting off mechanical braking arrangement power at once
Only, it will be appreciated that for power-off emergency stop.A kind of emergency stop is to apply power to mechanical braking to go to complete to stop control and stop in robot
The controllable stopping of power is cut off afterwards, it will be appreciated that is driving device emergency stop.Two class emergency stops are to stay kinetic energy to be applied to mechanical system using storage
Motivation structure is to control robot stopping.Currently, null class emergency stop scheme is widely applied by robot field or a kind of emergency stop scheme is come
Robot or failed machines people's emergent stopping out of control is controlled, i.e. the mode of directly cutting robot driver is stopped to control robot
Only, or robot is allowed to generate braking to achieve the purpose that stop robot.But the driving device of existing robot mostly uses drive
Dynamic device, such as servo controller, but started after driver power-off and not only need the time and power loss is big, production efficiency is influenced, together
When also result in the reduced service life of robot；Directly implementing a kind of emergency stop is easy to cause the reliability of sudden-stop function not high.
Therefore, the new robot emergency stop mode of one kind is needed with overcome the deficiencies in the prior art.
Summary of the invention
In view of this, the present invention provide a kind of guarantee sudden-stop function reliability, production efficiency is influenced it is low and to robot
Service life the robot emergency stop control circuit not influenced substantially.
The present invention provides a kind of robot emergency stop control circuit, it is characterised in that: includes: emergency stop switch, null class emergency stop electricity
Road, a kind of emergency stop circuit, control circuit, driver and executing agency,
One end of the emergency stop switch connects to power supply, the output end of the emergency stop switch respectively with control circuit input terminal
It is connected with a kind of emergency stop circuit input end, the output end of one kind emergency stop circuit and the emergency stop terminal of driver connect, described
The output end of driver is connect with the executing agency, current detecting output end and the control circuit of the executing agency
The connection of feedback control input terminal, the output end of the control circuit are connect with the control terminal of the null class emergency stop circuit, and described zero
The input terminal of class emergency stop circuit connects to power supply, and the null class emergency stop circuit output end is connect with the power end of the driver.
It further, further include short-circuit latching circuit, the input terminal of the short circuit latching circuit connects to power supply, the short circuit
The output end of latching circuit is connect with the input terminal of the emergency stop switch and the null class emergency stop circuit respectively.
It further, further include overvoltage crowbar, the input terminal of the overvoltage crowbar is defeated with the emergency stop switch
Outlet connection, the output end of the overvoltage crowbar are connect with the over-voltage control signal of the control circuit.
Further, the control circuit include metal-oxide-semiconductor Q5, metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7, metal-oxide-semiconductor Q8, resistance R3, resistance R7,
Resistance R8, resistance R9, resistance R10, capacitor C3, operational amplifier U1 and comparator U2,
The grid of metal-oxide-semiconductor Q5 and the grid of metal-oxide-semiconductor Q6 are connect through resistance R3 with the output end of the emergency stop switch, MOS
The source electrode of pipe Q5 connects to power supply, the source electrode of metal-oxide-semiconductor Q6 ground connection, the drain electrode of metal-oxide-semiconductor Q5 and the drain electrode of metal-oxide-semiconductor Q6 with resistance R7
One end connection, the other end of resistance R7 connect with one end of capacitor C3, and the other end of capacitor C3 is grounded, the same phase of comparator U2
End is connect with the points of common connection of resistance R7 and capacitor C3, and the reverse side of comparator U2 is connect with reference voltage, comparator U2's
Output end is connect with the grid of metal-oxide-semiconductor Q8, and the drain electrode of metal-oxide-semiconductor Q8 is connect with the source electrode of metal-oxide-semiconductor Q7, the drain electrode of metal-oxide-semiconductor Q7 and electricity
Source connection, resistance R8 is set between the executing agency and the ground terminal of the executing agency, for acquiring the execution machine
The electric current of structure, the in-phase end of operational amplifier U1 are connect with the ungrounded end of resistance R8, one end of resistance R9 and operational amplifier
The output end of U1 connects, and the other end of resistance R9 is grounded through resistance R10, the reverse side and resistance R9 and resistance of operational amplifier U1
The points of common connection of R10 connects, and the output end of comparator U1 is connect with the grid of metal-oxide-semiconductor Q7, and the source electrode of metal-oxide-semiconductor Q8 is the control
The output of circuit processed is all pacified, and the metal-oxide-semiconductor Q5 is the enhanced metal-oxide-semiconductor of the road P ditch, and metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7 and metal-oxide-semiconductor Q8 are N
The enhanced metal-oxide-semiconductor of road ditch.
Further, the null class emergency stop circuit includes metal-oxide-semiconductor Q9, relay J1 and resistance R11, the grid of metal-oxide-semiconductor Q9 with
The output end of the control circuit connects, and the source electrode of metal-oxide-semiconductor Q9 connects to power supply, the drain electrode of metal-oxide-semiconductor Q9 and the line of relay J1
One end of circle connects, and the other end ground connection of the coil of relay J1, the switch of relay J1 is set to power supply and the driver
Power end between, for controlling the on-off at drive power supply end, the metal-oxide-semiconductor Q9 is the enhanced metal-oxide-semiconductor of the road P ditch, relay
J1 be electric closed type relay.
Further, a kind of emergency stop circuit includes resistance R2, the output end of one end of resistance R2 and the emergency stop switch
Connection, the other end of resistance R2 are connect with the emergency stop terminal of the driver.
Further, the short-circuit latching circuit includes metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, capacitor C1, capacitor C2 and resistance R1, MOS
The source electrode of pipe Q1 connects to power supply, and the drain electrode of metal-oxide-semiconductor Q1 is grounded through resistance R1, and one end of capacitor C1 connects to power supply, capacitor C1
The other end connect with the grid of metal-oxide-semiconductor Q1, one end of capacitor C2 connects to power supply, the other end of capacitor C2 and metal-oxide-semiconductor Q2's
Grid connection, the source electrode of metal-oxide-semiconductor Q2 connect to power supply, and the grid of metal-oxide-semiconductor Q2 and the points of common connection of metal-oxide-semiconductor Q1 and resistance R1 connect
It connects, the drain electrode of metal-oxide-semiconductor Q2 is connect with the points of common connection of the grid of capacitor C1 and metal-oxide-semiconductor Q1, while the drain electrode of metal-oxide-semiconductor Q2 is institute
State the output end of short-circuit latching circuit, wherein metal-oxide-semiconductor Q1 and metal-oxide-semiconductor Q2 is the enhanced metal-oxide-semiconductor of the road P ditch.
Further, the overvoltage crowbar includes resistance R4, resistance R5, resistance R6, zener diode DW1, metal-oxide-semiconductor Q3
With metal-oxide-semiconductor Q4, one end of resistance R4 is connect with the output end of the emergency stop switch, the other end and zener diode of resistance R4
The cathode of DW1 connects, the plus earth of zener diode DW1, one end of resistance R5 and resistance R4 and zener diode cathode
Points of common connection connection, the other end of resistance R5 are connect with the grid of metal-oxide-semiconductor Q4, the source electrode of metal-oxide-semiconductor Q4 and the emergency stop switch
Output end connection, the drain electrode of metal-oxide-semiconductor Q4 is grounded through resistance R6, and the output end of the source electrode of metal-oxide-semiconductor Q3 and the emergency stop switch connects
It connects, the grid of metal-oxide-semiconductor Q3 is connect with the points of common connection of the drain electrode of metal-oxide-semiconductor Q4 and resistance R6, and the drain electrode of metal-oxide-semiconductor Q3 is over-voltage guarantor
The output end of protection circuit, wherein metal-oxide-semiconductor Q1 and metal-oxide-semiconductor Q2 is the enhanced metal-oxide-semiconductor of the road P ditch.
Advantageous effects of the invention: the present invention combines a kind of emergency stop of robot emergency stop and atypical emergency stop, first
A kind of emergency stop, and the current feedback information of robot actuating mechanism is received within a preset time, it does not receive robot such as and executes machine
The current feedback information of structure starts null class emergency stop immediately, avoids directlying adopt null class emergency stop measure to bad shadow caused by production
Ring while improving the reliability of a kind of emergency stop measure.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is circuit structure block diagram of the invention.
Fig. 2 is circuit structure schematic diagram of the invention.
Specific embodiment
The present invention is made further instructions below in conjunction with Figure of description:
A kind of robot emergency stop control circuit provided by the invention, it is characterised in that: include: emergency stop switch, null class emergency stop
Circuit, a kind of emergency stop circuit, control circuit, driver and executing agency,
One end of the emergency stop switch connects to power supply, the output end of the emergency stop switch respectively with control circuit input terminal
It is connected with a kind of emergency stop circuit input end, the output end of one kind emergency stop circuit and the emergency stop terminal of driver connect, described
The output end of driver is connect with the executing agency, current detecting output end and the control circuit of the executing agency
The connection of feedback control input terminal, the output end of the control circuit are connect with the control terminal of the null class emergency stop circuit, and described zero
The input terminal of class emergency stop circuit connects to power supply, and the null class emergency stop circuit output end is connect with the power end of the driver.
As shown in Fig. 2, emergency stop switch is switch S1, in the present embodiment, emergency stop switch S1 is normally closed switch, that is, in starting emergency stop
Before switch, emergency stop switch is constantly in closed state, after starting emergency stop switch, emergency stop switch vinegar fish off-state.
Through the above technical solutions, a kind of emergency stop of robot emergency stop and atypical emergency stop are combined, emergency stop a kind of first, and
The current feedback information for receiving robot actuating mechanism within a preset time, does not receive the current feedback of robot actuating mechanism such as
Information starts null class emergency stop immediately, avoids directlying adopt null class emergency stop measure to adverse effect caused by production while improving one
The reliability of class emergency stop measure.
It in the present embodiment, further include short-circuit latching circuit, the input terminal of the short circuit latching circuit connects to power supply, institute
The output end for stating short-circuit latching circuit is connect with the input terminal of the emergency stop switch and the null class emergency stop circuit respectively.Work as circuit
When short circuit occurs, each control circuit of robot can be burnt out, is unfavorable for the protection of robot control circuit, therefore in the present invention
Short-circuit latching circuit is introduced, so that chopping current output improves robot to protect robot when short circuit occurs for load
Reliability and stability.
It in the present embodiment, further include overvoltage crowbar, the input terminal of the overvoltage crowbar is opened with the emergency stop
The output end of pass connects, and the output end of the overvoltage crowbar is connect with the over-voltage control signal of the control circuit.Institute
Overvoltage crowbar is stated for protecting control circuit, circuit over-voltage is avoided to damage control circuit.
In the present embodiment, the control circuit include metal-oxide-semiconductor Q5, metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7, metal-oxide-semiconductor Q8, resistance R3,
Resistance R7, resistance R8, resistance R9, resistance R10, capacitor C3, operational amplifier U1 and comparator U2,
The grid of metal-oxide-semiconductor Q5 and the grid of metal-oxide-semiconductor Q6 are connect through resistance R3 with the output end of the emergency stop switch, MOS
The source electrode of pipe Q5 connects to power supply, the source electrode of metal-oxide-semiconductor Q6 ground connection, the drain electrode of metal-oxide-semiconductor Q5 and the drain electrode of metal-oxide-semiconductor Q6 with resistance R7
One end connection, the other end of resistance R7 connect with one end of capacitor C3, and the other end of capacitor C3 is grounded, the same phase of comparator U2
End is connect with the points of common connection of resistance R7 and capacitor C3, and the reverse side of comparator U2 is connect with reference voltage, comparator U2's
Output end is connect with the grid of metal-oxide-semiconductor Q8, and the drain electrode of metal-oxide-semiconductor Q8 is connect with the source electrode of metal-oxide-semiconductor Q7, the drain electrode of metal-oxide-semiconductor Q7 and electricity
Source connection, resistance R8 is set between the executing agency and the ground terminal of the executing agency, for acquiring the execution machine
The electric current of structure, the in-phase end of operational amplifier U1 are connect with the ungrounded end of resistance R8, one end of resistance R9 and operational amplifier
The output end of U1 connects, and the other end of resistance R9 is grounded through resistance R10, the reverse side and resistance R9 and resistance of operational amplifier U1
The points of common connection of R10 connects, and the output end of comparator U1 is connect with the grid of metal-oxide-semiconductor Q7, and the source electrode of metal-oxide-semiconductor Q8 is the control
The output of circuit processed is all pacified, and the metal-oxide-semiconductor Q5 is the enhanced metal-oxide-semiconductor of the road P ditch, and metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7 and metal-oxide-semiconductor Q8 are N
The enhanced metal-oxide-semiconductor of road ditch.
Its working principles are as follows: metal-oxide-semiconductor Q5 and metal-oxide-semiconductor Q6 form NOT gate, before emergency stop switch starting, metal-oxide-semiconductor Q5 and
The grid of metal-oxide-semiconductor Q6 is high level, non-low level is converted through metal-oxide-semiconductor Q5 and metal-oxide-semiconductor Q6 composition NOT gate, to make control circuit
It does not work, i.e., at this point, circuit does not charge to capacitor C3, the voltage of in-phase end makes comparator U2 export low level lower than reference voltage
To make metal-oxide-semiconductor Q8 end；After emergency stop switch starting, the grid of metal-oxide-semiconductor Q5 and metal-oxide-semiconductor Q6 are low level, through metal-oxide-semiconductor Q5
High level is converted to metal-oxide-semiconductor Q6 composition NOT gate, so that control circuit be made to work, at this point, circuit charges to capacitor C3, works as capacitor
After the voltage at the both ends C3 is higher than preset reference voltage, comparator U2 exports high level, so that metal-oxide-semiconductor Q8 be made to be connected；
Operational amplifier U1, resistance R9 and resistance R10 form in-phase amplification circuit, for amplifying the electricity at the both ends resistance R8
Pressure, and by amplified voltage output to metal-oxide-semiconductor Q7, before emergency stop switch starting, driver drives executing agency's work, holds
There is electric current mistake at the both ends current detection circuit R8 of row mechanism, to improve utilization rate of electrical, set small electricity for the resistance value of resistance R8
Resistance makes the voltage at the both ends resistance R8 metal-oxide-semiconductor Q7 can just be driven to be connected after operational amplifier U1 amplification, i.e., opens in emergency stop switch
Metal-oxide-semiconductor Q7 is constantly on state before dynamic, but metal-oxide-semiconductor Q8 is in off state before emergency stop switch starting, therefore controls
Circuit does not export control instruction outward；When emergency stop switch starting when, driver cut off executing agency electric current, thus make execute and
Mechanism stopping movement, i.e., resistance R8 no current flows through, at this point, metal-oxide-semiconductor Q7 ends, metal-oxide-semiconductor Q8 conducting, but control circuit is not external
Output action controls signal；But after emergent stop signal of the driver in reception channel emergency stop switch, to execute emergency stop action or holding
Row breaks down, that is, after issuing a kind of emergent stop signal, robot actuating mechanism is still in action state, then metal-oxide-semiconductor Q7 is in and leads
Lead to state, while metal-oxide-semiconductor Q8 is connected, then the outside output action signal of control circuit, to switch to null class emergency stop from a kind of emergency stop；
After emergency stop switch starting, resistance R7, capacitor C3 and comparator U2 form delay circuit, and those skilled in the art can
According to actual latency requirement, the capacitance of capacitor C3 and the resistance value of resistance R7 are set, after emergency stop switch starting, delay circuit
Start to start, in delay section, for the feedback information for receiving robot actuating mechanism, i.e. starting null class emergency stop operation；
Such as in delay section, the feedback information of capital Austria robot actuating mechanism does not start null class emergency stop operation.By robot emergency stop
A kind of emergency stop and atypical emergency stop combine, emergency stop a kind of first, and receive the electric current of robot actuating mechanism within a preset time
Feedback information does not receive the current feedback information of robot actuating mechanism such as, starts null class emergency stop immediately, avoids directlying adopt zero
Class emergency stop measure improves the reliability of a kind of emergency stop measure to adverse effect caused by production simultaneously.
In the present embodiment, the null class emergency stop circuit includes metal-oxide-semiconductor Q9, relay J1 and resistance R11, metal-oxide-semiconductor Q9's
Grid is connect with the output end of the control circuit, and the source electrode of metal-oxide-semiconductor Q9 connects to power supply, the drain electrode of metal-oxide-semiconductor Q9 and relay
One end of the coil of J1 connects, the other end ground connection of the coil of relay J1, the switch of relay J1 be set to power supply with it is described
Between the power end of driver, for controlling the on-off at drive power supply end, the metal-oxide-semiconductor Q9 is the enhanced metal-oxide-semiconductor of the road P ditch,
Relay J1 be electric closed type relay.
Its working principles are as follows: because relay J1 be electric closed type relay, metal-oxide-semiconductor Q9 be the enhanced MOS of the road P ditch
Pipe, before emergency stop switch starting, because control circuit does not work, so the grid of metal-oxide-semiconductor Q9 is low level, i.e. metal-oxide-semiconductor Q9 is connected,
That is the coil of relay J1 is constantly on state, i.e. the switch of relay J1 is constantly in closed state, i.e. driver
Power end is connected to power supply；After emergency stop switch starting, such as the outside output action signal of control circuit, the i.e. grid of metal-oxide-semiconductor Q9
Because resistance R11 obtains electric, the grid voltage of metal-oxide-semiconductor Q9 is raised, the cut-off of metal-oxide-semiconductor Q9, relay J1 coil blackout are made, relay is opened
Pass movement, disconnects, i.e., the power end of driver and power supply disconnect, to realize null class emergency stop.
In the present embodiment, a kind of emergency stop circuit includes resistance R2, one end of resistance R2 and the emergency stop switch
Output end connection, the other end of resistance R2 are connect with the emergency stop terminal of the driver.Before emergency stop switch starting, driver
Emergency stop terminal is constantly in high level, i.e. driver is in normal operating conditions, and driver drives executing agency's movement；Work as emergency stop
After switch starting, the emergency stop terminal of driver becomes low level from high level, and driver receives emergent stop signal, and by emergent stop signal
Executing agency is passed to, that is, the electric current of executing agency is cut off, to realize a kind of emergency stop.
In the present embodiment, the short-circuit latching circuit includes metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q2, capacitor C1, capacitor C2 and resistance
The source electrode of R1, metal-oxide-semiconductor Q1 connect to power supply, and the drain electrode of metal-oxide-semiconductor Q1 is grounded through resistance R1, and one end of capacitor C1 connects to power supply,
The other end of capacitor C1 is connect with the grid of metal-oxide-semiconductor Q1, and one end of capacitor C2 connects to power supply, the other end and MOS of capacitor C2
The grid of pipe Q2 connects, and the source electrode of metal-oxide-semiconductor Q2 connects to power supply, the grid of metal-oxide-semiconductor Q2 and the public company of metal-oxide-semiconductor Q1 and resistance R1
Contact connection, the drain electrode of metal-oxide-semiconductor Q2 is connect with the points of common connection of the grid of capacitor C1 and metal-oxide-semiconductor Q1, while the leakage of metal-oxide-semiconductor Q2
The output end of the extremely described short-circuit latching circuit, wherein metal-oxide-semiconductor Q1 and metal-oxide-semiconductor Q2 is the enhanced metal-oxide-semiconductor of the road P ditch, in this reality
The capacitance for applying capacitor C2 in example is far longer than the capacitance of capacitor C1, so that metal-oxide-semiconductor Q2 is used for prior to MOS at the beginning of making to power on
Pipe Q1 conducting.
Its working principles are as follows: when powering on, because capacitor C2 is greater than capacitor C1, therefore after C1 is full of, capacitor C2 is still in filling
Electricity condition, the i.e. grid voltage of metal-oxide-semiconductor Q2 are in low level, metal-oxide-semiconductor Q2 conducting, thus power to the load, when load short circuits,
The voltage of the grid of metal-oxide-semiconductor Q1 is pulled low, and metal-oxide-semiconductor Q1 conducting, resistance R1 obtains the electric grid voltage for making metal-oxide-semiconductor Q2 and increases, metal-oxide-semiconductor
Q2 cut-off, so that short circuit is self-locking.
In the present embodiment, the overvoltage crowbar include resistance R4, resistance R5, resistance R6, zener diode DW1,
Metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q4, one end of resistance R4 are connect with the output end of the emergency stop switch, the other end of resistance R4 and pressure stabilizing
The cathode of diode DW1 connects, the plus earth of zener diode DW1, one end of resistance R5 and resistance R4 and zener diode
The points of common connection of cathode connects, and the other end of resistance R5 is connect with the grid of metal-oxide-semiconductor Q4, the source electrode of metal-oxide-semiconductor Q4 and the urgency
The output end of guard's valve connects, and the drain electrode of metal-oxide-semiconductor Q4 is grounded through resistance R6, and the source electrode of metal-oxide-semiconductor Q3 is defeated with the emergency stop switch
Outlet connection, the grid of metal-oxide-semiconductor Q3 are connect with the points of common connection of the drain electrode of metal-oxide-semiconductor Q4 and resistance R6, and the drain electrode of metal-oxide-semiconductor Q3 is
The output end of overvoltage crowbar, wherein metal-oxide-semiconductor Q1 and metal-oxide-semiconductor Q2 is the enhanced metal-oxide-semiconductor of the road P ditch.
Its working principles are as follows: zener diode DW1 is electric by the grid of metal-oxide-semiconductor Q4 when voltage is less than predeterminated voltage
Pressing tongs position is in predeterminated voltage, and metal-oxide-semiconductor Q4 cut-off, resistance R6 must not be electric, and the grid voltage of metal-oxide-semiconductor Q3 is low, metal-oxide-semiconductor Q3 conducting, just
Often power supply；When voltage is more than predeterminated voltage, metal-oxide-semiconductor is connected zener diode DW1, and the grid voltage of Q4 is drawn rapidly the base of a fruit,
Metal-oxide-semiconductor Q4 conducting, resistance R6 obtains electric, and the grid voltage of metal-oxide-semiconductor Q3 is got higher by low, and metal-oxide-semiconductor Q3 cut-off disconnects power supply；To real
Existing overvoltage protection.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (8)
1. a kind of robot emergency stop control circuit, it is characterised in that: include: emergency stop switch, null class emergency stop circuit, a kind of emergency stop electricity
Road, control circuit, driver and executing agency,
One end of the emergency stop switch connects to power supply, the output end of the emergency stop switch respectively with control circuit input terminal and one
The connection of class emergency stop circuit input end, the output end of one kind emergency stop circuit and the emergency stop terminal of driver connect, the driving
The output end of device is connect with the executing agency, the current detecting output end of the executing agency and the feedback of the control circuit
Control signal connection, the output end of the control circuit are connect with the control terminal of the null class emergency stop circuit, and the null class is anxious
The input terminal on power failure road connects to power supply, and the null class emergency stop circuit output end is connect with the power end of the driver.
2. robot emergency stop control circuit according to claim 1, it is characterised in that: it further include short-circuit latching circuit, it is described
The input terminal of short-circuit latching circuit connects to power supply, it is described short circuit latching circuit output end respectively with the emergency stop switch and institute
State the input terminal connection of null class emergency stop circuit.
3. robot emergency stop control circuit according to claim 1, it is characterised in that: it further include overvoltage crowbar, it is described
The input terminal of overvoltage crowbar is connect with the output end of the emergency stop switch, the output end of the overvoltage crowbar with it is described
The over-voltage control signal of control circuit connects.
4. robot emergency stop control circuit according to claim 1, it is characterised in that: the control circuit include metal-oxide-semiconductor Q5,
Metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7, metal-oxide-semiconductor Q8, resistance R3, resistance R7, resistance R8, resistance R9, resistance R10, capacitor C3, operational amplifier
U1 and comparator U2,
The grid of metal-oxide-semiconductor Q5 and the grid of metal-oxide-semiconductor Q6 are connect through resistance R3 with the output end of the emergency stop switch, metal-oxide-semiconductor Q5
Source electrode connect to power supply, the source electrode of metal-oxide-semiconductor Q6 ground connection, the drain electrode of metal-oxide-semiconductor Q5 and the drain electrode of metal-oxide-semiconductor Q6 with resistance R7 one
End connection, the other end of resistance R7 connect with one end of capacitor C3, and the other end of capacitor C3 is grounded, the in-phase end of comparator U2 and
Resistance R7 is connected with the points of common connection of capacitor C3, and the reverse side of comparator U2 is connect with reference voltage, the output of comparator U2
End is connect with the grid of metal-oxide-semiconductor Q8, and the drain electrode of metal-oxide-semiconductor Q8 is connect with the source electrode of metal-oxide-semiconductor Q7, and the drain electrode of metal-oxide-semiconductor Q7 and power supply connect
It connects, resistance R8 is set between the executing agency and the ground terminal of the executing agency, for acquiring the executing agency
Electric current, the in-phase end of operational amplifier U1 are connect with the ungrounded end of resistance R8, and one end of resistance R9 is with operational amplifier U1's
Output end connection, the other end of resistance R9 are grounded through resistance R10, the reverse side and resistance R9 and resistance R10 of operational amplifier U1
Points of common connection connection, the output end of comparator U1 connect with the grid of metal-oxide-semiconductor Q7, and the source electrode of metal-oxide-semiconductor Q8 is the control
The output of circuit is all pacified, and the metal-oxide-semiconductor Q5 is the enhanced metal-oxide-semiconductor of the road P ditch, and metal-oxide-semiconductor Q6, metal-oxide-semiconductor Q7 and metal-oxide-semiconductor Q8 are the road N
The enhanced metal-oxide-semiconductor of ditch.
5. robot emergency stop control circuit according to claim 1, it is characterised in that: the null class emergency stop circuit includes MOS
Pipe Q9, relay J1 and resistance R11, the grid of metal-oxide-semiconductor Q9 are connect with the output end of the control circuit, the source electrode of metal-oxide-semiconductor Q9
It connects to power supply, the drain electrode of metal-oxide-semiconductor Q9 is connect with one end of the coil of relay J1, another termination of the coil of relay J1
The switch on ground, relay J1 is set between power supply and the power end of the driver, for controlling the logical of drive power supply end
Disconnected, the metal-oxide-semiconductor Q9 is the enhanced metal-oxide-semiconductor of the road P ditch, relay J1 be electric closed type relay.
6. robot emergency stop control circuit according to claim 1, it is characterised in that: one kind emergency stop circuit includes resistance
R2, one end of resistance R2 are connect with the output end of the emergency stop switch, the emergency stop end of the other end of resistance R2 and the driver
Son connection.
7. robot emergency stop control circuit according to claim 2, it is characterised in that: the short circuit latching circuit includes MOS
Pipe Q1, metal-oxide-semiconductor Q2, capacitor C1, capacitor C2 and resistance R1, the source electrode of metal-oxide-semiconductor Q1 connect to power supply, and the drain electrode of metal-oxide-semiconductor Q1 is through electricity
R1 ground connection is hindered, one end of capacitor C1 connects to power supply, and the other end of capacitor C1 is connect with the grid of metal-oxide-semiconductor Q1, and the one of capacitor C2
End connects to power supply, and the other end of capacitor C2 is connect with the grid of metal-oxide-semiconductor Q2, and the source electrode of metal-oxide-semiconductor Q2 connects to power supply, metal-oxide-semiconductor
The grid of Q2 is connect with the points of common connection of metal-oxide-semiconductor Q1 and resistance R1, the drain electrode of metal-oxide-semiconductor Q2 and the grid of capacitor C1 and metal-oxide-semiconductor Q1
The points of common connection of pole connects, while the drain electrode of metal-oxide-semiconductor Q2 is the output end of the short-circuit latching circuit, wherein metal-oxide-semiconductor Q1 and
Metal-oxide-semiconductor Q2 is the enhanced metal-oxide-semiconductor of the road P ditch.
8. according to robot emergency stop control circuit described in claim 3, it is characterised in that: the overvoltage crowbar includes resistance
R4, resistance R5, resistance R6, zener diode DW1, metal-oxide-semiconductor Q3 and metal-oxide-semiconductor Q4, one end of resistance R4 and the emergency stop switch
Output end connection, the other end of resistance R4 are connect with the cathode of zener diode DW1, the plus earth of zener diode DW1, electricity
One end of resistance R5 is connect with the points of common connection of resistance R4 and zener diode cathode, and the other end of resistance R5 is with metal-oxide-semiconductor Q4's
Grid connection, the source electrode of metal-oxide-semiconductor Q4 are connect with the output end of the emergency stop switch, and the drain electrode of metal-oxide-semiconductor Q4 is grounded through resistance R6,
The source electrode of metal-oxide-semiconductor Q3 is connect with the output end of the emergency stop switch, the grid of metal-oxide-semiconductor Q3 and the drain electrode of metal-oxide-semiconductor Q4 and resistance R6
Points of common connection connection, the drain electrode of metal-oxide-semiconductor Q3 is the output end of overvoltage crowbar, wherein metal-oxide-semiconductor Q1 and metal-oxide-semiconductor Q2 are equal
For the enhanced metal-oxide-semiconductor of the road P ditch.
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| CN201910899061.9A CN110471320A (en) | 2019-09-23 | 2019-09-23 | Robot emergency stop control circuit |
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| CN201910899061.9A CN110471320A (en) | 2019-09-23 | 2019-09-23 | Robot emergency stop control circuit |
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| CN111240258A (en) * | 2020-01-19 | 2020-06-05 | 大族激光科技产业集团股份有限公司 | Industrial robot and emergency stop device thereof |
| CN114347025A (en) * | 2022-01-04 | 2022-04-15 | 深圳市大族机器人有限公司 | Cooperative robot function safety control circuit, control method and cooperative robot |
| JP7392009B2 (en) | 2022-01-31 | 2023-12-05 | 上銀科技股▲分▼有限公司 | Electromechanical system instruction equipment |
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