CN112162520A - Method for prolonging service life of battery of robot axis data board card - Google Patents
Method for prolonging service life of battery of robot axis data board card Download PDFInfo
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- CN112162520A CN112162520A CN202010829459.8A CN202010829459A CN112162520A CN 112162520 A CN112162520 A CN 112162520A CN 202010829459 A CN202010829459 A CN 202010829459A CN 112162520 A CN112162520 A CN 112162520A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1108—Relay module
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to the technical field of power supply of an industrial robot shaft data board card, and relates to a method for prolonging the service life of a battery of the robot shaft data board card. Different power-off strategies are adopted according to the power-off conditions with different time lengths, and when the industrial robot equipment is powered off, the different power-off strategies are executed by judging the conditions of long-time power-off or short-time power-off; when the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay; due to frequent shutdown of the industrial robot equipment, alarm information that the battery power is too low often occurs, and the service life of the battery is short, the method can avoid excessive discharge of the battery of the shaft data board card when the industrial robot equipment is shutdown and prolong the service life of the battery; the zero point loss of the robot can be caused when the battery power is low, the manual operation process of the robot returning to zero is omitted, and the shutdown maintenance time of the equipment is shortened.
Description
Technical Field
The invention belongs to the technical field of power supply of an industrial robot shaft data board card, and relates to a method for prolonging the service life of a battery of the robot shaft data board card.
Background
An axis data board card is arranged in industrial robot equipment and used for recording and converting position signals of each axis of the robot, the board card needs 24 hours of uninterrupted power supply, otherwise, zero position loss of the robot is caused to alarm, and the current robot adopts the following method for supplying power to the board card: the equipment is supplied power by the electric cabinet of robot when the start, is supplied power by battery (battery) when equipment shuts down, can cause the battery power to consume excessively when equipment reduces and shuts down for a long time because of the user demand, causes the robot to report to the police and longer shut down maintenance duration.
At present, in order to avoid over-discharge of the battery, the method is mainly as follows: by monitoring the voltage or other parameters of the battery, the battery discharge is stopped when the voltage is low, avoiding over-discharge of the battery. However, in the industrial robot device, because different manufacturers have different designs, the battery used for the power supply battery of the shaft data board card is a storage battery or a dry battery, and the battery supplies power to the board card after the device is shut down, and a zero point loss fault of the robot can be caused after the power supply to the board card is stopped, the method for monitoring the voltage signal is not suitable for the industrial robot. When the battery power is too low or the battery is replaced after the equipment is shut down, the zero calibration of the robot is a time-consuming and labor-consuming process after the zero loss fault of the robot is caused, and the zero calibration problem of the robot needs to be considered in the battery protection strategy for avoiding the increase of equipment fault maintenance time due to manual calibration of the robot.
Patent document 1(TW107139236) discloses an electronic device, which includes a battery module, a measurement unit and a processing unit, a battery module providing power signal, a measurement unit coupled to the battery module, a measurement unit for measuring the power signal of the battery module to generate a measurement signal, a processing unit coupled to the battery module and the measurement unit, a measurement signal receiving unit for receiving the measurement signal, calculating and obtaining the electric quantity of the battery module, and a first control signal generating the battery module to enter a shutdown mode according to the electric quantity and the monitoring time of the battery module.
Patent document 2(cn201920722002.x) discloses a low-voltage protection device for a storage battery for a parking air conditioner, and relates to the technical field of low-voltage protection devices for storage batteries. The utility model discloses a car storage battery is not directly connected with the parking air conditioner, and is connected with the parking air conditioner through a protection circuit; the other end of the fuse F1, a resistor R1, a normally closed contact K2 and a light-emitting diode VD2 form an alarm loop; a resistor R2, a relay K, a diode VD1, a triode T1, a button B1 and a resistor R3 form a control loop together; the other end of the fuse F1 is also connected with a normally open contact K1, a resistor R4, a resistor R5 and a resistor R6 to form a series voltage division circuit. When the electric quantity of the storage battery is low, the voltage of the storage battery is reduced, and the protection circuit judges the electric quantity of the storage battery by collecting the output voltage of the storage battery; when the output voltage of the storage battery is too low, the protection circuit disconnects the storage battery from the parking air conditioner and gives an alarm by lighting, so that the storage battery is protected from being damaged due to over discharge.
Patent document 3(CN201620438074.8) discloses a device for prolonging the service life of a storage battery of a power distribution communication box, which comprises an MOS transistor, a CPU module, a temperature resistor and a sampling resistor, wherein the MOS transistor, the temperature resistor and the sampling resistor are all connected with the CPU module; the MOS tube is controlled by the CPU module and is used for adjusting the charging voltage and current of the storage battery of the power distribution communication box; the CPU module obtains charging voltage, discharging voltage, charging current and discharging current data of the storage battery of the power distribution communication box through the sampling resistor; the temperature resistor is used for detecting the environmental temperature of the power distribution communication box and the temperature of the battery; the service life prolonging device of the storage battery of the power distribution communication box is directly arranged between the storage battery and external equipment. The problem of distribution communication incasement battery easy damage is solved, the life-span of having prolonged distribution communication case battery, guarantee to join in marriage the reliable operation of net communication case.
In patent document 1, the battery is turned off mainly by monitoring and calculating the electric quantity of the battery in advance, and the excessive discharge of the battery is not avoided by judging the discharge time; patent document 2 mainly monitors the voltage of a battery for a parking air conditioner to determine whether to cut off the power supply of the battery, rather than determining the discharge time to avoid excessive discharge of the battery; patent document 3 proposes a device for monitoring changes in voltage and current of charging and discharging a secondary battery and ambient temperature, and for protecting the battery by adjusting the voltage and current of charging and discharging the battery, and does not avoid excessive discharging of the battery by determining the discharge time. Meanwhile, the three patents do not consider the alarm fault of zero point loss caused by the power failure of the robot battery, and are not suitable for a robot system.
Disclosure of Invention
The invention provides a method for prolonging the service life of a battery of a robot axis data board card, which can effectively avoid the condition of excessive consumption of the electric quantity of the battery, prolong the service life of the battery and greatly reduce the shutdown maintenance time of equipment.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme, which is described by combining the accompanying drawings as follows:
a method for prolonging service life of a battery of a robot axis data board card is characterized by comprising the following steps: different power-on and power-off strategies are adopted according to the power-off conditions with different durations, and the specific contents are as follows:
when the industrial robot equipment is shut down, different shutdown strategies are executed by judging the condition of long-time shutdown or short-time shutdown;
when the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay.
According to the technical scheme, when the industrial robot equipment is shut down, different shutdown strategies are executed by judging the condition of long-time shutdown or short-time shutdown; the specific contents are as follows:
if the short-time shutdown is selected, the system automatically shuts down, and a power switch of the equipment is shut down after the shutdown is finished;
when long-time shutdown is selected, the PLC sends a signal instruction to the robot, the robot receives the signal instruction and then automatically executes a program of returning each joint to a zero point, the robot executes the program and then feeds back a signal to the PLC, the PLC controls the intermediate relay KA1 to be disconnected, the battery stops supplying power to the shaft data board card, and then the power switch of the equipment is turned off.
According to the technical scheme, when the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay; the specific contents are as follows:
when the industrial robot equipment is restarted, firstly, detecting whether an intermediate relay is switched on or off through a PLC;
if the intermediate relay is detected to be switched on, the intermediate relay is correspondingly shut down for a short time without other operations;
if the disconnection of monitoring auxiliary relay, it is long-time to shut down to correspond, because do not supply power to robot shaft data integrated circuit board, has the robot and loses the condition on zero point, carries out corresponding warning suggestion through PLC and touch-sensitive screen, and suggestion operating personnel calibrates robot on the robot demonstrator on zero point, because at the shutdown in-process, the robot has got back to zero point, so need not complicated operation, only need on the robot demonstrator confirm zero point can.
The prior art is to confirm the zero point on the robot demonstrator, and after the robot returns to the zero point position, the robot is clicked to confirm that the robot has returned to the zero point position on a calibration interface of the robot demonstrator, so as to inform that the robot has returned to the zero point.
Further, when the industrial robot equipment needs to be shut down, the HMI touch screen shutdown interface is clicked, and then long-time shutdown or short-time shutdown is selected according to the shutdown time condition.
HMI, Chinese means "human-machine interface".
According to the technical scheme, the PLC and the robot control cabinet carry out related configuration communication, and the PLC and the HMI touch screen carry out related configuration communication.
The specific communication protocol is selected correspondingly according to different situations of the real object, the intermediate relay is responsible for connection of the battery and the shaft data board card, the PLC controls on-off of the intermediate relay, and power supply of the PLC and the HMI touch screen is provided by a 24V direct-current power supply.
The choice of communication protocol is prior art and configuration communication enables monitoring and control of automated processes and equipment. The intelligent information processing system can collect various information from an automation process and equipment, display the information in a more easily understood mode such as imaging and the like, transmit important information to related personnel in various ways, perform necessary analysis processing and storage on the information, send control instructions and the like, and common communication protocols comprise industrial Ethernet, PROFIBUS, PROFINET, RS-485 and the like.
Compared with the prior art, the invention has the beneficial effects that:
1. at present, due to frequent shutdown of industrial robot equipment, alarm information that the electric quantity of a battery is too low often occurs, and the service life of the battery is short, so that the method can avoid excessive discharge of the battery of the shaft data board card when the industrial robot equipment is shutdown and prolong the service life of the battery;
2. the zero point loss of the robot can be caused when the battery power is low, the manual operation process of the robot returning to zero is omitted, and the shutdown maintenance time of the equipment is shortened.
Drawings
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a control schematic diagram of a shutdown process in a robot axis data board battery life prolonging method;
FIG. 2 is a control schematic diagram of a startup flow in a robot axis data board battery life extension method;
FIG. 3 is a schematic diagram of the main structure of a control device for extending the battery life of the axis data of an industrial robot;
in the figure: the robot comprises a robot control cabinet 1, a 24V direct-current power supply 2, a PLC 3, an HMI human-machine interface touch screen 4, an intermediate relay 5, a robot body 6 and a robot demonstrator 7.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
a method for prolonging the service life of a battery of a robot axis data card comprises the following steps:
in order to avoid excessive consumption of the battery electric quantity of the shaft data board card, different startup and shutdown strategies are adopted by the method aiming at the shutdown conditions with different durations, so that the service life of the battery can be effectively prolonged, and the fault maintenance time caused by low battery electric quantity is reduced.
The working principle flow is shown in fig. 1 and fig. 2, and fig. 3 is a structure diagram:
when the industrial robot equipment is shut down, different shutdown strategies are executed by judging the condition of long-time shutdown or short-time shutdown.
When equipment needs to be shut down, the interface can be shut down through a motor touch screen, and then long-time shutdown or short-time shutdown is selected according to the shutdown time condition.
If the short-time shutdown is selected, the system automatically shuts down, and a power switch of the equipment can be turned off after the shutdown is finished;
when the industrial robot equipment is shut down for a long time, the method that the industrial robot automatically returns to the original point, then the battery power supply is stopped, and finally the equipment power supply is shut down is executed.
When long-time shutdown is selected, the PLC sends a signal instruction to the robot, the robot receives the signal instruction and then automatically executes a program of returning each joint to a zero point, the robot executes the program and then feeds back a signal to the PLC, the PLC controls the intermediate relay KA1 to be disconnected, the battery stops supplying power to the shaft data board card, and then a power switch of the equipment can be turned off.
KA is a symbol of the intermediate relay in the drawing, and 1 denotes a numeral symbol of the relay.
When the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay.
When the equipment is restarted, whether the intermediate relay KA1 is switched on or off is firstly detected through the PLC.
If the intermediate relay KA1 is detected to be switched on, the system is correspondingly shut down for a short time without other operations;
and when the industrial robot equipment is started and the detection relay is not switched on, reminding the zero calibration method.
If monitoring auxiliary relay KA1 disconnection, it is long-time to shut down to correspond, because do not supply power to robot shaft data integrated circuit board, has the robot and loses the condition at zero point, carries out corresponding warning suggestion through PLC and touch-sensitive screen, and suggestion operating personnel calibrates robot zero point on the demonstrator, because at the shutdown in-process, the robot has got back to zero point, so need not complicated operation, only need on the robot demonstrator confirm zero point can.
By the method, the over-discharge of the shaft data board card battery can be avoided when the device is shut down for a long time, and meanwhile, the zero calibration time is greatly reduced.
A control device for extending the battery life of industrial robot axis data, comprising: PLC, touch-sensitive screen, intermediate relay etc..
The main structure of a control device capable of extending the service life of an industrial robot axis data battery is shown in fig. 3:
the robot control cabinet and the PLC carry out relevant configuration communication, the PLC and the HMI touch screen carry out relevant configuration communication, a communication protocol can be correspondingly selected in real objects, the intermediate relay KA1 is responsible for connection of a battery and a shaft data board card, the PLC controls on-off of the intermediate relay KA1, and power supply of the PLC and the touch screen is provided by a 24V direct-current power supply.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims. And those not described in detail in this specification are well within the skill of those in the art.
Claims (6)
1. A method for prolonging service life of a battery of a robot axis data board card is characterized by comprising the following steps: different power-on and power-off strategies are adopted according to the power-off conditions with different durations, and the specific contents are as follows:
when the industrial robot equipment is shut down, different shutdown strategies are executed by judging the condition of long-time shutdown or short-time shutdown;
when the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay.
2. The method for prolonging the service life of the battery of the robot axis data card according to claim 1, wherein the method comprises the following steps:
when the industrial robot equipment is shut down, different shutdown strategies are executed by judging the condition of long-time shutdown or short-time shutdown; the specific contents are as follows:
if the short-time shutdown is selected, the system automatically shuts down, and a power switch of the equipment is shut down after the shutdown is finished;
when long-time shutdown is selected, the PLC sends a signal instruction to the robot, the robot receives the signal instruction and then automatically executes a program of returning each joint to a zero point, the robot executes the program and then feeds back a signal to the PLC, the PLC controls the intermediate relay KA1 to be disconnected, the battery stops supplying power to the shaft data board card, and then the power switch of the equipment is turned off.
3. The method for prolonging the service life of the battery of the robot axis data card according to claim 2, wherein the method comprises the following steps:
when the industrial robot equipment is started, different starting strategies are executed by automatically detecting the on-off condition of the relay; the specific contents are as follows:
when the industrial robot equipment is restarted, firstly, detecting whether an intermediate relay is switched on or off through a PLC;
if the intermediate relay is detected to be switched on, the intermediate relay is correspondingly shut down for a short time without other operations;
if the disconnection of monitoring auxiliary relay, it is long-time to shut down to correspond, because do not supply power to robot shaft data integrated circuit board, has the robot and loses the condition on zero point, carries out corresponding warning suggestion through PLC and touch-sensitive screen, and suggestion operating personnel calibrates robot on the robot demonstrator on zero point, because at the shutdown in-process, the robot has got back to zero point, so need not complicated operation, only need on the robot demonstrator confirm zero point can.
4. The method for prolonging the service life of the battery of the robot axis data card according to claim 3, wherein the method comprises the following steps:
when the industrial robot equipment needs to be shut down, the HMI touch screen shutdown interface is clicked, and then long-time shutdown or short-time shutdown is selected according to the shutdown time condition.
5. The method for prolonging the service life of the battery of the robot axis data card according to claim 4, wherein the method comprises the following steps:
and the PLC and the robot control cabinet carry out related configuration communication, and the PLC and the HMI touch screen carry out related configuration communication.
6. The method for prolonging the service life of the battery of the robot axis data card according to claim 5, wherein the method comprises the following steps:
the communication protocol is selected correspondingly according to different conditions of the real object, the intermediate relay is responsible for connection of the battery and the shaft data board card, the PLC controls on-off of the intermediate relay, and power supply of the PLC and the HMI touch screen is provided by a 24V direct-current power supply.
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| US20020033690A1 (en) * | 2000-06-02 | 2002-03-21 | Karpiel Scott Lawrence | Low voltage DC powered telecommunications customer service terminal having optical hot-swappable low voltage battery module |
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| CN112162520B (en) | 2021-10-15 |
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