CN111917097A - Emergency power-off protection method and multi-path servo motor drive control power supply system - Google Patents
Emergency power-off protection method and multi-path servo motor drive control power supply system Download PDFInfo
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- CN111917097A CN111917097A CN201910382194.9A CN201910382194A CN111917097A CN 111917097 A CN111917097 A CN 111917097A CN 201910382194 A CN201910382194 A CN 201910382194A CN 111917097 A CN111917097 A CN 111917097A
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- emergency
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- power supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
Abstract
The invention discloses a multi-path servo motor drive control power supply system, which comprises an alternating current power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device, wherein the alternating current power supply is connected with the rectifier transformer; the input end of the rectifier transformer is connected with the alternating current power supply and is used for converting the alternating current power supply into a direct current power supply; the input end of the emergency control relay is connected with the output end of the rectifier transformer, and the output end of the emergency control relay is connected with the DC bus and used for controlling the connection and disconnection between the output end of the rectifier transformer and the DC bus; the emergency power-off protection device is connected with the emergency control relay and used for controlling the emergency control relay to be disconnected and restarted according to the control signal. The invention also discloses an emergency power-off protection method. The invention can control the DC bus to be powered off according to the received control signal, avoids the damage of a key drive controller and a servo motor, and is an important safety protection link in intelligent servo drive control.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an emergency power-off protection method and a multi-path servo motor drive control power supply system with an intelligent emergency power-off protection function.
Background
At present, an intelligent robot is used as a core device of an intelligent automatic production line and widely applied to various automatic industrial production lines, so that the intelligent production line with human-machine cooperation and mutual cooperation of various robots is realized. The power supply system with the intelligent emergency power-off protection function is an important functional component for avoiding various collisions and reducing operation safety hidden dangers in the production process of the robot.
However, the inventor finds that: at present because industrial robot drive control's intelligent degree is not enough, often wait to carry out emergent closing action to power supply system when the system takes place electrical damage when facing production operation risk, though can guarantee the accident not further diffusion to a certain extent like this, but all can cause serious electrical damage to crucial drive controller and servo motor usually to produce more equipment replacement and the increase of maintenance cost, interrupted the production rhythm simultaneously, reduced production efficiency. Meanwhile, the emergency power-off protection function is added into the intelligent drive control system, the intelligent degree of the robot control system can be further improved, the robot has the intelligent emergency disposal capability, and the safety and the service life of equipment are further improved.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide an emergency power-off protection method and a multi-path servo motor drive control power supply system, so as to overcome the defect that a key drive controller and a servo motor are damaged due to too late emergency closing action, improve the intelligent degree of a robot in the aspect of emergency disposal, and improve the safety and the service life of equipment in the prior art.
(II) technical scheme
In order to solve the technical problem, the invention provides a multi-path servo motor drive control power supply system, which comprises an alternating current power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device, wherein the alternating current power supply is connected with the rectifier transformer;
the input end of the rectifier transformer is connected with the alternating current power supply and is used for converting the alternating current power supply into a direct current power supply;
the input end of the emergency control relay is connected with the output end of the rectifier transformer, and the output end of the emergency control relay is connected with the DC bus and used for controlling the connection and disconnection between the output end of the rectifier transformer and the DC bus;
the emergency power-off protection device is connected with the emergency control relay and used for controlling the emergency control relay to be disconnected and restarted according to the control signal.
The emergency power-off protection device comprises an intelligent driving controller and an emergency control and servo signal monitor;
the intelligent driving controller is connected with the emergency control and servo signal monitor and is used for sending a power-off control signal to the emergency control and servo signal monitor according to errors and alarm signals generated during the operation of the robot; or according to the signal for releasing the error or alarm state of the robot, a restarting control signal is sent to the emergency control and servo signal monitor;
the emergency control and servo signal monitor is connected with the emergency control relay and used for sending a power-off protection signal to the emergency control relay according to a received power-off control signal and controlling the emergency control relay to be switched off; or according to the received restart control signal, sending a restart signal to the emergency control relay to control the restart of the emergency control relay.
The power-off protection signal and the restart signal are level signals or pulse signals.
The system further comprises a second rectifier transformer, wherein the input end of the second rectifier transformer is connected with the alternating current power supply, and the output end of the second rectifier transformer is connected with the emergency power-off protection device, and the second rectifier transformer is used for converting the alternating current power supply into the direct current power supply and supplying power to the emergency power-off protection device.
The emergency control system further comprises an emergency stop switch, wherein the emergency stop switch is connected with the emergency control relay and used for controlling the emergency control relay to be disconnected and restarted through manual operation of the emergency stop switch.
The invention also provides an emergency power-off protection method, which comprises the following steps:
receiving a control signal;
controlling the emergency control relay to be switched off according to the control signal;
when the emergency control relay is disconnected, the output end of a rectifier transformer of the multi-path servo motor drive control power supply system is disconnected with the DC bus, and the DC bus is powered off.
Wherein, the process of controlling the emergency control relay to be disconnected according to the control signal specifically comprises:
the intelligent driving controller receives errors and alarm signals generated when the robot operates, and judges whether the DC bus needs to be powered off or not according to the received signals;
when the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor;
and the emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay according to the received power-off control signal to control the emergency control relay to be switched off.
Wherein the method further comprises:
controlling the emergency control relay to restart according to the control signal;
when the emergency control relay is restarted, the output end of a rectifier transformer of the multi-path servo motor drive control power supply system is conducted with a DC bus, and the DC bus is electrified.
The process of controlling the emergency control relay to restart according to the control signal specifically comprises the following steps:
the intelligent driving controller receives a signal for releasing an error or an alarm state of the robot and judges whether the DC bus needs to be restarted or not according to the received signal;
when the DC bus needs to be restarted, the intelligent drive controller sends a restarting control signal to the emergency control and servo signal monitor;
and the emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal to control the emergency control relay to restart.
Wherein the method further comprises: and the emergency control relay is controlled to be disconnected and restarted by manually operating the emergency stop switch.
(III) advantageous effects
The invention can control the DC bus to be powered off according to the received control signal, avoids the damage of a key drive controller and a servo motor, and is an important safety protection link in intelligent servo drive control.
Drawings
Fig. 1 is a schematic structural diagram of a multi-path servo motor drive control power supply system according to embodiment 1 of the present invention;
fig. 2 is a flowchart of an emergency power-off protection method according to embodiment 2 of the present invention;
fig. 3 is a schematic structural diagram of a multi-path servo motor drive control power supply system according to embodiment 3 of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
A multi-path servo motor drive control power supply system according to an embodiment of the present invention is shown in fig. 1, and the system includes an ac power supply 11, a rectifier transformer 12, an emergency control relay 13, a DC bus 14, and an emergency power-off protection device 15.
The input end of the rectifier transformer 12 is connected with the alternating current power supply 11 and is used for converting the alternating current power supply into a direct current power supply; the input end of the emergency control relay 13 is connected with the output end of the rectifier transformer 12, and the output end of the emergency control relay is connected with the DC bus 14, and is used for controlling the connection and disconnection between the output end of the rectifier transformer 12 and the DC bus 14; the emergency power-off protection device 15 is connected with the emergency control relay 13 and is used for controlling the emergency control relay 13 to be disconnected and restarted according to a control signal.
In this embodiment, the emergency power-off protection device includes an intelligent driving controller and an emergency control and servo signal monitor. The intelligent driving controller is connected with the emergency control and servo signal monitor and is used for sending a power-off control signal to the emergency control and servo signal monitor according to errors and alarm signals generated during the operation of the robot; or sending a restarting control signal to the emergency control and servo signal monitor according to a signal for releasing the error or the alarm state of the robot. The emergency control and servo signal monitor is connected with the emergency control relay and used for sending a power-off protection signal to the emergency control relay according to a received power-off control signal and controlling the emergency control relay to be switched off; or according to the received restart control signal, sending a restart signal to the emergency control relay to control the restart of the emergency control relay.
In this embodiment, the power-off protection signal and the restart signal are level signals or pulse signals.
In this embodiment, the system further includes a second rectifier transformer, an input end of the second rectifier transformer is connected to the ac power supply, and an output end of the second rectifier transformer is connected to the emergency power-off protection device, and is configured to convert the ac power supply into the dc power supply and supply power to the emergency power-off protection device.
In this embodiment, the system further includes an emergency stop switch, and the emergency stop switch is connected to the emergency control relay and configured to control the emergency control relay to be turned off and restarted by manually operating the emergency stop switch.
The multi-path servo motor drive control power supply system can provide a long-time safe and stable power supply system with an intelligent emergency power-off protection function for a multi-axis high-precision servo control system, a power conversion and voltage reduction distribution scheme is adopted by the system to provide a voltage-stabilizing direct-current power supply for a load power bus and provide stable low-voltage direct-current power supply for low-voltage power utilization modules such as a servo controller and an industrial personal computer, and emergency power-off protection can be implemented on a power bus loop according to an emergency and servo signal monitor or manual operation.
Example 2
The flow of the emergency power-off protection method of the embodiment of the invention is shown in fig. 2, and the method comprises the following steps:
step s201, receiving a control signal;
and step s202, controlling the emergency control relay to be switched off according to the control signal. In this embodiment, the process of controlling the emergency control relay to be turned off according to the control signal specifically includes: the intelligent driving controller receives errors and alarm signals generated when the robot operates, and judges whether the DC bus needs to be powered off or not according to the received signals; when the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor; and the emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay according to the received power-off control signal to control the emergency control relay to be switched off.
In this embodiment, the conditions for determining whether the DC bus needs to be powered off are various, because the power supply system can be generally used for various multi-axis robots, the working environment and the working mode of each robot are different, and the logics for determining the bus power-off protection and the restarting are also different. Several criteria are taken here:
a. any one path of servo motor (or servo driver) drives the current value to exceed the limit set value;
b. any path of servo motor (or driver) drives the current value to exceed the set value, and continuously works for exceeding the set time;
c. the position error accumulated quantity of the encoder of any path of servo motor exceeds a set value;
d. the position error of the encoder of any path of servo motor instantaneously exceeds a limit set value;
e. the working temperature of any one path of servo motor exceeds a set value and continuously exceeds a set time;
f. an extreme armed position trigger may be set when the robot moves to that position.
The intelligent driving controller sends a power-off control signal to disconnect the emergency control relay to realize power-off protection when any one condition is met.
And step s203, when the emergency control relay is disconnected, the output end of the rectifier transformer of the multi-path servo motor drive control power supply system is disconnected with the DC bus, and the DC bus is powered off.
The method of the embodiment further comprises the following steps:
(1) and controlling the emergency control relay to restart according to the control signal. In this embodiment, the process of controlling the emergency control relay to restart according to the control signal specifically includes: the intelligent driving controller receives a signal for releasing an error or an alarm state of the robot and judges whether the DC bus needs to be restarted or not according to the received signal; when the DC bus needs to be restarted, the intelligent drive controller sends a restarting control signal to the emergency control and servo signal monitor; and the emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal to control the emergency control relay to restart.
In this embodiment, the main reference is the power-off control signal when the DC bus is powered off. And when the intelligent drive controller judges that the original error and alarm state of the robot are relieved and determines that each servo motor and the intelligent drive controller of the robot are in a normal starting state through self-checking, a restarting control signal is sent to the emergency control and servo signal monitor.
(2) When the emergency control relay is restarted, the output end of a rectifier transformer of the multi-path servo motor drive control power supply system is conducted with a DC bus, and the DC bus is electrified.
In this embodiment, the emergency power-off protection method further includes controlling the emergency control relay to be turned off and restarted by manually operating an emergency stop switch.
The emergency power-off protection method can provide a long-time safe and stable power supply method with an intelligent emergency power-off protection function for a multi-axis high-precision servo control system, and can implement emergency power-off protection on a power bus loop according to emergency control and a servo signal monitor or manual operation.
Example 3
As shown in fig. 3, the multi-path servo motor driving control power supply system according to the embodiment of the present invention includes the following two parts:
(1) power conversion and buck distribution section
Power supply by a power bus: after being input, alternating current 220V commercial power passes through a rectifier transformer and then is converted into 220V direct current with stable waveform, and the 220V direct current enters a power bus after passing through an emergency relay to supply power to loads such as a servo motor. In this embodiment, an ac 380V power input may also be used, and the power input is converted into a 220V dc power with a smooth waveform through a rectifier transformer.
The logic circuit supplies power: after being input, alternating current 220V mains supply is converted into direct current 24V low voltage power through a rectifier transformer (in this embodiment, a second rectifier transformer), one path of the direct current 24V low voltage power directly supplies power to the emergency control and servo signal monitor and the heat dissipation module, and the second path of the direct current low voltage power is converted into direct current 5V low voltage power through a direct current step-down transformer and supplies power to signals and logic analysis modules such as a servo controller and an industrial personal computer. In this embodiment, an ac 380V power input may also be adopted, and the power input is converted into a 24V dc power with a smooth waveform through a rectifier transformer (in this embodiment, the second rectifier transformer).
(2) Switch control part
The emergency stop switch is connected with the signal monitoring of the servo motor encoder and then connected with the relay. The emergency stop control can be realized under two conditions: 1, an intelligent driving controller sends a power-off control signal to an emergency control and servo signal monitor according to errors and alarm signals generated during the operation of the robot, so that emergency power-off processing is realized; and 2, realizing emergency power-off processing on the power supply system in emergency through an emergency stop button and manual operation.
The intelligent drive controller can realize emergency power-off protection and after-event restarting functions according to the power-off control signal sent by the intelligent drive controller under the control of emergency control and the servo monitor. Meanwhile, the manual power-off and restarting functions are kept, and the emergency treatment and the overhaul work of operators are facilitated.
The invention can control the DC bus to be powered off according to the received control signal, thereby avoiding the damage of a key drive controller and a servo motor.
Compared with the prior art, the emergency power-off protection and restart functions can be realized by the servo motor driving and controlling system through the control signal. The servo motor drive control power supply system is not available in the current market, and is an important safety protection link in intelligent servo drive control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A multi-path servo motor drive control power supply system is characterized by comprising an alternating current power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device;
the input end of the rectifier transformer is connected with the alternating current power supply and is used for converting the alternating current power supply into a direct current power supply;
the input end of the emergency control relay is connected with the output end of the rectifier transformer, and the output end of the emergency control relay is connected with the DC bus and used for controlling the connection and disconnection between the output end of the rectifier transformer and the DC bus;
the emergency power-off protection device is connected with the emergency control relay and used for controlling the emergency control relay to be disconnected and restarted according to the control signal.
2. The multi-channel servo motor drive control power supply system of claim 1, wherein the emergency power-off protection device comprises an intelligent drive controller and an emergency control and servo signal monitor;
the intelligent driving controller is connected with the emergency control and servo signal monitor and is used for sending a power-off control signal to the emergency control and servo signal monitor according to errors and alarm signals generated during the operation of the robot; or according to the signal for releasing the error or alarm state of the robot, a restarting control signal is sent to the emergency control and servo signal monitor;
the emergency control and servo signal monitor is connected with the emergency control relay and used for sending a power-off protection signal to the emergency control relay according to a received power-off control signal and controlling the emergency control relay to be switched off; or according to the received restart control signal, sending a restart signal to the emergency control relay to control the restart of the emergency control relay.
3. The multi-channel servo motor driving control power supply system according to claim 2, wherein the power-off protection signal and the restart signal are level signals or pulse signals.
4. The multi-channel servo motor drive control power supply system according to claim 1, further comprising a second rectifier transformer having an input terminal connected to the ac power source and an output terminal connected to the emergency power-off protection device for converting the ac power source into the dc power source and supplying power to the emergency power-off protection device.
5. The multiple servo motor drive control power supply system according to any one of claims 1 to 4, further comprising an emergency stop switch connected to the emergency control relay for controlling the emergency control relay to be turned off and on again by manually operating the emergency stop switch.
6. An emergency power-off protection method, the method comprising:
receiving a control signal;
controlling the emergency control relay to be switched off according to the control signal;
when the emergency control relay is disconnected, the output end of a rectifier transformer of the multi-path servo motor drive control power supply system is disconnected with the DC bus, and the DC bus is powered off.
7. The emergency power-off protection method according to claim 6, wherein the process of controlling the emergency control relay to open according to the control signal specifically comprises:
the intelligent driving controller receives errors and alarm signals generated when the robot operates, and judges whether the DC bus needs to be powered off or not according to the received signals;
when the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor;
and the emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay according to the received power-off control signal to control the emergency control relay to be switched off.
8. The emergency power-off protection method of claim 6, further comprising:
controlling the emergency control relay to restart according to the control signal;
when the emergency control relay is restarted, the output end of a rectifier transformer of the multi-path servo motor drive control power supply system is conducted with a DC bus, and the DC bus is electrified.
9. The emergency power-off protection method according to claim 8, wherein the process of controlling the emergency control relay to restart according to the control signal specifically comprises:
the intelligent driving controller receives a signal for releasing an error or an alarm state of the robot and judges whether the DC bus needs to be restarted or not according to the received signal;
when the DC bus needs to be restarted, the intelligent drive controller sends a restarting control signal to the emergency control and servo signal monitor;
and the emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal to control the emergency control relay to restart.
10. The emergency power-off protection method according to any one of claims 6 to 9, further comprising: and the emergency control relay is controlled to be disconnected and restarted by manually operating the emergency stop switch.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910382194.9A CN111917097A (en) | 2019-05-09 | 2019-05-09 | Emergency power-off protection method and multi-path servo motor drive control power supply system |
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| CN201910382194.9A CN111917097A (en) | 2019-05-09 | 2019-05-09 | Emergency power-off protection method and multi-path servo motor drive control power supply system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112886539A (en) * | 2021-04-12 | 2021-06-01 | 湖北扬帆船舶设备制造有限公司 | Emergency cut-off system |
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2019
- 2019-05-09 CN CN201910382194.9A patent/CN111917097A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112886539A (en) * | 2021-04-12 | 2021-06-01 | 湖北扬帆船舶设备制造有限公司 | Emergency cut-off system |
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