CN111487479A - Industrial robot drive plate detects card - Google Patents
Industrial robot drive plate detects card Download PDFInfo
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- CN111487479A CN111487479A CN202010347232.XA CN202010347232A CN111487479A CN 111487479 A CN111487479 A CN 111487479A CN 202010347232 A CN202010347232 A CN 202010347232A CN 111487479 A CN111487479 A CN 111487479A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/16—Measuring asymmetry of polyphase networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/22—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor
- G01K7/24—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor in a specially-adapted circuit, e.g. bridge circuit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
- G01R1/0416—Connectors, terminals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/26—Testing of individual semiconductor devices
- G01R31/2607—Circuits therefor
- G01R31/2608—Circuits therefor for testing bipolar transistors
- G01R31/2619—Circuits therefor for testing bipolar transistors for measuring thermal properties thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
- G01R31/3277—Testing of circuit interrupters, switches or circuit-breakers of low voltage devices, e.g. domestic or industrial devices, such as motor protections, relays, rotation switches
- G01R31/3278—Testing of circuit interrupters, switches or circuit-breakers of low voltage devices, e.g. domestic or industrial devices, such as motor protections, relays, rotation switches of relays, solenoids or reed switches
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- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a drive plate detection card of an industrial robot. The device comprises a detection board, a single chip microcomputer, a multi-path analog switch, a golden finger and a test signal buffer; the single chip microcomputer, the multi-path analog switch and the test signal buffer are inserted on a chip seat which is configured on the detection board in advance; the multi-path analog switch and the test signal buffer are electrically connected with the single chip microcomputer; the multi-path analog switch is electrically connected with the test signal buffer; the detection board is inserted into a preset clamping groove of the detected drive board through a golden finger; when the multi-path analog switch is switched on, the single chip microcomputer sends a PWM motor driving signal to a detected driving plate, receives a feedback signal of the detected driving plate and judges whether the motor driving plate has a fault or not.
Description
Technical Field
The invention relates to the technical field of detection of a drive plate of an industrial robot, in particular to a drive plate detection card of the industrial robot.
Background
In recent years, China becomes the market with the fastest increase in the number of industrial robots and the greatest demand all over the world. In response to the increase in sales, the robot replacement also maintains a high-speed growth situation. After a large amount of sampling industrial robots, the maintenance service and the industry of the industrial robots are changed, the cost of the maintenance embodied by the original factory is too high along with the overdue maintenance, the general maintenance company of the industrial robot maintenance and repair market faces the requirement of independently researching and developing test and repair equipment, and the industrial robot maintenance and repair industry is convenient to use by the detection card. The invention discloses a drive plate detection card for an industrial robot drive plate, which is a tool for detecting, testing and maintaining the drive plate of the industrial robot.
Disclosure of Invention
The invention provides a drive plate detection card of an industrial robot, which is used for solving the problem that the maintenance cost of the industrial robot is too high.
A detection card for a drive plate of an industrial robot is characterized by comprising a detection plate, a single chip microcomputer, a multi-path analog switch, a golden finger and a test signal buffer; wherein the content of the first and second substances,
the single chip microcomputer, the multi-path analog switch and the test signal buffer are inserted on a chip seat which is configured on the detection board in advance; the multi-path analog switch and the test signal buffer are electrically connected with the single chip microcomputer; the multi-path analog switch is electrically connected with the test signal buffer;
the detection board is inserted into a preset clamping groove of the detected drive board through a golden finger; wherein the content of the first and second substances,
when the multi-path analog switch is switched on, the single chip microcomputer sends a PWM motor driving signal to a detected driving plate, receives a feedback signal of the detected driving plate and judges whether the motor driving plate is in fault.
As an embodiment of the present invention: the multi-path analog switch consists of a plurality of analog switches; the analog switches respectively control a plurality of shaft joint motors connected with the detected driving plate, convert analog signals for driving the shaft joint motors into digital signals and transmit the digital signals to the detection plate;
the test signal buffers are multiple and are respectively connected with the analog switches.
As an embodiment of the present invention: the faults comprise phase faults, main loop relay faults and IGBT module faults; wherein the content of the first and second substances,
the phase faults comprise open-phase faults and under-voltage faults;
the fault of the main loop relay is a Juhuili relay disconnection fault;
and the IGBT module fault is a fault that the temperature of the IGBT module is too high.
As an embodiment of the present invention: the detection board is also provided with a functional keyboard, a display, a power circuit and a buzzer; wherein the content of the first and second substances,
the functional keyboard, the display, the power circuit and the buzzer are all connected with the single chip microcomputer;
the function keyboard is respectively connected with a PB3 pin, a PB4 pin and a PB5 pin of the singlechip;
the buzzer is connected with a PA0 pin of the single chip microcomputer;
the power circuit is connected with a VDD pin of the single chip microcomputer;
the display is connected with an SC L pin and an SDA pin of the singlechip, wherein,
the display is also connected with the power supply circuit;
the display is used for:
when the single chip microcomputer judges that the detected drive plate has phase loss and undervoltage, displaying that the single chip microcomputer generates a first fault code;
when the single chip microcomputer judges that the main loop relay is disconnected, displaying that the single chip microcomputer generates a second fault code;
and when the single chip microcomputer judges that the temperature of the IGBT module is too high, displaying that the single chip microcomputer generates a third fault code.
As an embodiment of the present invention: the singlechip includes: a PA8 pin, a PA9 pin, a PA10 pin, a PB13 pin, a PB14 pin and a PB15 pin;
the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin and the PB15 pin are connected with a plurality of IGBT driving circuits preset on the detected driving board; and different PWM signals are respectively output through the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin and the PB15 pin, and the detected driving board is respectively driven to be connected with different motors.
As an embodiment of the present invention: the single chip microcomputer receives a level signal of a preset rectifying circuit of the detected driving board through a PA24 pin and judges whether a three-phase power supply of the detected driving board is in phase failure; wherein the content of the first and second substances,
when the PA24 pin receives a low level, the three-phase power supply phase is normal;
when the PA24 pin receives a low level, the level of which is not constant, the three-phase power supply is open-phase.
As an embodiment of the present invention: the singlechip is used for receiving a first digital signal output by a first A/D conversion chip preset on the detected driving plate;
the singlechip is used for receiving a second digital signal output by a second A/D conversion chip preset on the detected driving plate; wherein the content of the first and second substances,
the first digital signal and the second digital signal are pull-in signals of the relay of the detected drive plate;
the single chip microcomputer judges whether the main loop relay is closed or not according to the first digital signal and the second digital signal; wherein
When the judgment result shows that the main loop relay is in a non-attraction state, the main loop relay is in a fault state;
and when the judgment result shows that the main loop relay is in the attraction state, the main loop relay is normal.
As an embodiment of the present invention: the single chip microcomputer is also used for receiving current signals and temperature signals of a preset IGBT module on the detected driving plate; wherein the content of the first and second substances,
the current signals comprise a first current signal and a second current signal which are output through two phases of the preset IGBT module, and the first current signal and the second current signal are input into the single chip microcomputer through a third A/D conversion chip and a fourth A/D conversion chip which are preset on the detected driving board respectively;
the temperature signal is provided through a thermistor integrated on the IGBT module, wherein the temperature signal is divided into a first temperature signal and a second temperature signal through a divider resistor connected with the thermistor;
the first temperature signal is converted into a temperature digital signal through a fifth A/D conversion chip preset on the detected driving board and is input into the single chip microcomputer;
the second temperature signal is directly input into the singlechip through the detected driving board, is compared with a reference temperature signal preset in the singlechip, and outputs a comparison result;
and the single chip microcomputer judges whether the temperature of the IGBT module is too high according to the temperature digital signal and the comparison result.
As an embodiment of the present invention: the acquiring the first temperature signal comprises the following steps:
step 1: acquiring voltage VE at two ends of the thermistor of the IGBT module, and obtaining the initial temperature RT0The real-time temperature R of the thermistor is obtained by the following formula (1) at rtTirt：
Wherein said IrTiThe real-time current at the ith moment is Ti, i is 0,1,2 … … i; b is a temperature coefficient, and T0 isInitial time
Step 2: the reference voltage VZ is calculated according to the following formula (2):
wherein psi temperature sensitive coefficient, q is the charge transferred by the thermistor when the temperature rises, ξ is the potential difference between two ends of the thermistor;
and step 3: calculating the reference voltage VZ according to the following equation (3) to calculate the reference temperature RrZ of the thermistor:
and 4, step 4: comparing the reference temperature RrZ with the real-time temperature R according to equation (4) belowTirt, and comparing the result as the first temperature signal:
wherein the comparison result is that S is more than 1 or S is less than or equal to 1, and when S is less than or equal to 1, the real-time temperature is lower than or equal to the reference temperature; when S > 1, the real-time temperature is higher than the reference temperature.
As an embodiment of the present invention: the detection card comprises the following detection steps:
acquiring current and voltage signals of a three-phase power supply of the detected driving board;
judging the phase state and the voltage state of the detected driving plate according to the current and voltage signal;
if the open phase and the undervoltage exist, outputting a first fault code;
if the phase state and the voltage state are normal, attracting the main loop relay, and judging the attraction state of the main loop relay;
if the main loop relay is disconnected, outputting a second fault code;
if the main loop relay is closed, outputting a motor driving signal to the IGBT module;
the detection card collects current and temperature data of the IGBT module and judges whether the detected drive plate has a fault;
if the detected drive board has a fault, outputting a third fault code;
and if the detected driving board has no fault, the detection card displays that the detected driving board is normal.
The invention has the beneficial effects that: the detection card is connected to the home drive board only, detection and driving are integrated, real-time detection effect can be achieved when the drive board is used, fault codes are displayed, and fault tracing and fault maintenance are facilitated.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a drive board detection card of an industrial robot in an embodiment of the invention;
fig. 2 is a schematic diagram of an optocoupler conduction circuit of a drive board detection card of an industrial robot in an embodiment of the invention;
FIG. 3 is a schematic diagram of a phase loss control circuit of a drive board detection card of an industrial robot drive board according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a single chip microcomputer of a detection card of a drive board of an industrial robot in the embodiment of the invention;
FIG. 5 is a schematic diagram illustrating digital-to-analog conversion of a driver board detection card of an industrial robot according to an embodiment of the present invention;
fig. 6 is a flowchart of the detection steps of the detection card of the drive board of the industrial robot in the embodiment of the present invention;
FIG. 7 is a schematic circuit diagram of an IGBT driving sheet of a driving board detection card driving board of an industrial robot according to an embodiment of the present invention;
fig. 8 is a circuit diagram of a functional keyboard of a detection card of a drive board of an industrial robot in an embodiment of the present invention;
fig. 9 is a circuit diagram of a display of a detection card of a drive board of an industrial robot in an embodiment of the present invention;
FIG. 10 is a circuit diagram of a buzzer of a detection card of a drive board of an industrial robot in an embodiment of the present invention
Fig. 11 is a power circuit diagram of a detection card of a drive board of an industrial robot in an embodiment of the invention;
fig. 12 is a general principle schematic diagram of a drive board detection card and a detected drive board of an industrial robot in an embodiment of the invention.
Reference numerals:
the testing device comprises a detection board 1, a multi-channel analog switch 2, a single chip microcomputer 3, a testing signal buffer 4, an L ED display 5, a golden finger 6, a function key 7, a buzzer 8, a power circuit 9 and a detected driving board 10.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention monitors the fault of the detected drive plate 10 by the detection card 1. The main process is to output the output signal of 2 of the multi-channel analog switch, and the singlechip 3 generates the signal command to control the corresponding motor on the detected drive plate 10 to start, and at the same time, the phases of the main loop relay, the IGBT module and the input power supply of the detected drive plate 10 are detected to judge whether the detected drive plate 10 has a fault, and the fault reason is displayed by outputting a fault code under the fault condition.
Example 1:
the detection card for the drive plate of the industrial robot is characterized by comprising a detection plate 1, a single chip microcomputer 3, a multi-path analog switch 2, a golden finger and a test signal buffer 4; wherein the content of the first and second substances,
the single chip microcomputer 3, the multi-path analog switch 2 and the test signal buffer 4 are inserted on a chip seat which is configured on the detection board 1 in advance; the multi-path analog switch 2 and the test signal buffer 4 are electrically connected with the singlechip 3; the multi-path analog switch 2 is electrically connected with the test signal buffer 4;
the detection board 1 is inserted into a preset clamping groove of a detected driving board 10 through a golden finger 6; wherein the content of the first and second substances,
when the multi-path analog switch 2 is switched on, the single chip microcomputer 3 sends a PWM motor driving signal to the detected driving board 10, receives a feedback signal of the detected driving board 10 and judges whether the motor driving board has a fault or not.
The invention is in a card shape, when in use, the invention is directly inserted into a card slot of a detected drive board 10, the detected drive board 10 comprises but is not limited to an industrial robot motor drive board, and a control card slot is arranged, while the golden finger 6 of the invention is inserted into the control card slot to realize the data exchange and function realization of the detected drive board and the detection card, and the detection card integrates the functions of driving and detection.
In one embodiment: as shown in fig. 12, a three-phase power supply is externally connected to the driven board 10 to be tested, that is, the driven board of the industrial robot, and a driving circuit, a rectifying circuit, a main circuit relay and an IGBT module are configured on the driven board 10 to be tested;
the drive circuit comprises an IGBT drive circuit; the IGBT module is electrically connected with the main loop relay; wherein the content of the first and second substances,
the output signals of the detected driving board 10 comprise phase signals and voltage signals of a driving circuit, the IGBT module outputs temperature signals and current signals, and the main loop relay outputs relay pull-in signals.
The detection card 1 outputs PWM motor driving signals, the multi-path analog switch 2 drives the corresponding external motor to operate, then current signals and voltage signals of a driving circuit of the detected driving board 10 are detected according to feedback signals of the detected driving board 10, suction signals of a main loop relay and temperature signals and current signals of an IGBT module are received, and whether the detected driving board 10 breaks down or not is judged.
In one embodiment: the detection card 1 is inserted into a detected driving board 10, the detected driving board 10 is connected with an ABB motor driving board through a golden finger, and a +5V power supply from the driving board is supplied. And inserting the test card into the card slot, switching on a power supply of the motor driving board, and electrifying the detection card to work.
The invention has the beneficial effects that: according to the invention, the detection card 1 is connected on the drive board, so that detection and drive are integrated, a real-time detection effect can be achieved when the drive board is used, and a fault code is displayed, thereby facilitating fault tracing and fault maintenance.
Example 2:
as an embodiment of the present invention: the multi-path analog switch 2 consists of a plurality of analog switches; the analog switches respectively control a plurality of shaft joint motors connected with the detected driving plate 10, convert analog signals for driving the shaft joint motors into digital signals and transmit the digital signals to the detection plate 1; the multi-channel analog switch 2 corresponds to a plurality of shaft joint motors, and different analog switch signals control different motors.
The number of the test signal buffers 4 is multiple, the test signal buffers 4 are respectively connected with the analog switches, and the test signal buffers correspond to the analog switches in the multi-path analog switch 2.
The multi-channel analog switch 2 is composed of a plurality of analog switch chips, the analog chip switches are connected with the test signal buffers, one analog chip and one test signal buffer form a group, and the analog chip and the test signal buffer are respectively connected with the single chip microcomputer.
Since the driven plates 10 to be detected are industrial robot driving plates, each driving plate is connected with a plurality of motors and is a different shaft joint motor. Thus, different motors may operate at different powers. And the analog switches can control the operation of each motor respectively, so that one motor, one motor check whether the driving plate has a fault.
In one embodiment: the invention uses 7 multi-channel analog switches 2MC74HC4051ADG, when the function key is pressed, the IGBT driving signal is multiplexed to other shaft signal channels. The detection of the motor from 1 shaft to 6 shafts is completed in sequence. And after detection is finished, the driving output is disconnected, so that the motor driving plate is braked and stopped.
Example 3:
as an embodiment of the present invention: the faults comprise phase faults, main loop relay faults and IGBT module faults; wherein the content of the first and second substances,
the phase faults comprise open-phase faults and under-voltage faults;
the main loop relay fault is a main loop relay disconnection fault; when the main circuit relay is turned off, the detected drive board 10 is not started.
And the IGBT module fault is a fault that the temperature of the IGBT module is too high.
The main fault point of the drive board detected by the invention is the phase of an input power supply, the disconnection of a main loop relay and the temperature and current of an IGBT. Therefore, the invention comprehensively detects the detected drive plate from three faults of phase fault, main loop relay fault and IGBT module fault.
In one embodiment: the rectification circuit is externally connected with a three-phase power supply; the detected driving board 10 of the present invention provides a three-phase power supply through an external three-phase circuit, and obtains a direct current by rectifying through a rectifying portion of the driving circuit.
As shown in fig. 2, the optical coupling conducting circuit and the open-phase control circuit are shown in fig. 3; the optical coupling conduction circuit is connected with the IGBT drive circuit, and the open-phase control circuit is connected with the main loop relay;
the optocoupler conduction circuit is used for driving the main loop relay to be attracted through the IGBT module when the phase of an external three-phase power supply is normal.
The open-phase control circuit is used for detecting the voltage waveform of an externally connected three-phase power supply through the detection card 1 when the three-phase power supply is open-phase, the detected voltage waveform is output to the single chip microcomputer 3 from the first reverse phase Schmitt trigger and the second reverse phase Schmitt trigger, and the single chip microcomputer 3 drives the main loop relay to be attracted when judging that the voltage of the three-phase power supply is normal.
When the fault detection is carried out, firstly, different phases are detected according to the phases of a three-phase power supply, and when the phase is normal, the IGBT module is connected through the optical coupling conduction circuit to drive the IGBT module to operate. When the phase is lost, the motor driving board is charged through the phase-lacking control circuit, and when the charging is saturated, the main loop relay is directly controlled to be attracted.
Example 4:
as an embodiment of the invention, as shown in fig. 8, fig. 9, fig. 10, fig. 11 and fig. 4, the detection board 1 is further provided with a function keyboard 7, an L ED display 5, a power circuit 9 and a buzzer 8, wherein,
the functional keyboard 7, the L ED display 5, the power circuit 9 and the buzzer 8 are all connected with the single chip microcomputer 3, the L ED display 5 is adopted in the invention, but the invention is not limited to the L ED display 5, and during actual implementation, a display with better cost performance and quality is selected according to actual requirements.
The function keyboard 7 is respectively connected with a PB3 pin, a PB4 pin and a PB5 pin of the singlechip 3;
the buzzer 8 is connected with a PA0 pin of the singlechip 3; the buzzer 8 is used for giving an alarm in case of a fault.
The power circuit 9 is connected with the TXD pin and the RXD pin of the singlechip 3; and the power circuit 9 is connected with the drive board and provides +5V working voltage for the detection card.
The display 5 is connected with an SC L pin and an SDA pin of the singlechip 3, wherein,
the display 5 is also connected with the power circuit 9; displaying fault codes
The display 5 is configured to:
when the single chip microcomputer 3 judges that the detected drive plate 10 has phase loss and undervoltage, displaying that the single chip microcomputer 3 generates a first fault code;
when the single chip microcomputer 3 judges that the main loop relay is disconnected, displaying that the single chip microcomputer 3 generates a second fault code;
and when the single chip microcomputer 3 judges that the temperature of the IGBT module is too high, displaying that the single chip microcomputer 3 generates a third fault code.
When the detection card 1 detects the fault of the detected drive plate 10, the detection is carried out by detecting the start and the stop of a functional keyboard and exchanging different motors.
The principle of the invention is that the functional keyboard 7, the L ED display 5, the power circuit 9 and the buzzer 8 all belong to auxiliary circuits of the invention, and are electrical components for regulation and control during detection, and fault signals in the invention are displayed through the display, so that the corresponding fault components are determined, the fault source point is conveniently determined, and the fault source point is maintained and processed in a targeted manner.
Example 5:
as an embodiment of the present invention: as shown in fig. 4, the single chip microcomputer 3 comprises: a PA8 pin, a PA9 pin, a PA10 pin, a PB13 pin, a PB14 pin and a PB15 pin;
the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin, and the PB15 pin are connected to a plurality of IGBT driving circuits preset on the board 10 to be driven; and different PWM signals are respectively output through the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin and the PB15 pin, and the detected driving board 10 is respectively driven to be connected with different motors.
Before detection, the driving board 10 needs to be in a working state, so that the motor externally connected with the driving board 10 is controlled to work through the PWM signal.
The single chip microcomputer of the invention establishes different signal transmission channels through different pins, thereby enabling fault signals and driving signals to be transmitted from different channels. Finally, the fault detection function of the detection card 1 is realized.
Example 6:
as an embodiment of the present invention: the single chip microcomputer 3 receives a level signal of a preset rectifying circuit of the detected driving board 10 through a pin PA24, and judges whether a three-phase power supply of the detected driving board 10 is in phase failure; wherein the content of the first and second substances,
when the PA24 pin receives a low level, the three-phase power supply phase is normal;
when the PA24 pin receives a low level, the level of which is not constant, the three-phase power supply is open-phase.
The invention determines the phase of the three-phase power supply through the detection of the current, and judges whether the three-phase power supply is in a phase-lacking state or not according to the stability of the level signal. The phase loss comprises a direct phase loss state and a phase instability state, and the phase detection of the invention can simultaneously detect the phase problems of the two states.
In one embodiment: as shown in fig. 2, the rectifying circuit includes three transistors, a photocoupler 43, a first reverse schmitt trigger 44, and a second reverse schmitt trigger 45; wherein the content of the first and second substances,
the three triodes are conducted alternately through a base set and output a low level through the photoelectric coupler 43; the low level buffers the output drive signal through the first and second inverted schmitt triggers 44 and 45; wherein the content of the first and second substances,
the three triodes are respectively connected with three phases of an external three-phase power supply. In one embodiment: the first triode 40 is connected with the collector of the second triode 41, the collector of the second triode 41 is connected with the collector of the third triode 42, and the collector of the third triode 42 is connected with the input end of the photoelectric coupler 43.
The rectifying circuit is suitable for when an external three-phase power supply of the circuit is normal, when three-phase power input of a motor driving board is normal, three triodes are alternately conducted, for example, BC847BW type triodes, an optocoupler acts to output low level, and finally a level signal is output to the singlechip 3 through a reverse phase Schmitt trigger 44 and a second reverse phase Schmitt trigger 45 which are connected in series, when the level signal is stable, no open phase exists, and when the low level is unstable, the open phase exists;
when the phase place is normal, directly supply power for the IGBT module through rectifier circuit for the operation of external motor of IGBT module drive has guaranteed the ageing of instruction.
In one embodiment: as shown in fig. 3, the open-phase control circuit includes a three-phase bridge brake, wherein,
the three-phase bridge rectifier is connected with the main loop relay and the detection card 1;
the three-phase bridge rectifier is used for rectifying alternating current of an external three-phase power supply into direct current, receiving a voltage signal output by the detection card 1 and controlling the main loop relay to be attracted or disconnected according to the voltage signal.
If the invention is in phase failure after detection, the pin of the slot PC101-A24 is not always at low level, and the detection card can judge the input voltage state by using the STM32F103VBT6 singlechip 3 to read the voltage waveform. As shown IN fig. 3, if the input voltage is normal, after the pre-charging of the detected driving board 10 is completed, the main loop relay is closed, the relay pins X202-5 and X203-5 are pulled low, and then the relay pins X202-5 and X203-5 are output to the IN2 pin of the a/D conversion chip ADC122S051D to be at a low level through the operational amplifier. The detection card can judge the state of the main circuit relay by reading the digital quantity output by the A/D conversion chip.
According to the invention, the primary fault evaluation is carried out on the detected drive plate 10 through different phases, and the operation of the external shaft joint motor is driven through different drive circuits respectively. The invention changes the traditional method of the maintenance and detection of the driving board card of the industrial robot, and the traditional method adopts a common test and measurement method of a universal instrument, such as a universal meter and an oscilloscope to find out faults, and does not provide conditions of working environment and similar working environment. The industrial robot drive board detection card integrates detection and actual operation simulation, and provides a friendly human-computer interface to automatically find faults according to the actual working process.
Example 7
As an embodiment of the present invention: as shown in fig. 5, fig. 5 is a circuit diagram of only one set of a/D conversion chips on the board 10 to be driven according to the present invention, and there are a plurality of sets of a/D conversion chips with the same function on the board to be driven. The single chip microcomputer 3 is used for receiving a first digital signal output by a first A/D conversion chip preset on the detected driving board 10;
the single chip microcomputer 3 is configured to receive a second digital signal output by a second a/D conversion chip preset on the detected drive board 10; wherein the content of the first and second substances,
the first digital signal and the second digital signal are relay suction signals of the detected drive plate 10;
the single chip microcomputer 3 judges whether the main loop relay is closed or not according to the first digital signal and the second digital signal; wherein
When the judgment result shows that the main loop relay is in a non-attraction state, the main loop relay is in a fault state;
and when the judgment result shows that the main loop relay is in the attraction state, the main loop relay is normal.
Example 8:
as an embodiment of the present invention: the single chip microcomputer 3 is also used for receiving current signals and temperature signals of a preset IGBT module on the detected drive plate 10; wherein the content of the first and second substances,
the current signals comprise a first current signal and a second current signal which are output through two phases of the preset IGBT module, and the first current signal and the second current signal are input into the single chip microcomputer 3 through a third A/D conversion chip and a fourth A/D conversion chip which are preset on the detected driving board 10 respectively;
the temperature signal is provided through a thermistor integrated on the IGBT module, wherein the temperature signal is divided into a first temperature signal and a second temperature signal through a divider resistor connected with the thermistor;
the first temperature signal is converted into a temperature digital signal through a fifth a/D conversion chip preset on the detected driving board 10, and is input to the single chip microcomputer 3;
the second temperature signal is directly input to the single chip microcomputer 3 through the detected driving board 10, compared with a reference temperature signal preset in the single chip microcomputer 3, and a comparison result is output;
and the singlechip 3 judges whether the temperature of the IGBT module is too high according to the temperature digital signal and the comparison result.
When the IGBT module is detected, the IGBT driving circuit and the IGBT module are as shown in figure 7, and the IGBT module is composed of a plurality of groups of IGBT driving sheets; wherein the content of the first and second substances,
the IGBT driving sheet is used for driving an external shaft joint motor;
each group of IGBT driving sheets is formed by connecting 3 half-bridge driving chips in parallel;
the 3 half-bridge driving chips are connected with the A/D conversion chip through a three-phase bridge rectifier of the driving circuit and output current digital signals;
a thermistor is further integrated in the IGBT module, and the thermistor divides the voltage into two paths of temperature signals through resistors; wherein the content of the first and second substances,
one of the two paths of temperature signals is used for being compared with a reference temperature signal and then output, and is used for judging whether the temperature is too high or not to generate a first temperature signal; the other path of temperature signal is used for being converted through an A/D conversion chip, and a temperature value is calculated to generate a second temperature signal;
and the first temperature signal and the second temperature signal are transmitted to the detection card through the IGBT module, and the temperature state of the IGBT module is judged.
The U phase and the V phase of the IGBT respectively output a current value through a current sensor, are converted into voltage signals through an operational amplifier, are input into an A/D conversion chip ADC122S051, and then are sent to the singlechip. The singlechip of the detection card 1 can judge the current of the IGBT driving motor by reading the digital quantity output by the A/D conversion chip.
The thermistor integrated in the IGBT is subjected to voltage division through resistors, and one path of the thermistor is compared with the reference of the single chip microcomputer and then output to judge whether the temperature is too high.
The other path is input into an A/D conversion chip through an operational amplifier, converted into a digital signal and input into a singlechip for calculating a temperature value. The detection card can judge the temperature state of the IGBT by reading the two groups of data.
Example 9:
as an embodiment of the present invention: the acquiring the first temperature signal comprises the following steps:
step 1: obtaining the working voltage VE of the IGBT module, and obtaining the initial temperature RT0The real-time temperature R of the thermistor is obtained by the following formula (1) at rtTirt：
Wherein said IrTiThe real-time current at the ith moment is Ti, i is 0,1,2 … … i; b is a temperature coefficient, and T0 is an initial time
Step 2: the reference voltage VZ is calculated according to the following formula (2):
wherein the psi temperature sensitive coefficient, the q is the amount of charge transferred in the thermistor when the temperature rises, and the ξ is the potential difference between two ends of the thermistor;
and step 3: calculating the reference voltage VZ according to the following equation (3) to calculate the reference temperature RrZ of the thermistor:
and 4, step 4: comparing the reference temperature RrZ with the real-time temperature R according to equation (4) belowTirt, and comparing the result as the first temperature signal:
wherein the comparison result is that S is more than 1 or S is less than or equal to 1, and when S is less than or equal to 1, the real-time temperature is lower than or equal to the reference temperature; when S > 1, the real-time temperature is higher than the reference temperature.
The principle of the invention is as follows: according to the invention, the temperature at the initial time and the real-time temperature are obtained, the maximum reference voltage of the IGBT module is calculated according to the real-time temperature, and the real-time temperature of the thermistor, namely the real-time temperature of the IGBT module, is obtained through the reference voltage. Finally, whether the temperature of the IGBT module is overhigh is judged by comparing the reference temperature with the real-time temperature of the thermistor, the detection card 1 outputs a corresponding fault code according to the information of the temperature rise,
example 10:
as an embodiment of the present invention: as shown in fig. 6, the detection card 1 includes the following detection steps:
acquiring current and voltage signals of a three-phase power supply of the detected driving board 10;
judging the phase state and the voltage state of the detected driving plate 10 according to the current and voltage signals;
if the open phase and the undervoltage exist, outputting a first fault code;
if the phase state and the voltage state are normal, attracting the main loop relay 26 and judging the attraction state of the main loop relay;
if the main loop relay is disconnected, outputting a second fault code;
if the main loop relay is closed, outputting a motor driving signal to the IGBT module;
the detection card 1 collects current and temperature data of the IGBT module and judges whether the detected drive plate 10 has a fault;
if the detected driving board 10 has a fault, outputting a third fault code;
if the detected driving board 10 has no fault, the detection card 1 displays that the detected driving board 10 is normal.
Through the detection steps, the invention can clarify the cause of the fault and realize quick fault tracing according to the fault code during the fault. Real-time monitoring is realized, and the operation of a motor driving plate is not influenced.
In one embodiment, as shown in the schematic diagram of the IGBT module circuit shown in fig. 7, 3 half-bridge driver chips IR2214SS are used as a set of IGBT driver chips on the motor driver board, and 3 pairs of PWM signal and fault signal FAU L T/SD, fault clearing signal F L T _ C L R, and SY _ F L T are required during normal operation.
If the main loop relay can be normally attracted, the STM32F103VBT6 single chip microcomputer 3 on the detection card 1 outputs PWM signals through I/O pins PA8, PA9, PA10, PB13, PB14 and PB15, the I/O pin PC0 outputs FAU L T/SD, and the I/O pin PC1 outputs F L T _ C L R for driving the motor.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A detection card for a drive plate of an industrial robot is characterized by comprising a detection plate (1), a single chip microcomputer (3), a multi-path analog switch (2), a gold finger (6) and a test signal buffer (4); wherein the content of the first and second substances,
the single chip microcomputer (3), the multi-path analog switch (2) and the test signal buffer (4) are inserted on a chip seat which is configured on the detection plate (1) in advance; the multi-channel analog switch (2) and the test signal buffer (4) are electrically connected with the singlechip (3); the multi-path analog switch (2) is electrically connected with the test signal buffer (4);
the detection board (1) is inserted into a preset clamping groove of the detected drive board (10) through a gold finger (6); wherein the content of the first and second substances,
when the multi-path analog switch (2) is switched on, the single chip microcomputer (3) sends a PWM motor driving signal to the detected driving plate (10), receives a feedback signal of the detected driving plate (10) and judges whether the motor driving plate is in fault or not.
2. An industrial robot drive board detection card according to claim 1, characterized in that the multi-way analog switch (2) is composed of a plurality of analog switches; the analog switches respectively control a plurality of shaft joint motors connected with the detected driving plate (10), and convert analog signals for driving the shaft joint motors into digital signals to be transmitted to the detection plate (1);
the test signal buffers (4) are multiple, and the test signal buffers (4) are respectively connected with the analog switches.
3. An industrial robot drive board detection card according to claim 1, wherein the faults include phase faults, main loop relay faults and IGBT module faults; wherein the content of the first and second substances,
the phase faults comprise open-phase faults and under-voltage faults;
the main loop relay fault is a main loop relay disconnection fault;
and the IGBT module faults are overcurrent or overhigh temperature faults of the IGBT module.
4. An industrial robot drive board detection card according to claim 1, characterized in that the detection board (1) is further provided with a function keyboard (7), an L ED display (5), a power circuit (9) and a buzzer (8), wherein,
the functional keyboard (7), the L ED display (5), the power circuit (9) and the buzzer (8) are all connected with the singlechip (3);
the function keyboard (7) is respectively connected with a PB3 pin, a PB4 pin and a PB5 pin of the singlechip (3);
the buzzer (8) is connected with a PA0 pin of the singlechip (3);
the power supply circuit (9) is connected with a VDD pin of the singlechip (3);
the display (5) is connected with an SC L pin and an SDA pin of the singlechip (3),
the display (5) is also connected with the power circuit (9);
the display (5) is configured to:
when the single chip microcomputer (3) judges that the detected drive plate (10) has phase loss and undervoltage, displaying that the single chip microcomputer (3) generates a first fault code;
when the single chip microcomputer (3) judges that the main loop relay is disconnected, displaying that the single chip microcomputer (3) generates a second fault code;
and when the single chip microcomputer (3) judges that the temperature of the IGBT module is too high or the current is overcurrent, displaying that the single chip microcomputer (3) generates a third fault code.
5. An industrial robot drive board detection card according to claim 1, characterized in that the single chip microcomputer (3) comprises: a PA8 pin, a PA9 pin, a PA10 pin, a PB13 pin, a PB14 pin and a PB15 pin;
the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin and the PB15 pin are connected with a plurality of IGBT driving circuits preset on the detected driving board (10); and different PWM signals are respectively output through the PA8 pin, the PA9 pin, the PA10 pin, the PB13 pin, the PB14 pin and the PB15 pin, and the detected driving board (10) is respectively driven to be connected with different motors.
6. The industrial robot drive board detection card according to claim 1, wherein the single chip microcomputer (3) receives a level signal of a preset rectifying circuit of the detected drive board (10) through a PA24 pin, and judges whether a three-phase power supply of the detected drive board (10) is in a phase failure; wherein the content of the first and second substances,
when the PA24 pin receives a low level, the three-phase power supply phase is normal;
when the PA24 pin receives a low level, the level of which is not constant, the three-phase power supply is open-phase.
7. The industrial robot drive board detection card according to claim 1, wherein the single chip microcomputer (3) is configured to receive a first digital signal output by a first a/D conversion chip preset on the detected drive board (10);
the single chip microcomputer (3) is used for receiving a second digital signal output by a second A/D conversion chip preset on the detected driving board (10); wherein the content of the first and second substances,
the first digital signal and the second digital signal are relay suction signals of the detected driving plate (10);
the single chip microcomputer (3) judges whether the main loop relay is closed or not according to the first digital signal and the second digital signal; wherein
When the judgment result shows that the main loop relay is in a non-attraction state, the main loop relay is in a fault state;
and when the judgment result shows that the main loop relay is in the attraction state, the main loop relay is normal.
8. The industrial robot drive board detection card according to claim 1, wherein the single chip microcomputer (3) is further configured to receive a current signal and a temperature signal of a preset IGBT module on the detected drive board (10); wherein the content of the first and second substances,
the current signals comprise a first current signal and a second current signal which are output through two phases of the preset IGBT module, and the first current signal and the second current signal are input into the single chip microcomputer (3) through a third A/D conversion chip and a fourth A/D conversion chip which are preset on the detected driving board (10) respectively;
the temperature signal is provided through a thermistor integrated on the IGBT module, wherein the temperature signal is divided into a first temperature signal and a second temperature signal through a divider resistor connected with the thermistor;
the first temperature signal is converted into a temperature digital signal through a fifth A/D conversion chip preset on the detected driving plate (10) and is input into the single chip microcomputer (3);
the second temperature signal is directly input into the singlechip (3) through the detected driving plate (10), and is compared with a reference temperature signal preset in the singlechip (3) and a comparison result is output;
and the single chip microcomputer (3) judges whether the temperature of the IGBT module is too high according to the temperature digital signal and the comparison result.
9. An industrial robot drive plate detection card according to claim 8, wherein said obtaining said first temperature signal comprises the steps of:
step 1: acquiring voltage VE at two ends of a thermistor of the IGBT module, and obtaining the initial temperature RT0The real-time temperature R of the thermistor is obtained by the following formula (1) at rtTirt：
Wherein said IrTiThe real-time current at the ith moment is Ti, i is 0,1,2 … … i; b is a temperature coefficient, and T0 is an initial time
Step 2: the reference voltage VZ is calculated according to the following formula (2):
wherein the psi temperature sensitive coefficient, the q is the amount of charge transferred in the thermistor when the temperature rises, and the ξ is the potential difference between two ends of the thermistor;
and step 3: calculating the reference voltage VZ according to the following equation (3) to calculate the reference temperature RrZ of the thermistor:
and 4, step 4: comparing the reference temperature RrZ with the real-time temperature R according to equation (4) belowTirt, and comparing the result as the first temperature signal:
wherein the comparison result is that S is more than 1 or S is less than or equal to 1, and when S is less than or equal to 1, the real-time temperature is lower than or equal to the reference temperature; when S > 1, the real-time temperature is higher than the reference temperature.
10. An industrial robot drive plate detection card according to claim 1, characterized in that the detection card (1) comprises the following detection steps:
acquiring current and voltage signals of a three-phase power supply of the detected driving board (10);
judging the phase state and the voltage state of the detected driving plate (10) according to the current and voltage signals;
if the open phase and the undervoltage exist, outputting a first fault code;
if the phase state and the voltage state are normal, attracting the main loop relay, and judging the attraction state of the main loop relay;
if the main loop relay is disconnected, outputting a second fault code;
if the main loop relay is closed, outputting a motor driving signal to the IGBT module;
the detection card (1) collects current and temperature data of the IGBT module and judges whether the detected drive plate (10) is in fault;
if the detected drive plate (10) has a fault, outputting a third fault code;
and if the detected driving board (10) has no fault, the detection card (1) displays that the detected driving board (10) is normal.
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