CN114825271A - Robot controller power detects and protection system, robot - Google Patents

Robot controller power detects and protection system, robot Download PDF

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Publication number
CN114825271A
CN114825271A CN202210594611.8A CN202210594611A CN114825271A CN 114825271 A CN114825271 A CN 114825271A CN 202210594611 A CN202210594611 A CN 202210594611A CN 114825271 A CN114825271 A CN 114825271A
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China
Prior art keywords
power supply
unit
detection
control
control unit
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Pending
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CN202210594611.8A
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Chinese (zh)
Inventor
杨跞
苏绍徽
李羊
陈宏伟
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Siasun Co Ltd
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Siasun Co Ltd
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Priority to CN202210594611.8A priority Critical patent/CN114825271A/en
Publication of CN114825271A publication Critical patent/CN114825271A/en
Priority to PCT/CN2022/113051 priority patent/WO2023226208A1/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/20—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0061—Details of emergency protective circuit arrangements concerning transmission of signals
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Protection Of Static Devices (AREA)

Abstract

The embodiment of the invention discloses a robot controller power supply detection and protection system and a robot. The method comprises the following steps: the power supply detection protection module is used for detecting the output voltage of the bus power supply in real time and outputting the detected output signal of the bus power supply to the first control unit and the second control unit simultaneously; the power supply control device is used for controlling the power supply to be switched off when the output voltage of the power supply is detected to be abnormal, and simultaneously outputting power supply abnormal signals to the first control unit and the second control unit; and the control power supply is used for controlling the control power supply to be switched off at least when the output voltage of the control power supply is detected to be abnormal; the first control unit and the second control unit are used for outputting bus power supply turn-off control signals to the power supply detection protection module when the output voltage of the bus power supply is judged to be abnormal according to the bus power supply output signals and/or receiving power supply abnormal signals so as to control the power supply detection protection module to turn off the bus power supply, and safety protection of a controller power supply system is achieved.

Description

Robot controller power detects and protection system, robot
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a power supply detection and protection system of a robot controller and a robot.
Background
The robot is a modern tool applied in multiple fields and multiple scenes, and the research and development direction of the modern robot is more intelligent and efficient, and an important direction is safety. People are always researching the safety problem of the robot, and the safety controller of the robot is generated according to the problem.
Most of safety controllers in the market carry out safety protection on abnormal safety input and output signals, but the safety controllers, particularly power supply parts of the safety controllers, are abnormal, and no complete safety protection scheme exists. If the safety controller is not stable and reliable enough, the robot at the later stage cannot be effectively protected.
The power supply system of the whole safety controller is the basis for ensuring that the safety controller effectively protects the robot, and any power supply node is abnormal, so that the safety controller can become a factor which cannot effectively protect the rear-stage robot. For example, a power supply of a certain node of the safety controller is abnormal, so that a safety signal is abnormal, the robot does not stop running in an abnormal state, a bus power supply cannot be effectively turned off, the robot may be damaged, the robot is often expensive in manufacturing cost and high in loss, and the safety controller does not achieve the purpose of safety.
Disclosure of Invention
The embodiment of the invention provides a robot controller power supply detection and protection system and a robot, which are used for carrying out safety protection on a power supply system of a robot safety controller, ensuring the reliability of the robot safety controller and further realizing effective safety protection on the robot.
In a first aspect, an embodiment of the present invention provides a power detection and protection system for a robot controller, where the power of the robot controller includes a bus power supply, a power supply for a secure input/output circuit, and a control power supply, and the system includes: the power supply protection device comprises a first control unit, a second control unit and a power supply detection protection module;
the power supply detection protection module is connected with the bus power supply, the control power supply, the first control unit and the second control unit;
the power supply detection protection module is used for detecting the output voltage of the bus power supply in real time and outputting the detected output signal of the bus power supply to the first control unit and the second control unit simultaneously; the power supply is controlled to be switched off when the output voltage of the power supply is detected to be abnormal, and power supply abnormal signals are output to the first control unit and the second control unit simultaneously; and the control power supply is used for controlling the control power supply to be switched off at least when the output voltage of the control power supply is detected to be abnormal;
the first control unit is in communication connection with the second control unit and is redundant with the second control unit;
the first control unit and the second control unit are used for outputting a bus power supply turn-off control signal to the power supply detection protection module when the output voltage of the bus power supply is judged to be abnormal according to a bus power supply output signal and/or when the power supply abnormal signal is received, so as to control the power supply detection protection module to turn off the bus power supply.
Optionally, the power detection protection module includes a bus power detection protection sub-module;
the power input end of the bus power supply detection protection sub-module is connected to the bus power supply;
the first output end and the first input end of the bus power supply detection protection sub-module are both connected with the first control unit, and the second output end and the second input end of the bus power supply detection protection sub-module are both connected with the second control unit;
the power supply output end of the bus power supply detection protection sub-module is connected with the bus power supply output end, and the bus power supply output end is used for supplying power to the robot;
the bus power supply detection protection sub-module is used for detecting the output voltage of the bus power supply in real time, outputting the detected bus power supply output signals to the first control unit and the second control unit through the first output end and the second output end respectively, and receiving the bus power supply turn-off control signals through the first input end and the second input end respectively so as to control the bus power supply and the bus power supply output end to be disconnected according to the bus power supply turn-off control signals.
Optionally, the bus power supply detection protection sub-module includes: the device comprises a first switch unit, a second switch unit, a first driving unit, a second driving unit, a first detection unit and a second detection unit;
the first end of the first switch unit is used as the power input end of the bus power supply detection protection submodule, the second end of the first switch unit is connected with the first end of the second switch unit, and the control end of the first switch unit is connected with the output end of the first drive unit;
the second end of the second switch unit is used as the power output end of the bus power supply detection protection submodule, and the control end of the second switch unit is connected with the output end of the second driving unit;
the input end of the first driving unit is used as the first input end of the bus power supply detection protection submodule;
the input end of the second driving unit is used as a second input end of the bus power supply detection protection submodule;
the input end of the first detection unit is connected with the second end of the first switch unit, the input end of the second detection unit is connected with the second end of the second switch unit, the first output end of the first detection unit is connected with the first output end of the second detection unit and then serves as the first output end of the bus power supply detection protection sub-module, and the second output end of the first detection unit is connected with the second output end of the second detection unit and then serves as the second output end of the bus power supply detection protection sub-module;
the first detection unit is used for detecting the output voltage of the second end of the first switch unit in real time and outputting the detected output signal of the first bus power supply to the first control unit and the second control unit through the first output end and the second output end of the first detection unit respectively;
the second detection unit is used for detecting the output voltage of the second end of the second switch unit in real time and outputting the detected output signal of the second bus power supply to the first control unit and the second control unit through the first output end and the second output end of the second detection unit respectively;
the first control unit and the second control unit are respectively used for generating the bus power supply turn-off control signal when judging that the first bus power supply output signal is greater than a first overvoltage threshold value or smaller than a first undervoltage threshold value and/or when judging that the second bus power supply output signal is greater than a second overvoltage threshold value or smaller than a second undervoltage threshold value;
the first driving unit is used for controlling the first switch unit to be switched off according to the bus power supply switching-off control signal, and the second driving unit is used for controlling the second switch unit to be switched off according to the bus power supply switching-off control signal.
Optionally, the power detection protection module further includes a power supply detection protection sub-module;
the power supply input end of the power supply detection protection sub-module is connected to the power supply;
the first output end of the power supply detection protection sub-module is connected with both the first control unit and the second control unit, and the second output end of the power supply detection protection sub-module is connected with both the first control unit and the second control unit;
the power supply output end of the power supply detection protection sub-module is connected with the power supply output end, and the power supply supplies power to the safety input and output circuit through the power supply output end;
the power supply detection protection submodule is used for controlling the power supply to be switched off when detecting that the output voltage of the power supply is abnormal, and outputting the power supply abnormal signal to the first control unit and the second control unit through the first output end and the second output end of the power supply detection protection submodule respectively.
Optionally, the power supply detection protection sub-module includes: a first voltage conversion unit, a third switching unit, a third detection unit and a fourth detection unit;
the input end of the first voltage conversion unit is used as the power supply input end of the power supply detection protection submodule, and the output end of the first voltage conversion unit is connected with the first end of the third switch unit;
the second end of the third switching unit is used as the power output end of the power supply detection protection submodule, and the control end of the third switching unit is connected with the output end of the third driving unit;
the first input end of the third driving unit is connected with the output end of the third detection unit, and the second input end of the third driving unit is connected with the output end of the fourth detection unit;
the input end of the third detection unit is connected with the output end of the first voltage conversion unit, and the output end of the third detection unit is connected with the first output end of the power supply detection protection submodule; the input end of the fourth detection unit is connected with the second end of the third switching unit, and the output end of the fourth detection unit is connected with the second output end of the power supply detection protection submodule;
the third detection unit is configured to output the power supply abnormality signal to the third driving unit, the first control unit, and the second control unit when detecting that the output voltage of the output terminal of the first voltage conversion unit is greater than a third overvoltage threshold or smaller than a third undervoltage threshold;
the fourth detection unit is configured to output the power supply abnormality signal to the third driving unit, the first control unit, and the second control unit when detecting that the output voltage of the second end of the third switching unit is greater than a fourth over-voltage threshold or less than a fourth under-voltage threshold;
the third driving unit is used for controlling the third switching unit to be switched off according to the power supply abnormal signal;
the first control unit and the second control unit are respectively used for generating the bus power supply turn-off control signal according to the power supply abnormal signal.
Optionally, the power detection protection module further includes a control power detection protection sub-module;
the power supply input end of the control power supply detection protection sub-module is connected to the control power supply;
the first output end of the control power supply detection protection sub-module is connected with the power supply detection protection sub-module;
the power supply output end of the control power supply detection protection sub-module is connected with the control power supply output end, and the control power supply supplies power to the first control unit and the second control unit through the control power supply output end;
the control power supply detection protection submodule is used for controlling the control power supply to be switched off when the output voltage of the control power supply is detected to be abnormal, and controlling the power supply to be switched off by controlling the power supply detection protection submodule.
Optionally, the control power detection protection sub-module includes: the second voltage conversion unit, the fourth switch unit, the fifth detection unit and the detection control unit;
a first end of the fourth switching unit is used as a power input end of the control power detection protection sub-module, a second end of the fourth switching unit is connected with an input end of the second voltage conversion unit, and a control end of the fourth switching unit is connected with an output end of the detection control unit;
the output end of the second voltage conversion unit is used as the output end of the control power supply;
a first input end of the detection control unit is connected with a second end of the fourth switch unit;
the input end of the fifth detection unit is connected with the output end of the second voltage conversion unit, and the output end of the fifth detection unit is connected with the second input end of the detection control unit and the first output end of the control power supply detection protection sub-module;
the detection control unit is used for controlling the fourth switching unit to be turned off when detecting that the output voltage of the second end of the fourth switching unit is greater than a fifth overvoltage threshold or smaller than a fifth undervoltage threshold;
and the fifth detection unit is used for controlling the fourth switching unit to be switched off by controlling the detection control unit and controlling the power supply to be switched off by controlling the power supply detection protection submodule when detecting that the output voltage of the output end of the second voltage conversion unit is greater than a sixth overvoltage threshold or smaller than a sixth undervoltage threshold.
Optionally, the control power supply detection protection sub-module further includes: a sixth detection unit;
the second output end of the control power supply detection protection sub-module is connected with the first control unit, and the third output end of the control power supply detection protection sub-module is connected with the second control unit;
the input end of the sixth detection unit is connected with the output end of the second voltage conversion unit, the first output end of the sixth detection unit is used as the second output end of the control power supply detection protection sub-module, and the second output end of the sixth detection unit is used as the third output end of the control power supply detection protection sub-module; the sixth detection unit is used for simultaneously outputting voltage detection signals to the first control unit and the second control unit in real time;
the first control unit and the second control unit are used for generating the bus power supply turn-off control signal when the ripple of the output voltage detection signal exceeds a ripple threshold value.
Optionally, the first control unit and the second control unit are further configured to output corresponding error code information to a robot demonstrator when the bus power off control signal is output.
In a second aspect, an embodiment of the present invention further provides a robot, where the robot includes the robot controller power detection and protection system as described in the first aspect.
In the technical scheme of the embodiment of the invention, the controller of the robot comprises a bus power supply, a power supply of the safe input and output circuit and a control power supply, the power detection and protection system of the robot controller comprises a first control unit, a second control unit and a power detection and protection module, and the power detection and protection module is connected with the bus power supply, the power supply of the safe input and output circuit, the first control unit and the second control unit.
The power supply detection protection module detects the output voltage of the bus power supply in real time and outputs the detected output signal of the bus power supply to the first control unit and the second control unit simultaneously; when the first control unit and/or the second control unit judges that the output voltage of the bus power supply is abnormal according to the output signal of the bus power supply, the first control unit and/or the second control unit outputs a bus power supply turn-off control signal to the power supply detection protection module, so that the power supply detection protection module is controlled to turn off the bus power supply. And the number of the first and second groups,
when the power supply detection protection module detects that the output voltage of the power supply of the safety input and output circuit is abnormal, the power supply detection protection module controls the power supply of the safety input and output circuit to be switched off, and simultaneously outputs power supply abnormal signals to the first control unit and the second control unit, so that the first control unit and/or the second control unit output bus power supply switching-off control signals to the power supply detection protection module according to the power supply abnormal signals, and the power supply detection protection module is controlled to be switched off a bus power supply.
And when the power supply detection protection module detects that the output voltage of the control power supply is abnormal, the power supply detection protection module at least controls the control power supply to be switched off. The embodiment of the invention detects all paths of power supplies in the robot safety controller in real time, and at least shuts off the abnormal power supply in time when the abnormality is detected, thereby realizing the safety protection of the power supply system of the robot safety controller, ensuring the reliability of the safety controller and further realizing the effective safety protection of the rear-stage robot; in addition, in the embodiment of the invention, the first control unit and the second control unit are arranged in a redundant manner, and when one of the first control unit and the second control unit is abnormal, the other control unit can not be influenced to continue to work normally, so that the reliability of the power supply detection and protection system of the robot controller is ensured, and reliable safety protection is provided for the power supply system of the safety controller.
Drawings
Fig. 1 is a schematic structural diagram of a power detection and protection system for a robot controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another power detection and protection system for a robot controller according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a bus power detection protection submodule according to an embodiment of the present invention;
fig. 4 is a schematic view of a work flow of a bus power detection protection sub-module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a power supply detection protection sub-module according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a work flow of a power supply detection protection sub-module according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control power detection protection sub-module according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a work flow of controlling the power detection protection sub-module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a power detection and protection system of a robot controller according to an embodiment of the present invention. Referring to fig. 1, the robot controller power detection and protection system includes: a first control unit 400, a second control unit 500 and a power detection protection module 600. The power detection and protection module 600 is connected to the bus power supply 100, the power supply 200, the control power supply 300, the first control unit 400, and the second control unit 500.
The power detection and protection module 600 is configured to detect an output voltage of the bus power supply 100 in real time, and output a detected output signal of the bus power supply 100 to the first control unit 400 and the second control unit 500 at the same time; and is used for controlling the power supply 200 to be turned off when detecting that the output voltage of the power supply 200 is abnormal, and simultaneously outputting a power supply abnormal signal to the first control unit 400 and the second control unit 500; and is used for controlling the control power supply 300 to be turned off at least when the output voltage of the control power supply 300 is detected to be abnormal; the first control unit 400 and the second control unit 500 are in communication connection and are redundant to each other; the first control unit 400 and the second control unit 500 are configured to output a bus power shutdown control signal to the power detection protection module 600 when the output voltage of the bus power supply 100 is determined to be abnormal according to the output signal of the bus power supply 100 and/or when the power supply abnormality signal is received, so as to control the power supply 300 to detect that the protection module shuts down the bus power supply 100.
In this embodiment, the controller of the robot includes a bus power supply 100, a safety input/output circuit power supply 200 (power supply 200 for short), and a control power supply 300. The bus power supply 100 is mainly used to supply power to the robot. The safety input and output circuit is a safety input and output signal related circuit, the safety input and output signal includes key safety signals such as system emergency stop, user emergency stop and the like, the power supply 200 is a power supply for supplying power to the safety input and output circuit, the stability of the power supply is important, and the power supply 200 can be supplied with power by the bus power supply 100. The control power supply 300 is a core power supply of the safety controller, and can be used for supplying power to the first control unit 400 and the second control unit 500 through other low-voltage circuits, for example, supplying power to a communication circuit, a detection circuit, and the like, and the control power supply 300 is abnormal, which easily causes erroneous judgment or even complete failure of the safety controller, and cannot perform safety protection on the robot.
Specifically, the first control unit 400 and the second control unit 500 may both be microprocessors. The power detection and protection module 600 has a function of detecting, judging and controlling the output voltages of the bus power supply 100, the power supply 200 and the control power supply 300 in real time, and has a function of exchanging information with the first control unit 400 and the second control unit 500. The abnormal output voltage of a certain power supply means that: on the output loop of the power supply, overvoltage or undervoltage and the like occur at a certain node.
The power detection and protection module 600 detects voltages at a plurality of nodes on the output loop of the bus power supply 100 in real time, and simultaneously transmits the detected output signal of the bus power supply 100 to the first control unit 400 and the second control unit 500. The first control unit 400 and the second control unit 500 determine whether the output voltage of the bus power supply 100 is abnormal or not according to the output signal of the bus power supply 100. When at least one of the first control unit 400 and the second control unit 500 determines that the output voltage of the bus power supply 100 has an abnormal condition such as overvoltage or undervoltage, the first control unit 400 and/or the second control unit 500 outputs a bus power supply shutdown control signal to the power supply detection protection module 600. The power detection protection module 600 turns off the bus power supply 100 according to the bus power supply turn-off control signal, cuts off the power supply of the bus power supply 100 to the robot, realizes the safety protection of the bus power supply 100 of the controller, and further ensures the safety of the post-stage robot.
The power detection protection module 600 detects voltages at a plurality of nodes on the output loop of the power supply 200 in real time. When the power detection protection module 600 detects that an abnormal condition such as overvoltage or undervoltage occurs at a node, the power detection protection module 600 directly and timely turns off the power supply 200 without the first control unit 400 and/or the second control unit 500, so as to realize safety protection of the power supply 200 of the controller; and simultaneously outputs a power supply source abnormality signal to the first control unit 400 and the second control unit 500. The first control unit 400 and/or the second control unit 500 output a bus power supply shutdown control signal to the power detection protection module 600 according to the power supply abnormal signal to shut down the bus power supply 100, so that the safety protection of the controller power supply 200 is realized while the safety protection of the controller bus power supply 100 is realized, and the safety of the rear-stage robot is further ensured.
The power detection protection module 600 detects voltages at a plurality of nodes on the output loop of the control power supply 300 in real time. When the power detection protection module 600 detects that an abnormal condition such as overvoltage or undervoltage occurs at a node, the power detection protection module 600 directly and timely turns off the control power supply 300 without passing through the first control unit 400 and the second control unit 500, thereby realizing safety protection of the controller control power supply 300. In this case, in order to avoid the controller malfunction, the power detection protection module 600 may also control the power supply 200 to be turned off at the same time as the control power supply 300 is turned off. Further, the first control unit 400 and/or the second control unit 500 may further detect and determine a ripple of the output voltage of the control power supply 300 based on the detection of the output voltage of the control power supply 300 by the power supply detection protection module 600. When the first control unit 400 and/or the second control unit 500 determines that the ripple of the output voltage of the control power supply 300 exceeds the ripple threshold, the bus power supply shutdown control signal is also output to the power detection protection module 600 to shut down the bus power supply 100.
The embodiment of the invention detects all paths of power supplies in the robot safety controller in real time, and at least shuts off the abnormal power supply in time when the abnormality is detected, thereby realizing the safety protection of the power supply system of the robot safety controller, ensuring the reliability of the safety controller and further realizing the effective safety protection of the rear-stage robot; in addition, in the embodiment of the present invention, the first control unit 400 and the second control unit 500 are provided with redundancy, and when one of the first control unit and the second control unit is abnormal or fails, the other one of the first control unit and the second control unit does not affect the normal operation of the other one of the first control unit and the second control unit, so that the reliability of the power detection and protection system of the robot controller is ensured, and thus, reliable safety protection is provided for the power system of the safety controller.
Fig. 2 is a schematic structural diagram of another power detection and protection system for a robot controller according to an embodiment of the present invention, and referring to fig. 2, on the basis of the foregoing technical solution, as an implementation manner of the present invention, optionally, the power detection protection module 600 includes a bus power detection protection sub-module 610.
The power input end A1 of the bus power detection protection submodule 610 is connected to the bus power supply 100; the first output end A3 and the first input end A4 of the bus power supply detection protection sub-module 610 are both connected with the first control unit 400, and the second output end A5 and the second input end A6 of the bus power supply detection protection sub-module 610 are both connected with the second control unit 500; the power output end A2 of the bus power supply detection protection sub-module 610 is connected with the bus power output end 101, and the bus power supply 100 supplies power to the robot through the bus power output end 101; the bus power detection protection sub-module 610 is configured to detect an output voltage of the bus power supply 100 in real time, output a detected bus power output signal to the first control unit 400 and the second control unit 500 through the first output end A3 and the second output end a5 of the bus power supply respectively, and receive a bus power off control signal through the first input end a4 and the second input end a6 of the bus power supply respectively, so as to control disconnection between the bus power supply 100 and the bus power output end 101 according to the bus power off control signal.
Specifically, the output loop of the bus power supply 100 is a loop of the bus power supply 100 supplying power to the robot, and the loop includes an output path from the bus power supply 100 to the bus power supply output terminal 101. The bus power detection protection sub-module 610 detects voltages at a plurality of nodes on an output loop of the bus power supply 100 in real time, and outputs detected bus power output signals to the first control unit 400 and the second control unit 500 through a first output end and a second output end of the bus power detection protection sub-module. When at least one of the first control unit 400 and the second control unit 500 determines that the output voltage of the bus power supply 100 has an abnormal condition such as overvoltage or undervoltage, the first control unit 400 and/or the second control unit 500 respectively outputs a bus power supply turn-off control signal to the first input end a4 and/or the second input end a6 of the bus power supply detection protection sub-module 610, so that the bus power supply detection protection sub-module 610 turns off the bus power supply 100 according to the bus power supply turn-off control signal, power supply of the bus power supply 100 to the robot is cut off, safety protection of the bus power supply 100 of the controller is achieved, and safety of the rear-stage robot is further guaranteed.
Fig. 3 is a schematic structural diagram of a bus power detection protection sub-module according to an embodiment of the present invention, and referring to fig. 3, on the basis of the foregoing technical solution, as an implementation manner of the present invention, optionally, the bus power detection protection sub-module 610 includes: a first switching unit 611, a second switching unit 612, a first driving unit 613, a second driving unit 614, a first detecting unit 615, and a second detecting unit 616.
A first end of the first switch unit 611 serves as a power input end a1 of the bus power detection protection sub-module 610, a second end of the first switch unit 611 is connected with a first end of the second switch unit 612, and a control end of the first switch unit 611 is connected with an output end of the first driving unit 613;
a second end of the second switch unit 612 is used as a power output end a2 of the bus power detection protection sub-module 610, and a control end of the second switch unit 612 is connected with an output end of the second driving unit 614;
the input terminal of the first driving unit 613 is used as the first input terminal a4 of the bus power detection protection sub-module 610;
the input end of the second driving unit 614 is used as a second input end a6 of the bus power detection protection sub-module 610;
an input end of the first detecting unit 615 is connected to a second end of the first switching unit 611, an input end of the second detecting unit 616 is connected to a second end of the second switching unit 612, a first output end of the first detecting unit 615 is connected to a first output end of the second detecting unit 616 and then serves as a first output end A3 of the bus power supply detection protection sub-module 610, and a second output end of the first detecting unit 615 is connected to a second output end of the second detecting unit 616 and then serves as a second output end a5 of the bus power supply detection protection sub-module 610;
the first detecting unit 615 is configured to detect an output voltage of the second end of the first switching unit 611 in real time, and output the detected first bus power output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the first bus power output signal, respectively;
the second detecting unit 616 is configured to detect an output voltage of the second end of the second switching unit 612 in real time, and output the detected second bus power output signal to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the second bus power output signal, respectively;
the first control unit 400 and the second control unit 500 are respectively configured to generate a bus power turn-off control signal when determining that the first bus power output signal is greater than a first overvoltage threshold or less than a first undervoltage threshold, and/or when determining that the second bus power output signal is greater than a second overvoltage threshold or less than a second undervoltage threshold;
the first driving unit 613 is configured to control the first switching unit 611 to turn off according to the bus bar power off control signal, and the second driving unit 614 is configured to control the second switching unit 612 to turn off according to the bus bar power off control signal.
Specifically, the first switch unit 611 and the second switch unit 612 are both disposed in the output loop of the bus power supply 100, and the second end of the first switch unit 611 and the second end of the second switch unit 612 are both nodes on the output loop of the bus power supply 100.
The present embodiment provides that the first detection unit 615 detects the output voltage of the second terminal of the first switch unit 611 in real time, and outputs the detected first bus power output signal to the first control unit 400 and the second control unit 500 through the first output terminal A3 and the second output terminal a5 thereof, respectively. When at least one of the first control unit 400 and the second control unit 500 determines that the output voltage of the bus power supply 100 is abnormal when the first bus power supply output signal is greater than the first overvoltage threshold or smaller than the first undervoltage threshold, the first control unit 400 and/or the second control unit 500 generates a bus power supply turn-off control signal. The first driving unit 613 controls the first switch unit 611 to be turned off according to the bus power supply turn-off control signal, so as to cut off an output path from the bus power supply 100 to the bus power supply output end 101, and the bus power supply 100 stops supplying power to the robot, so that the safety protection of the bus power supply 100 of the controller is realized, and further, the safety of the rear-stage robot is ensured.
The second detection unit 616 detects the output voltage of the second end of the second switch in real time, and outputs the detected output signal of the second bus power supply to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the second bus power supply, respectively. When at least one of the first control unit 400 and the second control unit 500 determines that the output voltage of the bus power supply 100 is abnormal when the second bus power supply output signal is greater than the second overvoltage threshold or less than the second undervoltage threshold, the first control unit 400 and/or the second control unit 500 generates a bus power supply turn-off control signal. The second driving unit 614 controls the second switch unit 612 to be turned off according to the bus power supply turn-off control signal so as to cut off an output path from the bus power supply 100 to the bus power supply output end 101, and the bus power supply 100 stops supplying power to the robot, so that safety protection of the bus power supply 100 of the controller is realized, and safety of the rear-stage robot is further ensured.
Exemplarily, fig. 4 is a schematic workflow diagram of a bus power detection protection sub-module according to an embodiment of the present invention. With reference to fig. 3 and 4, the work flow of the bus power detection protection sub-module includes:
and S10, the power supply input end receives the voltage output by the bus power supply.
S11, the first detecting unit detects an output voltage of the second terminal of the first switching unit.
And S12, the first detection unit outputs the first bus power output signal to the first control unit and the second control unit through the first output end and the second output end of the first detection unit respectively.
And S13, when at least one of the first control unit and the second control unit judges that the first bus power output signal is greater than the first overvoltage threshold or less than the first undervoltage threshold, the first drive unit and/or the second drive unit receives a bus power turn-off control signal to control the first switch unit and/or the second switch unit to turn off.
S14, the second detecting unit detects the output voltage of the second terminal of the second switching unit.
And S15, the second detection unit outputs the second bus power output signal to the first control unit and the second control unit through the first output end and the second output end of the second detection unit respectively.
And S16, when at least one of the first control unit and the second control unit judges that the second bus power output signal is greater than a second overvoltage threshold or less than a second undervoltage threshold, the first drive unit and/or the second drive unit receives a bus power turn-off control signal to control the first switch unit and/or the second switch unit to turn off.
The first control unit 400 and the second control unit 500 may compare signals with each other, and only when the second bus power output signals received by the first control unit 400 and the second control unit 500 are the same and are not abnormal (or the first bus power output signals received are the same and are not abnormal), the first control unit 400 and the second control unit 500 do not output the bus power off control signal, and the first switch unit 611 and the second switch unit 612 are kept on.
That is, in the technical solution of the embodiment of the present invention, the bus power detection protection sub-module 610 detects voltages at a plurality of nodes on the output loop of the bus power supply 100 (for example, an output voltage at the second end of the first switch unit 611 and an output voltage at the second end of the second switch unit 612) in real time, when at least one of the first control unit 400 and the second control unit 500 determines that an abnormal condition such as an overvoltage or an undervoltage occurs at a certain node, the first control unit 400 and/or the second control unit 500 immediately generates a bus power off control signal to cut off the output path from the bus power supply 100 to the bus power output terminal 101 through the first driving unit 613 and/or the second driving unit 614, so that the bus power supply 100 stops supplying power to the robot, thereby achieving safety protection of the bus power supply 100 of the controller and ensuring reliability of the controller, thereby ensuring the safety of the rear-stage robot.
In addition, bus power supply detects and includes two switch units, two detecting element and two drive unit in the protection submodule 610, forms the binary channels design from this, and any one of them passageway appears unusually and can not influence bus power supply detection protection submodule 610 to bus power supply 100's safety protection, has guaranteed the reliable safety protection to bus power supply 100.
Alternatively, the first switching unit 611 may include a first transistor, a first terminal of the first transistor serves as the first terminal of the first switching unit 611, a second terminal of the first transistor serves as the second terminal of the first switching unit 611, and a control terminal of the first transistor serves as the control terminal of the first switching unit 611. The second switching unit 612 may include a second transistor, a first terminal of the second transistor serves as a first terminal of the second switching unit 612, a second terminal of the second transistor serves as a second terminal of the second switching unit 612, and a control terminal of the second transistor serves as a control terminal of the second switching unit 612. Optionally, optical coupling may be used in both the first driving unit 613 and the second driving unit 614 to isolate the input and output, which may be implemented by turning on a transistor at a lower level, and also to isolate the high voltage portion of the bus from the low voltage portion of the microprocessor.
With continuing reference to fig. 2, on the basis of the foregoing technical solution, as an embodiment of the present invention, optionally, the power detection protection module 600 further includes: and a power supply detection protection sub-module 620.
The power supply input end B1 of the power supply detection protection submodule 620 is connected to the power supply 200; a first output end B3 of the power supply detection protection submodule 620 is connected with both the first control unit 400 and the second control unit 500, and a second output end B4 of the power supply detection protection submodule 620 is connected with both the first control unit 400 and the second control unit 500; the power supply output end B2 of the power supply detection protection submodule 620 is connected with the power supply output end 201, and the power supply 200 supplies power to the safety input and output circuit through the power supply output end 201; the power supply detection and protection sub-module 620 is configured to control the power supply 200 to be turned off when detecting that the output voltage of the power supply 200 is abnormal, and output power supply abnormal signals to the first control unit 400 and the second control unit 500 through the first output end and the second output end of the power supply respectively.
Specifically, the output loop of the power supply 200 includes an output path of the power supply 200 to supply power to the safety input/output circuit, that is, includes an output path from the power supply 200 to the power supply output terminal 201. The power supply detection and protection sub-module 620 detects voltages at a plurality of nodes on an output loop of the power supply 200 in real time, when abnormal conditions such as overvoltage or undervoltage at a certain node are detected, the power supply 200 is directly turned off, a path for supplying power to the safety input and output circuit by the power supply 200 is cut off, safety protection of the power supply 200 is realized, and meanwhile, a power supply abnormal signal is output to the first control unit 400 and/or the second control unit 500 through the first output end B3 and/or the second output end B4 of the power supply detection and protection sub-module 620. The first control unit 400 and the second control unit 500 output bus power supply turn-off control signals to the bus power supply detection protection sub-module 610 according to the power supply abnormal signal, so that the bus power supply 100 is turned off, safety protection of the controller bus power supply 100 is realized while safety protection of the controller power supply 200 is realized, and safety of a rear-stage robot is further ensured.
Fig. 5 is a schematic structural diagram of a power supply detection protection sub-module according to an embodiment of the present invention, and referring to fig. 5, on the basis of the foregoing technical solution, as an implementation manner of the present invention, optionally, the power supply detection protection sub-module 620 includes: a first voltage conversion unit 621, a third switching unit 622, a third detection unit 623, and a fourth detection unit 624;
an input end of the first voltage conversion unit 621 serves as a power input end B1 of the power supply detection protection sub-module 620, and an output end of the first voltage conversion unit 621 is connected to a first end of the third switching unit 622;
a second end of the third switching unit 622 is used as a power output end B2 of the power supply detection protection sub-module 620, and a control end of the third switching unit 622 is connected with an output end of the third driving unit 625;
a first input terminal of the third driving unit 625 is connected to an output terminal of the third detecting unit 623, and a second input terminal of the third driving unit 625 is connected to an output terminal of the fourth detecting unit 624;
the input end of the third detection unit 623 is connected to the output end of the first voltage conversion unit 621, and the output end of the third detection unit 623 is connected to the first output end B3 of the power supply detection protection sub-module 620; the input end of the fourth detection unit 624 is connected to the second end of the third switching unit 622, and the output end of the fourth detection unit 624 is connected to the second output end B4 of the power supply detection protection sub-module 620;
the third detecting unit 623 is configured to detect that the output voltage of the output terminal of the first voltage converting unit 621 is greater than a third overvoltage threshold or less than a third undervoltage threshold, and output a power supply abnormality signal to the third driving unit 625, the first control unit 400, and the second control unit 500 at the same time;
the fourth detecting unit 624 is configured to detect that the output voltage of the second end of the third switching unit 622 is greater than the fourth overvoltage threshold or smaller than the fourth undervoltage threshold, and output a power supply abnormality signal to the third driving unit 625, the first control unit 400, and the second control unit 500 at the same time;
the third driving unit 625 is used for controlling the third switching unit 622 to turn off according to the power supply abnormality signal;
the first control unit 400 and the second control unit 500 respectively generate bus power off control signals according to the power supply source abnormal signal.
Specifically, the power supply 200 may be directly provided by the bus bar power supply 100. The power output by the power supply 200 is converted by the first voltage conversion unit 621 and then provided to the safety input/output circuit. The third switching unit 622 is disposed in the output loop of the power supply 200, and a first end and a second end of the third switching unit 622 are both nodes on the output loop of the power supply 200.
In this embodiment, the third detection unit 623 is configured to detect the output voltage at the first end of the third switching unit 622 in real time, and when it is detected that the output voltage at the first end of the third switching unit 622 is greater than a third overvoltage threshold or smaller than a third undervoltage threshold, it is determined that the output voltage of the first voltage conversion unit 621 is abnormal, and then the third detection unit 623 simultaneously outputs a power supply abnormality signal to the third driving unit 625, the first control unit 400, and the second control unit 500, so that the third driving unit 625 directly and timely controls the third switching unit 622 to turn off to cut off an output path from the power supply 200 to a power supply output end, and the power supply 200 stops supplying power to the safety input/output circuit, thereby implementing safety protection on the power supply 200 of the controller, and further ensuring safety of the rear-stage robot.
The fourth detection unit 624 detects the output voltage at the second end of the third switching unit 622 in real time, and when it is detected that the output voltage at the second end of the third switching unit 622 is greater than the fourth overvoltage threshold or smaller than the fourth undervoltage threshold, it is determined that the output voltage of the first voltage conversion unit 621 is abnormal after passing through the third switching unit 622, and the fourth detection unit 624 simultaneously outputs a power supply abnormality signal to the third driving unit 625, the first control unit 400, and the second control unit 500, so that the third driving unit 625 directly and timely controls the third switching unit 622 to be turned off to cut off the output path from the power supply 200 to the power supply output end, and the power supply 200 stops supplying power to the safety input/output circuit, thereby implementing safety protection of the power supply 200 of the controller and further ensuring safety of the rear-stage robot.
Optionally, the third switching unit 622 includes a third transistor; a first terminal of the third transistor serves as a first terminal of the third switching unit 622, a second terminal of the third transistor serves as a second terminal of the third switching unit 622, and a control terminal of the third transistor serves as a control terminal of the third switching unit 622.
Exemplarily, fig. 6 is a schematic workflow diagram of a power supply detection protection sub-module according to an embodiment of the present invention. With reference to fig. 5 and 6, the work flow of the power supply detection protection sub-module 620 includes:
and S20, the power supply input end receives the voltage output by the power supply.
And S21, outputting the voltage by the first voltage conversion unit.
And S22, the third detection unit detects the output voltage of the first end of the third switching unit, and outputs a power supply source abnormal signal to the third driving unit, the first control unit and the second control unit when detecting that the output voltage of the first end of the third switching unit is larger than a third overvoltage threshold or smaller than a third undervoltage threshold.
And S23, the third driving unit turns off the third switching unit according to the power supply abnormal signal.
S24, the fourth detecting unit detects the output voltage of the second terminal of the third switching unit, and outputs a power supply abnormality signal to the third driving unit, the first control unit, and the second control unit when detecting that the output voltage of the second terminal of the third switching unit is greater than a fourth over-voltage threshold or less than a fourth under-voltage threshold.
And S25, the third driving unit turns off the third switching unit according to the power supply abnormal signal.
And if the third driving unit does not receive at least one of the power supply abnormal signal and the control power supply abnormal signal, the third switching unit is not controlled to be switched off.
That is to say, in the technical solution of the embodiment of the present invention, the power supply detection protection sub-module 620 performs real-time detection and determination on voltages at a plurality of nodes on the output circuit of the power supply 200 (for example, the output voltage of the output end of the first voltage conversion unit 621 and the output voltage of the second end of the third switching unit 622), when an abnormal condition such as overvoltage or undervoltage occurs at a certain node, the power supply 200 is directly and timely turned off, the power supply 200 stops supplying power to the safety input/output circuit, so as to implement safety protection on the power supply 200 of the controller, thereby ensuring safety of a post-stage robot, and meanwhile, the bus power detection protection sub-module 610 is controlled to turn off the bus power 100 by using the abnormal signal of the power supply, thereby implementing safety protection on the bus power 100 of the controller at the same time.
With continuing reference to fig. 2, on the basis of the foregoing technical solution, as an embodiment of the present invention, optionally, the power detection protection module 600 further includes: the control power detection protection sub-module 630.
The power supply input end C1 of the control power supply detection protection sub-module 630 is connected to the control power supply 300; a first output end C3 of the control power supply detection protection sub-module 630 is connected with the power supply detection protection sub-module 620; the power output end C2 of the control power detection protection sub-module 630 is connected with the control power output end 301, and the control power supply 300 supplies power to the first control unit 400 and the second control unit 500 through the control power output end 301; the control power supply detection protection sub-module 630 is used for controlling the control power supply 300 to be turned off when detecting that the output voltage of the control power supply 300 is abnormal, and controlling the power supply 200 to be turned off by controlling the power supply detection protection sub-module 620.
Specifically, the output loop of the control power supply 300 includes an output path of the control power supply 300 supplying power to the first control unit 400 and the second control unit 500 by other low voltage circuits, that is, an output path from the control power supply 300 to the control power supply output terminal 301. The control power detection protection sub-module 630 detects voltages at a plurality of nodes on an output loop of the control power supply 300 in real time, and when abnormal conditions such as overvoltage or undervoltage at a certain node are detected, the control power supply 300 is directly turned off, an output path from the control power supply 300 to the control power supply output end 301 is cut off, and safety protection of the control power supply 300 is realized. In this case, in order to avoid the controller malfunction, the power detection protection sub-module 630 may also be controlled to control the power supply 200 to be turned off at the same time as the control power supply 300 is turned off.
Fig. 7 is a schematic structural diagram of a control power detection protection sub-module according to an embodiment of the present invention, and referring to fig. 7, on the basis of the foregoing technical solution, as an implementation manner of the present invention, the control power detection protection sub-module 630 includes: a second voltage conversion unit 632, a fourth switching unit 631, a fifth detection unit 633, and a detection control unit 634;
a first end of the fourth switching unit 631 serves as a power input end C1 of the control power detection protection sub-module 630, a second end of the fourth switching unit 631 is connected with an input end of the second voltage conversion unit 632, and a control end of the fourth switching unit 631 is connected with an output end of the detection control unit 634;
the output end of the second voltage conversion unit 632 is used as the control power output end 301;
a first input terminal of the detection control unit 634 is connected with a second terminal of the fourth switching unit 631;
the input end of the fifth detecting unit 633 is connected to the output end of the second voltage converting unit 632, and the output end of the fifth detecting unit 633 is connected to both the second input end of the detection control unit 634 and the first output end C3 of the control power detection protection sub-module 630;
the detection control unit 634 is configured to control the fourth switching unit 631 to turn off when detecting that the output voltage of the second end of the fourth switching unit 631 is greater than a fifth overvoltage threshold or less than a fifth undervoltage threshold;
the fifth detecting unit 633 is configured to control the fourth switching unit 631 to turn off by controlling the detection control unit 634 and control the power supply 200 to turn off by controlling the power supply detection protection sub-module 620 when detecting that the output voltage of the output terminal of the second voltage converting unit 632 is greater than the sixth over-voltage threshold or smaller than the sixth under-voltage threshold.
Specifically, the output circuit of the control power supply 300 includes a fourth switching unit 631, and the output of the control power supply 300 is converted by the second voltage conversion unit 632 and then provided to the first control unit 400 and the second control unit 500 for other low-voltage circuits. The fourth switching unit 631 and the second voltage converting unit 632 are both disposed in the output loop of the control power supply 300, and the second terminal of the fourth switching unit 631 and the output terminal of the second voltage converting unit 632 are both nodes on the output loop of the control power supply 300.
This embodiment sets up detection control unit 634 and carries out real-time detection to the output voltage of the second end of fourth switching unit 631, and when detecting that the output voltage of the second end of fourth switching unit 631 is greater than the fifth excessive pressure threshold value or is less than the fifth excessive pressure threshold value, detection control unit 634 directly in time controls fourth switching unit 631 and shuts off, thereby turn off control power supply 300, the output path of cutting off control power supply 300, the safety protection to controller control power supply 300 has been realized, and then the safety of rear-stage robot has been guaranteed.
The fifth detecting unit 633 detects the output voltage of the output terminal of the second voltage converting unit 632 in real time, and when detecting that the output voltage of the output terminal of the second voltage converting unit 632 is greater than the sixth overvoltage threshold or less than the sixth undervoltage threshold, sends a control power abnormal signal to the detection control unit 634, so that the detection control unit 634 controls the fourth switching unit 631 to turn off, thereby turning off the control power supply 300. Meanwhile, in order to avoid the controller malfunction, the fifth detecting unit 633 may also send a control power supply abnormality signal to the third driving unit 625 of the power supply detection protection sub-module 620, so that the third driving unit 625 controls the third switching unit 622 to turn off, thereby turning off the power supply 200.
Optionally, the fourth switching unit 631 includes a fourth transistor; a first terminal of the fourth transistor serves as a first terminal of the fourth switching unit 631, a second terminal of the fourth transistor serves as a second terminal of the fourth switching unit 631, and a control terminal of the fourth transistor serves as a control terminal of the fourth switching unit 631.
Illustratively, fig. 8 is a schematic workflow diagram of a control power detection protection sub-module according to an embodiment of the present invention. With reference to fig. 7 and 8, the work flow of controlling the power detection protection sub-module includes:
and S30, the power supply input end receives the voltage of the control power supply output.
And S31, the detection control unit detects the output voltage of the second end of the fourth switching unit, and directly controls the fourth switching unit to be turned off when the output voltage of the second end of the fourth switching unit is detected to be greater than a fifth over-voltage threshold value or smaller than the fifth over-voltage threshold value.
If the detection control unit detects that the output voltage of the second end of the fourth switching unit is not abnormal, the fourth switching unit is kept conducted.
And S32, outputting the voltage by the second voltage conversion unit.
And S33, the fifth detection unit detects the output voltage of the output end of the second voltage conversion unit, and when the output voltage of the output end of the second voltage conversion unit is detected to be larger than a sixth overvoltage threshold or smaller than a sixth undervoltage threshold, the fifth detection unit sends a control power supply abnormal signal to the detection control unit, and simultaneously sends the control power supply abnormal signal to the third driving unit of the power supply detection protection submodule.
If the fifth detection unit detects that the output voltage of the output end of the second voltage conversion unit is not abnormal, the fourth switching unit and the third switching unit are kept on.
That is, according to the technical solution of the embodiment of the present invention, the control power detection protection sub-module 630 detects and determines voltages at a plurality of nodes on the output circuit of the control power 300 (for example, the output voltage of the second end of the fourth switch unit 631 and the output voltage of the output end of the second voltage conversion unit 632) in real time, and when an abnormal condition such as overvoltage or undervoltage occurs at a certain node, the control power 300 is directly turned off in time, and the control power 300 stops supplying power to the outside, so that safety protection of the controller control power 300 is realized, and safety of a rear-stage robot is further ensured.
With continuing reference to fig. 7, on the basis of the above technical solution, as an embodiment of the present invention, the control power detection protection sub-module 630 further includes: a sixth detecting unit 635.
A second output end C4 of the control power detection protection sub-module 630 is connected with the first control unit 400, and a third output end C5 of the control power detection protection sub-module 630 is connected with the second control unit 500;
an input end of the sixth detecting unit 635 is connected to an output end of the second voltage converting unit 632, a first output end of the sixth detecting unit 635 is used as the second output end C4 of the control power supply detection protection sub-module 630, and a second output end of the sixth detecting unit 635 is used as the third output end C5 of the control power supply detection protection sub-module 630; the sixth detecting unit 635 is configured to output voltage detection signals to the first control unit 400 and the second control unit 500 in real time at the same time;
the first control unit 400 and the second control unit 500 are configured to generate a bus power shutdown control signal when it is determined that the ripple of the output voltage detection signal exceeds the ripple threshold.
Specifically, the sixth detecting unit 635 detects an output voltage of the output terminal of the second voltage converting unit 632 in real time, and transmits the detected voltage signal to the first control unit 400 and the second control unit 500 at the same time. The first control unit 400 and the second control unit 500 determine the ripple magnitude of the voltage signal according to the received voltage signal, and when the ripple is detected to be greater than the ripple threshold, that is, the ripple is large, the first control unit 400 and the second control unit 500 generate the bus power supply shutdown control signal to shut down the bus power supply 100. Since the hazard of the ripple does not cause the danger of the safety controller itself, but is a potential factor of instability, other power supplies of the safety controller may not be turned off. The sixth detecting unit 635 may adopt an operational amplifier circuit, an output of the operational amplifier circuit is connected to an AD pin of the microprocessor, and the microprocessor monitors the voltage in real time to monitor whether the ripple is too large.
In any of the above embodiments, optionally, the first control unit 400 and the second control unit 500 are further configured to output corresponding error code information to the robot demonstrator when the bus power off control signal is output.
In the embodiment of the invention, when any abnormal condition occurs at any node of the power supply system of the controller, corresponding error code information is provided for a robot demonstrator so as to be repaired by a maintenance worker. For example, when the output voltage of the bus power supply 100 is abnormal, the first control unit 400 and the second control unit 500 provide error code information about the abnormality of the bus power supply 100 (which may include error code information corresponding to the abnormality of the second end of the first switch unit 611 and/or error code information corresponding to the abnormality of the second end of the second switch unit 612, respectively) to the teach pendant; when the output voltage of the power supply 200 is abnormal, the first control unit 400 and the second control unit 500 provide error code information (which may include error code information corresponding to the abnormality of the first terminal of the third switching unit 622 and/or error code information corresponding to the abnormality of the second terminal of the third switching unit 622, respectively) about the abnormality of the power supply 200 to the teach pendant; similarly, when the control power supply 300 is abnormal and the voltage ripple on the power supply output path of the control power supply 300 is large, corresponding error code information is provided to the robot teach pendant for the maintenance personnel to repair.
The embodiment of the invention also provides a robot, which comprises the power supply detection and protection system of the robot controller provided by any embodiment. The robot and the robot controller power supply detection and protection system provided by the embodiment of the invention belong to the same invention concept, can realize the same technical effect, and repeated contents are not repeated herein. It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. The utility model provides a robot controller power detects and protection system, the robot controller power includes bus power, safe input/output circuit power supply and control power supply, its characterized in that, the system includes: the power supply protection device comprises a first control unit, a second control unit and a power supply detection protection module;
the power supply detection protection module is connected with the bus power supply, the control power supply, the first control unit and the second control unit;
the power supply detection protection module is used for detecting the output voltage of the bus power supply in real time and outputting the detected output signal of the bus power supply to the first control unit and the second control unit simultaneously; the power supply is controlled to be switched off when the output voltage of the power supply is detected to be abnormal, and power supply abnormal signals are output to the first control unit and the second control unit simultaneously; and the control power supply is used for controlling the control power supply to be switched off at least when the output voltage of the control power supply is detected to be abnormal;
the first control unit is in communication connection with the second control unit and is redundant with the second control unit;
the first control unit and the second control unit are used for outputting a bus power supply turn-off control signal to the power supply detection protection module when the output voltage of the bus power supply is judged to be abnormal according to a bus power supply output signal and/or when the power supply abnormal signal is received, so as to control the power supply detection protection module to turn off the bus power supply.
2. The robot controller power detection and protection system of claim 1, wherein the power detection protection module comprises a bus power detection protection sub-module;
the power input end of the bus power supply detection protection sub-module is connected to the bus power supply;
the first output end and the first input end of the bus power supply detection protection sub-module are both connected with the first control unit, and the second output end and the second input end of the bus power supply detection protection sub-module are both connected with the second control unit;
the power supply output end of the bus power supply detection protection sub-module is connected with the bus power supply output end, and the bus power supply output end is used for supplying power to the robot;
the bus power supply detection protection sub-module is used for detecting the output voltage of the bus power supply in real time, outputting the detected bus power supply output signals to the first control unit and the second control unit through the first output end and the second output end respectively, and receiving the bus power supply turn-off control signals through the first input end and the second input end respectively so as to control the bus power supply and the bus power supply output end to be disconnected according to the bus power supply turn-off control signals.
3. The robot controller power detection and protection system of claim 2, wherein the bus power detection protection submodule comprises: the device comprises a first switch unit, a second switch unit, a first driving unit, a second driving unit, a first detection unit and a second detection unit;
the first end of the first switch unit is used as the power input end of the bus power supply detection protection submodule, the second end of the first switch unit is connected with the first end of the second switch unit, and the control end of the first switch unit is connected with the output end of the first drive unit;
the second end of the second switch unit is used as the power output end of the bus power supply detection protection sub-module, and the control end of the second switch unit is connected with the output end of the second driving unit;
the input end of the first driving unit is used as the first input end of the bus power supply detection protection submodule;
the input end of the second driving unit is used as a second input end of the bus power supply detection protection submodule;
the input end of the first detection unit is connected with the second end of the first switch unit, the input end of the second detection unit is connected with the second end of the second switch unit, the first output end of the first detection unit is connected with the first output end of the second detection unit and then serves as the first output end of the bus power supply detection protection sub-module, and the second output end of the first detection unit is connected with the second output end of the second detection unit and then serves as the second output end of the bus power supply detection protection sub-module;
the first detection unit is used for detecting the output voltage of the second end of the first switch unit in real time and outputting the detected output signal of the first bus power supply to the first control unit and the second control unit through the first output end and the second output end of the first detection unit respectively;
the second detection unit is used for detecting the output voltage of the second end of the second switch unit in real time and outputting the detected output signal of the second bus power supply to the first control unit and the second control unit through the first output end and the second output end of the second detection unit respectively;
the first control unit and the second control unit are respectively used for generating the bus power supply turn-off control signal when judging that the first bus power supply output signal is greater than a first overvoltage threshold value or smaller than a first undervoltage threshold value and/or when judging that the second bus power supply output signal is greater than a second overvoltage threshold value or smaller than a second undervoltage threshold value;
the first driving unit is used for controlling the first switch unit to be switched off according to the bus power supply switching-off control signal, and the second driving unit is used for controlling the second switch unit to be switched off according to the bus power supply switching-off control signal.
4. The robot controller power detection and protection system of claim 2 or 3, wherein the power detection protection module further comprises a power supply detection protection sub-module;
the power supply input end of the power supply detection protection sub-module is connected to the power supply;
a first output end of the power supply detection protection submodule is connected with the first control unit and the second control unit, and a second output end of the power supply detection protection submodule is connected with the first control unit and the second control unit;
the power supply output end of the power supply detection protection sub-module is connected with the power supply output end, and the power supply supplies power to the safety input and output circuit through the power supply output end;
the power supply detection protection submodule is used for controlling the power supply to be switched off when detecting that the output voltage of the power supply is abnormal, and outputting the power supply abnormal signal to the first control unit and the second control unit through the first output end and the second output end of the power supply detection protection submodule respectively.
5. The robot controller power detection and protection system of claim 4, wherein the power supply detection protection sub-module comprises: a first voltage conversion unit, a third switching unit, a third detection unit and a fourth detection unit;
the input end of the first voltage conversion unit is used as the power supply input end of the power supply detection protection submodule, and the output end of the first voltage conversion unit is connected with the first end of the third switch unit;
the second end of the third switching unit is used as the power output end of the power supply detection protection submodule, and the control end of the third switching unit is connected with the output end of the third driving unit;
a first input end of the third driving unit is connected with an output end of the third detection unit, and a second input end of the third driving unit is connected with an output end of the fourth detection unit;
the input end of the third detection unit is connected with the output end of the first voltage conversion unit, and the output end of the third detection unit is connected with the first output end of the power supply detection protection submodule; the input end of the fourth detection unit is connected with the second end of the third switching unit, and the output end of the fourth detection unit is connected with the second output end of the power supply detection protection submodule;
the third detection unit is configured to output the power supply abnormality signal to the third driving unit, the first control unit, and the second control unit when detecting that the output voltage of the output terminal of the first voltage conversion unit is greater than a third overvoltage threshold or smaller than a third undervoltage threshold;
the fourth detection unit is configured to output the power supply abnormality signal to the third driving unit, the first control unit, and the second control unit when detecting that the output voltage of the second end of the third switching unit is greater than a fourth overvoltage threshold or smaller than a fourth undervoltage threshold;
the third driving unit is used for controlling the third switching unit to be switched off according to the power supply abnormal signal;
the first control unit and the second control unit are respectively used for generating the bus power supply turn-off control signal according to the power supply abnormal signal.
6. The robot controller power detection and protection system of claim 4, wherein the power detection protection module further comprises a control power detection protection sub-module;
the power supply input end of the control power supply detection protection sub-module is connected to the control power supply;
the first output end of the control power supply detection protection sub-module is connected with the power supply detection protection sub-module;
the power supply output end of the control power supply detection protection sub-module is connected with the control power supply output end, and the control power supply supplies power to the first control unit and the second control unit through the control power supply output end;
the control power supply detection protection submodule is used for controlling the control power supply to be switched off when the output voltage of the control power supply is detected to be abnormal, and controlling the power supply to be switched off by controlling the power supply detection protection submodule.
7. The robot controller power detection and protection system of claim 6, wherein the control power detection protection submodule comprises: the second voltage conversion unit, the fourth switch unit, the fifth detection unit and the detection control unit;
a first end of the fourth switching unit is used as a power input end of the control power detection protection sub-module, a second end of the fourth switching unit is connected with an input end of the second voltage conversion unit, and a control end of the fourth switching unit is connected with an output end of the detection control unit;
the output end of the second voltage conversion unit is used as the output end of the control power supply;
a first input end of the detection control unit is connected with a second end of the fourth switch unit;
the input end of the fifth detection unit is connected with the output end of the second voltage conversion unit, and the output end of the fifth detection unit is connected with the second input end of the detection control unit and the first output end of the control power supply detection protection sub-module;
the detection control unit is used for controlling the fourth switching unit to be turned off when detecting that the output voltage of the second end of the fourth switching unit is greater than a fifth overvoltage threshold or smaller than a fifth undervoltage threshold;
and the fifth detection unit is used for controlling the fourth switching unit to be switched off by controlling the detection control unit and controlling the power supply to be switched off by controlling the power supply detection protection submodule when detecting that the output voltage of the output end of the second voltage conversion unit is greater than a sixth overvoltage threshold or smaller than a sixth undervoltage threshold.
8. The robot controller power detection and protection system of claim 7, wherein the control power detection protection sub-module further comprises: a sixth detection unit;
the second output end of the control power supply detection protection sub-module is connected with the first control unit, and the third output end of the control power supply detection protection sub-module is connected with the second control unit;
the input end of the sixth detection unit is connected with the output end of the second voltage conversion unit, the first output end of the sixth detection unit is used as the second output end of the control power supply detection protection sub-module, and the second output end of the sixth detection unit is used as the third output end of the control power supply detection protection sub-module; the sixth detection unit is used for simultaneously outputting voltage detection signals to the first control unit and the second control unit in real time;
the first control unit and the second control unit are used for generating the bus power supply turn-off control signal when the ripple of the output voltage detection signal exceeds a ripple threshold value.
9. The robot controller power detection and protection system of claim 1, wherein the first control unit and the second control unit are further configured to output corresponding error code information to a robot teach pendant when outputting the bus power off control signal.
10. A robot comprising a robot controller power detection and protection system according to any of claims 1-9.
CN202210594611.8A 2022-05-27 2022-05-27 Robot controller power detects and protection system, robot Pending CN114825271A (en)

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JP3537317B2 (en) * 1998-07-02 2004-06-14 松下電器産業株式会社 Overcurrent protection control device
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