CN110733041A - accuse drives body power module - Google Patents
accuse drives body power module Download PDFInfo
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- CN110733041A CN110733041A CN201911098089.9A CN201911098089A CN110733041A CN 110733041 A CN110733041 A CN 110733041A CN 201911098089 A CN201911098089 A CN 201911098089A CN 110733041 A CN110733041 A CN 110733041A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention relates to the field of robot control, in particular to control drivers power modules, which not only integrate a multi-axis drive circuit, but also integrate a filter, a safety switch and a power supply required by a traditional control cabinet, and the invention contributes to providing control drivers power modules, which not only integrate a multi-axis drive circuit, but also integrate the filter, the safety switch and the power supply required by the traditional control cabinet.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robot control, in particular to control drive power modules.
[ background of the invention ]
In the robot, the miniaturization of the robot is required, and the integration degree of the robot body and the robot control system is higher.
Meanwhile, the multi-shaft integrated driver is combined with the original controller, and then the electrical equipment of the original robot control system, such as a power supply, a contactor and a filter, is integrated, so that a novel robot control system is realized.
However, the robot control system described above is only a way of changing the original drive, and is still in the form of a controller + a drive in nature. For elements except for the driver, the controller still cannot monitor and manage, the system still consists of discrete modules such as a power supply, a filter, a contactor, a safety relay and the like, and the controller cannot master information of all hardware modules, so that remote problem troubleshooting, analysis and repair are difficult to carry out, and great inconvenience is brought to maintenance of users and engineers.
[ summary of the invention ]
The invention aims to solve the problems and provides power modules integrating a multi-axis drive circuit and a control driver body of a power supply, wherein the power modules integrate a filter, a safety switch and a power supply required by a traditional control cabinet, so that the electrical element integration of the traditional control cabinet is realized, the number of external electrical elements and the number of connecting wires are reduced, the volume of the control driver body is reduced, and the production cost is reduced.
In order to achieve the purpose, the kinds of control drive body power modules comprise a module interface, a filtering and rectifying submodule respectively connected with the module interface, a power supply submodule, a control power supply submodule, a multi-axis motor drive submodule and a safety monitoring submodule, and further comprise an external control module interface which is connected with an external control module and realizes signal interaction of the filtering and rectifying submodule, the power supply submodule, the control power supply submodule, the multi-axis motor drive submodule and the safety monitoring submodule with the external control module.
, the module interface includes a power input interface, the filter rectifier sub-module includes an input filter circuit, a rectifier circuit and an energy storage start circuit, the power input interface is connected with an external alternating current power supply, the input filter circuit filters the accessed alternating current, the rectifier circuit and the energy storage start circuit rectify and store the filtered alternating current and output a direct current bus power supply, the direct current bus power supply supplies power to the power supply sub-module, the control power supply sub-module and the safety monitoring sub-module, and the safety monitoring sub-module is also provided with a safety switch, and the direct current bus power supply supplies power to the multi-axis motor driving sub-module after passing through the safety switch.
And , the filter rectifier sub-module further comprises a bus monitoring circuit and an overvoltage bleeder circuit, the module interface further comprises a power resistor interface, the overvoltage bleeder circuit is externally connected with power resistors through the power resistor interface, and the bus monitoring circuit performs overvoltage and overcurrent feedback and control on the direct-current bus power supply through the overvoltage bleeder circuit and is connected with an external control module interface to perform signal interaction with an external control module.
, the power supply submodule includes a power supply circuit and a power supply monitoring circuit, the power supply circuit takes the dc bus power supply as input and isolates the output dc power supply, the power supply monitoring circuit detects the dc power supply, controls and feedbacks the overcurrent, short circuit and undervoltage to realize the output of the monitored dc power supply, and interacts the signal with the external control module through the external control module interface.
, the control power supply submodule includes a control power supply circuit, a strong current control power supply monitoring circuit and a weak current control power supply monitoring circuit, the control power supply circuit takes the dc bus power supply as input and isolates and outputs the strong current control power supply and the weak current control power supply, the strong current control power supply monitoring circuit performs overvoltage, overcurrent, short circuit control and feedback on the strong current control power supply to realize the output of the monitored strong current control power supply, the weak current control power supply monitoring circuit performs overvoltage, overcurrent, short circuit control and feedback on the weak current control power supply to realize the output of the monitored weak current control power supply, and is connected with an external control module interface to perform signal interaction with an external control module.
, each -axis motor driving submodule further comprises a three-phase motor driving circuit, a three-phase signal driving circuit, a three-phase current monitoring circuit, a temperature monitoring circuit and a band-type brake monitoring circuit, wherein a monitored strong current control power supply supplies power to the three-phase motor driving circuit, the three-phase current monitoring circuit and the temperature monitoring circuit respectively, a monitored weak current control power supply supplies power to an external control module through an external control module interface, and the three-phase signal driving circuit supplies control power to the three-phase motor driving circuit.
, the module interface further comprises a motor driving interface which is externally connected with a load motor, a three-phase current monitoring circuit which detects the three-phase current of the three-phase motor driving circuit and feeds back the detection signal to the external control module through the external control module interface, a temperature monitoring circuit which detects the temperature of the three-phase motor driving circuit and feeds back the detection signal to the external control module through the external control module interface, and the band-type brake monitoring circuit takes a direct current power supply as power supply input, controls the band-type brake of the load motor through the motor driving interface and carries out signal interaction with the external control module through the external control module interface.
, the safety monitoring sub-module comprises a power supply detection circuit, a safety torque circuit and a global temperature monitoring circuit, wherein a safety switch is arranged in the safety torque circuit, the three-phase motor driving circuit is powered by the safety switch in the safety torque circuit and supplies power to the load motor through a motor driving interface, the module interface also comprises an external signal interface, the external signal interface comprises a safety torque interface and a heat dissipation driving interface, the safety torque circuit detects external safety signals through the safety torque interface and controls enabling or disabling of the safety switch, enabling or disabling of the three-phase signal driving circuit and enabling or disabling of the band-type brake monitoring circuit, so that the safety power-down function of the three-phase motor driving circuit is realized, and signal interaction is carried out with an external control module through an external control module interface.
, the safety torque interface is further externally connected with a emergency stop switch, the safety torque interface detects whether the emergency stop switch is switched on or not, a detection signal is fed back to the safety torque circuit and is fed back to the external control module through an external control module interface, a global temperature sensor is arranged in the global temperature monitoring circuit, the global temperature monitoring circuit is connected with the heat dissipation driving interface, the global temperature sensor detects the global temperature, the heat dissipation driving interface is further externally connected with a heat dissipation fan, the global temperature monitoring circuit controls the enabling or enabling of the heat dissipation fan through the heat dissipation driving interface and carries out signal interaction with the external control module through the external control module interface.
And , the power supply detection circuit detects whether the external alternating current is connected through the power supply input interface and feeds back a detection signal to the external control module through the external control module interface.
The invention provides power modules of a control driver body, which not only integrate a multi-axis drive circuit, but also integrate a filter, a safety switch and a power supply required by a traditional control cabinet, realizes the integration of electrical elements of the traditional control cabinet, and reduces the number of external electrical elements and the number of wires, thereby reducing the volume of the control driver module and reducing the production cost.
[ description of the drawings ]
Fig. 1 is a block diagram of a power module of the control driver of the present invention.
FIG. 2 is a block diagram of the power module of the control driver coupled to an external control module.
[ detailed description ] embodiments
The following examples are further illustrative and supplementary to the present invention and do not limit the present invention in any way.
Example 1
As shown in fig. 1 and 2, the power module of the control driver body of the present embodiment includes a module interface, a filtering and rectifying sub-module 10, a power supply sub-module 20, a control power supply sub-module 30, a multi-axis motor driving sub-module 40, and a safety monitoring sub-module 50, which are respectively connected to the module interface, and the power module 100 further includes an external control module interface 80, where the external control module interface 80 is connected to the external control module 200 and implements signal interaction between the filtering and rectifying sub-module 10, the power supply sub-module 20, the control power supply sub-module 30, the multi-axis motor driving sub-module 40, and the safety monitoring sub-module.
The power module 100 in this embodiment integrates a multi-axis motor driving circuit, and also integrates a filter, a safety switch, and a power supply required by a conventional control cabinet, so as to realize the integration of the electrical components of the conventional control cabinet, reduce the number of external electrical components and the number of wires, thereby reducing the volume of the control driver body and reducing the production cost.
Example 2
As shown in fig. 1 and 2, in this embodiment, the power module 100 includes a filtering and rectifying sub-module 10, a power supply sub-module 20, a control power supply sub-module 30, a multi-axis motor drive sub-module 40, a safety monitoring sub-module 50, and module interfaces, where the module interfaces include a motor drive interface 61, an external signal interface 63, a power input interface 65, a power resistor interface 66, a power supply interface 67, and a control module interface 80, the external signal interface 63 further includes a heat dissipation drive interface 62 and a safety torque interface 64, and the external control module interface 80 is connected to the external control module 200;
the filtering and rectifying submodule 10 comprises an input filtering circuit 11, a rectifying circuit 12, an energy storage starting circuit 13, a bus monitoring circuit 14 and an overvoltage bleeder circuit 15. The power supply sub-module 20 includes a power supply circuit 21 and a power supply monitoring circuit 22. The control power supply submodule 30 includes a control power supply circuit 31, a strong current control power supply monitoring circuit 32, and a weak current control power supply monitoring circuit 33. The multi-axis motor driving sub-module 40 comprises a three-phase motor driving circuit 41, a three-phase signal driving circuit 42, a three-phase current monitoring circuit 43, a temperature monitoring circuit 44 and a band-type brake monitoring circuit 45. The safety monitoring submodule 50 comprises a power supply detection circuit 54, a safety torque circuit 53 and a global temperature monitoring circuit 51, wherein a safety switch 55 is arranged in the safety torque circuit 53, and a global temperature sensor 52 is arranged in the global temperature monitoring circuit 51.
The power input interface 65 is connected with an external alternating current power supply, the input filter circuit 11 filters the accessed alternating current, the rectifier circuit 12 and the energy storage starting circuit 13 rectify and store the filtered alternating current and output a direct current bus power supply, the direct current bus power supply supplies power to the power supply submodule 20, the control power supply submodule 30 and the safety monitoring submodule 50, the safety monitoring submodule 50 is also internally provided with a safety switch 55, the direct current bus power supply supplies power to the multi-axis motor driving submodule 40 after passing through the safety switch 55, the filter rectifier submodule 10 further comprises a bus monitoring circuit 14 and an overvoltage bleeder circuit 15, the module interface further comprises a power resistor interface 66, the bus monitoring circuit 14 is externally connected with power resistors 70 through the power resistor interface 66, and the bus monitoring circuit 14 performs overvoltage, overcurrent feedback and control on the direct current bus power supply and is connected with the external control module interface 80 to perform signal interaction with the external control module 200.
The tank starting circuit 13 is connected to the power resistor 70 through the power resistor interface 66. After alternating current is rectified, current is limited through the power resistor 70, the capacitor in the energy storage starting circuit 13 is charged, when the capacitor charge reaches a specified threshold value, the external power resistor 70 is disconnected, direct power supply is switched, and soft starting of the direct current bus power supply is achieved. The bus monitoring circuit 14 and the overvoltage relief circuit 15 are connected to the power resistor 70 through the power resistor interface 66. When detecting that the voltage of the dc bus power supply is higher than the overvoltage threshold set by the circuit, the switch of the overvoltage discharging circuit 15 is opened, and energy is discharged through the external power resistor 70 until the voltage of the dc bus power supply is smaller than the stop threshold set by the circuit. The dc bus power supply feeds back a voltage signal of the dc bus power supply to the external control module 200 through the external control module interface 80, so that the external control module 200 can open or close the bleeder switch of the overvoltage bleeder circuit 15 according to a self-set threshold value, thereby controlling the voltage of the dc bus power supply.
Example 3
As shown in fig. 1 and 2, the power supply sub-module 20 in this embodiment includes a power supply circuit 21 and a power supply monitoring circuit 22; a power supply circuit 21 which takes a direct current bus power supply as an input and isolates and outputs a direct current power supply; the power supply monitoring circuit 22 detects the dc power supply, performs overcurrent, short circuit, and undervoltage control and feedback, and performs signal interaction with the external control module 200 through the external control module interface 80.
In the power supply sub-module 20, the dc power supply output by the power supply circuit 21 supplies power to the internal contracting brake monitoring circuit 45 and the global temperature monitoring circuit 51 of the power module 100. The power supply monitoring circuit 22 has the detection and protection capabilities of overcurrent, short circuit, undervoltage and overvoltage, when the power supply monitoring circuit 22 detects the overcurrent of current or overvoltage of voltage of the power supply circuit 21, the channel output is automatically closed, and the output state of the direct-current bus power supply is fed back to the external control module 200 through the external control module interface 80; correspondingly, the external control module 200 may reset the dc bus power supply through the external control module interface 80, so that the power supply circuit 21 recovers the power supply of the corresponding interface through the power supply protection circuit 22, thereby ensuring the safety of the dc bus power supply.
Example 4
As shown in fig. 1 and 2, the control power supply submodule 30 in the present embodiment includes a control power supply circuit 31, a strong power control power supply monitoring circuit 32 and a weak power control power supply monitoring circuit 33; the control power supply circuit 31 takes a direct current bus power supply as input and isolates and outputs a strong current control power supply and a weak current control power supply; the strong current control power monitoring circuit 32 performs overvoltage, overcurrent and short circuit control and feedback on the strong current control power, and the weak current control power monitoring circuit 33 performs overvoltage, overcurrent and short circuit control and feedback on the weak current control power, and is connected with the external control module interface 80 to perform signal interaction with the external control module 200.
The weak current control power supply output by the control power supply circuit 31 supplies power to the external control module 200 through the weak current control power supply monitoring circuit 33 and the external control module interface 80; the strong current control power supply output by the control power supply circuit 31 supplies power to the bus monitoring circuit 14, the overvoltage bleeder circuit 15, the three-phase motor drive circuit 41, the three-phase current monitoring circuit 43, the temperature monitoring circuit 44, the power supply detection circuit 54 and the safety torque circuit 53 through the strong current control power supply monitoring circuit 32 and the external control module interface 80.
Example 5
As shown in fig. 1 and 2, in the multi-axis motor driving sub-module 40 of the present embodiment, the motor driving interface 61 is externally connected with the load motor 72, the three-phase current monitoring circuit 43 detects three-phase current of the three-phase motor driving circuit 41 and feeds back a detection signal to the external control module 200 through the external control module interface 80, the temperature monitoring circuit 44 detects temperature of the three-phase motor driving circuit 41 and feeds back the detection signal to the external control module 200 through the external control module interface 80, and the band-type brake monitoring circuit 45 uses a dc power supply as a power supply input, controls a band-type brake of the load motor 72 through the motor driving interface 61, and performs signal interaction with the external control module 200 through the external control module interface 80.
The three-phase motor driving circuit 41 is connected with the load motor 72 through the motor driving interface 61 to control the load motor 72; the external control module interface 80 receives a driving signal of the external control module 200, thereby driving the load motor 72 to operate. The three-phase current monitoring circuit 43 is configured to monitor the three-phase current and the bus current of the three-phase signal driving circuit 42, and feed back the three-phase current and the bus current to the external control module 200 through the external control module interface 80. The temperature monitoring circuit 44 is used for monitoring the internal temperature of the power module 100, and feeding back the internal temperature to the external control module 200 through the external control module interface 80. The brake monitoring circuit 45 is connected to a brake of the load motor 72 through the motor drive interface 61. When the brake monitoring circuit 45 is electrified, the brake of the load motor 72 is released; when the brake monitoring circuit 45 loses power, the brake of the load motor 72 is closed. Meanwhile, the band-type brake monitoring circuit 45 is connected with the external control module 200 through the external control module interface 80, and the external control module 200 controls the power on and power off of the band-type brake monitoring circuit 45; the contracting brake monitoring circuit 45 feeds back the power-on and power-off states of the contracting brake monitoring circuit 45 to the external control module 200 through the external control module interface 80.
Example 6
As shown in fig. 1 and 2, in the present embodiment, the safety monitoring submodule 50 includes a power supply detection circuit 54, a safety torque circuit 53 and a global temperature monitoring circuit 51, a safety switch 55 is disposed in the safety torque circuit 53, the three-phase motor driving circuit 41 uses the safety switch 55 in the safety torque circuit 53 as a power supply input and supplies power to the load motor 72 through the motor driving interface 61, the module interface further includes an external signal interface 63, the external signal interface 63 includes a safety torque interface 64 and a heat dissipation driving interface 62, the safety torque circuit 53 detects an external safety signal through the safety torque interface 64 and controls enabling or disabling of the safety switch 55, the three-phase signal driving circuit 42 enables or disables, the band-type brake monitoring circuit 43 enables or disables to achieve a safety power-down function of the three-phase motor driving circuit 41, and performs signal interaction with the external control module 200 through the external control module interface 80, the safety torque interface 64 further externally connects the emergency stop switch 71, the safety torque interface 64 detects whether the emergency stop switch 71 is connected, detects a signal from the safety torque circuit 53, feeds back to the external control module 200 through the external control module interface 80, feeds back the external temperature detection signal to the external control module 200, and controls the external fan driving module 51 through the heat dissipation interface 6380 to detect whether the external temperature sensor 62, and controls the external temperature sensor 3651 through the external control module 80, and controls the external temperature sensor 3651, and controls the external heat dissipation module 35.
The power supply detection circuit 54 detects whether or not the ac power supply is connected through the power supply input interface 65. When the ac power is connected, the power supply detection circuit 54 feeds back the signal that the ac power is connected to the external control module 200 through the external control module interface 80; when the ac power is turned off, the power supply detection circuit 54 feeds back a signal indicating that the ac power is turned off to the external control module 200 through the external control module interface 80, so that the external control module 200 performs system protection within a limited time.
The safety torque circuit 53 is externally connected with the emergency stop switch 71 through the safety torque interface 64, when the emergency stop switch 71 is connected with the safety torque interface 64, the safety torque circuit 53 will take the emergency stop signal of the safety torque interface 64 into effect, thereby realizing the emergency stop control of the emergency stop switch 71 on the power module 100, when the emergency stop switch 71 is disconnected with the safety torque interface 64, the safety torque circuit 53 will lose the emergency stop signal of the safety torque interface 64, thereby disconnecting the influence of the emergency stop switch 71 on the power module 100, meanwhile, the safety torque circuit 53 feeds back the signal whether the safety torque interface 64 is disconnected to the external control module 200 through the external control module interface 80.
The safety torque circuit 53 is internally provided with a safety switch 55, the connection and disconnection of the input of the direct current bus power supply are realized through the safety switch 55, the state of the safety torque circuit 53 is fed back to the external control module 200 through an external control module interface 80, when an emergency stop signal given by an emergency stop switch 71 is effective, the safety torque circuit 53 controls the enabling of the three-phase signal driving circuit 42 and the closing of the safety switch 55, so that the three-phase motor driving circuit 41 obtains the direct current bus power supply to normally work, when the emergency stop signal given by the emergency stop switch 71 is ineffective, the safety torque circuit 53 controls the disabling of the three-phase motor driving circuit 41 after controllable delay times, the safety switch 55 is disconnected, so that the three-phase motor driving circuit 41 loses the direct current bus power supply to stop working, and the safety of equipment is ensured.
The global temperature monitoring circuit 51 detects the heat dissipation temperature of the power module 100 through the global temperature sensor 52; a heat dissipation fan 73 is connected through the heat dissipation drive interface 62. When the global temperature sensor 52 detects a temperature rise, the global temperature monitoring circuit 51 increases the rotation speed of the cooling fan 73 to enhance air-cooled cooling, and when the global temperature sensor 52 detects a temperature fall, the global temperature monitoring circuit 51 decreases the rotation speed of the cooling fan 73 to realize global cooling temperature control.
In short, the filtering and rectifying submodule 10 forms a stable dc bus power supply by filtering, rectifying, storing energy and starting the input ac; the power supply sub-module 20 realizes high-power direct-current power supply output by inputting a direct-current bus power supply, and realizes power supply of an external system with power supply monitoring protection; the control power supply sub-module 30 realizes the output of a strong current control power supply and a weak current control power supply with power supply monitoring protection by inputting a direct current bus power supply, wherein the strong current control power supply supplies power to the inside of the power module 100, and the weak current control power supply supplies power to the external control module 200; the multi-axis motor driving submodule 40 is used for realizing the driving control of the multi-axis motor with current and temperature monitoring capability and safe torque control by inputting a direct-current bus power supply and a strong current control power supply; the safety monitoring submodule 50 has functions of power supply detection and feedback, safety torque control, emergency stop control and global temperature monitoring.
Although the present invention has been described with reference to the above embodiments, the scope of the present invention is not limited thereto, and modifications, substitutions and the like of the above members are intended to fall within the scope of the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
- The power module comprises a module interface, a filtering and rectifying submodule (10), a power supply submodule (20), a control power supply submodule (30), a multi-axis motor driving submodule (40) and a safety monitoring submodule (50), wherein the filtering and rectifying submodule (10), the power supply submodule (20), the control power supply submodule (30), the multi-axis motor driving submodule (40) and the safety monitoring submodule (50) are respectively connected with the module interface, the power module (100) further comprises an external control module interface (80), and the external control module interface (80) is connected with an external control module (200) and realizes signal interaction of the filtering and rectifying submodule (10), the power supply submodule (20), the control power supply submodule (30), the multi-axis motor driving submodule (40) and the safety monitoring submodule (50) and the.
- 2. The kinds of control drive body power module as claimed in claim 1, wherein the module interface includes a power input interface (65), the filter rectifier sub-module (10) includes an input filter circuit (11), a rectifier circuit (12) and an energy storage starting circuit (13), the power input interface (65) is connected with an external alternating current power supply, the input filter circuit (11) filters the accessed alternating current, the rectifier circuit (12) and the energy storage starting circuit (13) rectify and store the filtered alternating current and output a direct current bus power supply, and the direct current bus power supply supplies power to the power supply sub-module (20), the control supply sub-module (30) and the safety monitoring sub-module (50);a safety switch (55) is further arranged in the safety monitoring submodule (50), and a direct-current bus power supply supplies power to the multi-shaft motor driving submodule (40) after passing through the safety switch (55).
- 3. The type power module of control drive of claim 2, wherein the filter rectifier module (10) further comprises a bus monitoring circuit (14) and an overvoltage relief circuit (15), and the module interface further comprises a power resistor interface (66);the overvoltage bleeder circuit (15) is externally connected with the power resistor (70) through the power resistor interface (66), and the bus monitoring circuit (14) performs overvoltage, overcurrent feedback and control on a direct current bus power supply through the overvoltage bleeder circuit (15) and is connected with the external control module interface (80) to perform signal interaction with the external control module (200).
- 4. The kind of control drive body power module of claim 3, wherein the power supply submodule (20) includes a power supply circuit (21) and a power supply monitor circuit (22);a power supply circuit (21) which takes the direct current bus power supply as input and isolates and outputs the direct current power supply;the power supply monitoring circuit (22) detects a direct current power supply, performs overcurrent, short circuit, undervoltage control and feedback to realize the output of the monitored direct current power supply, and performs signal interaction with an external control module (200) through an external control module interface (80).
- 5. The kind of control drive body power module of claim 4, wherein the control power supply submodule (30) includes a control power supply circuit (31), a strong current control power supply monitoring circuit (32) and a weak current control power supply monitoring circuit (33);the control power circuit (31) takes a direct current bus power supply as input and isolates and outputs a strong current control power supply and a weak current control power supply;the strong current control power supply monitoring circuit (32) performs overvoltage, overcurrent and short circuit control and feedback on a strong current control power supply to realize output of the monitored strong current control power supply, the weak current control power supply monitoring circuit (33) performs overvoltage, overcurrent and short circuit control and feedback on the weak current control power supply to realize output of the monitored weak current control power supply, and is connected with an external control module interface (80) to perform signal interaction with an external control module (200).
- 6. The kinds of control drive power module of claim 5, wherein each kinds of motor drive sub-modules (40) further comprise a three-phase motor drive circuit (41), a three-phase signal drive circuit (42), a three-phase current monitor circuit (43), a temperature monitor circuit (44) and a band-type brake monitor circuit (45), and the monitored strong electric control power supplies power to the three-phase motor drive circuit (41), the three-phase current monitor circuit (43) and the temperature monitor circuit (44), respectively;the monitored weak current control power supply supplies power to the external control module (200) through the external control module interface (80); the three-phase signal driving circuit (42) provides a control power supply for the three-phase motor driving circuit (41).
- 7. The kind of control body power module of claim 6, wherein the module interface further comprises a motor drive interface (61), the motor drive interface (61) externally connecting a load motor (72);the three-phase current monitoring circuit (43) is used for detecting three-phase current of the three-phase motor driving circuit (41) and feeding back a detection signal to the external control module (200) through an external control module interface (80);the temperature monitoring circuit (44) is used for detecting the temperature of the three-phase motor driving circuit (41) and feeding back a detection signal to the external control module (200) through an external control module interface (80);the band-type brake monitoring circuit (45) takes a direct-current power supply as power supply input, controls a band-type brake of a load motor (72) through a motor driving interface (61), and performs signal interaction with an external control module (200) through an external control module interface (80).
- 8. The kind of control drive body power module of claim 7, wherein the safety monitoring submodule (50) includes a power supply detection circuit (54), a safety torque circuit (53) and a global temperature monitoring circuit (51);safety switches (55) are arranged in the safety torque circuit (53), the three-phase motor driving circuit (41) takes the safety switches (55) in the safety torque circuit (53) as power supply input, and supplies power to the load motor (72) through a motor driving interface (61);the module interface further comprises an external signal interface (63), the external signal interface (63) comprises a safety torque interface (64) and a heat dissipation driving interface (62), the safety torque circuit (53) detects an external safety signal through the safety torque interface (64), controls enabling or disabling of the safety switch (55), enabling or disabling of the three-phase signal driving circuit (42) and enabling or disabling of the band-type brake monitoring circuit (43), realizes a safety power-down function of the three-phase motor driving circuit (41), and performs signal interaction with the external control module (200) through the external control module interface (80).
- 9. The kinds of control drive body power module of claim 8, wherein the safety torque interface (64) is further externally connected with a sudden stop switch (71), the safety torque interface (64) detects whether the sudden stop switch (71) is turned on, feeds back a detection signal to the safety torque circuit (53), and feeds back the detection signal to the external control module (200) through the external control module interface (80);be provided with global temperature sensor (51) in global temperature monitor circuit (51), global temperature monitor circuit (51) are connected with heat dissipation drive interface (62), global temperature sensor (51) detect global temperature, heat dissipation drive interface (62) are external radiator fan (73) still, global temperature monitor circuit (51) are through the enable or the disability of heat dissipation drive interface (62) control radiator fan (73), and carry out signal interaction through external control module interface (80) and external control module (200).
- 10. The kind of control drive body power module of claim 9, wherein the power supply detection circuit (54) detects whether external AC power is on through the power input interface (65) and feeds back a detection signal to the external control module (200) through the external control module interface (80).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112511395A (en) * | 2020-11-06 | 2021-03-16 | 云浮中科石材创新科技有限公司 | Driving and controlling integrated control system |
| WO2022120820A1 (en) * | 2020-12-11 | 2022-06-16 | Abb Schweiz Ag | Robot control system, robot control method, and robot |
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| CN105364926A (en) * | 2015-11-20 | 2016-03-02 | 上海新时达电气股份有限公司 | Multi-shaft robot driving and controlling integrated control system |
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| WO2022120820A1 (en) * | 2020-12-11 | 2022-06-16 | Abb Schweiz Ag | Robot control system, robot control method, and robot |
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| Publication number | Publication date |
|---|---|
| CN110733041B (en) | 2021-02-19 |
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Effective date of registration: 20210922 Address after: No.19, Taoyuan East Road, Songgang Songxia Industrial Park, Shishan town, Nanhai District, Foshan City, Guangdong Province, 528200 Patentee after: FOSHAN INSTITUTE OF INTELLIGENT EQUIPMENT TECHNOLOGY Patentee after: Foshan guanwan Intelligent Technology Co.,Ltd. Address before: No.19, Taoyuan East Road, Songgang Songxia Industrial Park, Shishan town, Nanhai District, Foshan City, Guangdong Province, 528200 Patentee before: FOSHAN INSTITUTE OF INTELLIGENT EQUIPMENT TECHNOLOGY |