CN203691301U - Electrifying and braking circuit applicable to industrial robot driver - Google Patents
Electrifying and braking circuit applicable to industrial robot driver Download PDFInfo
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- CN203691301U CN203691301U CN201420045933.8U CN201420045933U CN203691301U CN 203691301 U CN203691301 U CN 203691301U CN 201420045933 U CN201420045933 U CN 201420045933U CN 203691301 U CN203691301 U CN 203691301U
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- 239000003990 capacitor Substances 0.000 claims abstract description 18
- 238000012423 maintenance Methods 0.000 claims description 17
- 238000012360 testing method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract 4
- 101100365087 Arabidopsis thaliana SCRA gene Proteins 0.000 description 7
- 101150105073 SCR1 gene Proteins 0.000 description 7
- 101100134054 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) NTG1 gene Proteins 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
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Abstract
The utility model discloses an electrifying and braking circuit applicable to an industrial robot driver. The electrifying and braking circuit comprises an electrifying circuit, a bus energy discharging circuit and a braking unit, wherein the input of the electrifying circuit is connected to a power grid, and the output is connected to the bus energy discharging circuit; the output of the bus energy discharging circuit is connected to the braking unit; and the output of the braking unit is connected to an inversion unit of the robot driver. According to the utility model, electrifying and braking circuits of a plurality of single-shaft servo drivers are integrated together, and a circuit of an industrial robot driver system is simplified; a method that system bus voltage controls electrification buffering operations indirectly is adopted, and the reliability of the electrifying circuit is ensured; an operating point of the bus energy discharging circuit can be set according to an actual operating occasion, and effective utilization of the system for energy fed back by a motor under different operating conditions can be ensured; when the braking unit operates, the braking unit does not consume energy stored in a bus capacitor, but only consumes the energy fed back to the bus by the motor, thereby being obvious in braking effect and high in speed.
Description
Technical field
The utility model relates to powering on of industrial robot driver and braking circuit, relates in particular to powering on of many single-axis servo drivers integrated with braking circuit, belongs to industrial automatic control field.
Background technology
Domestic industry drive system of robot is made up of many single-axis servo drivers mostly at present.Servo-driver generally adopts modularized design, is divided into rectification unit and inversion unit.Every servo-driver all comprises rectification unit and inversion unit, causes that industrial robot drive system is complicated, volume is large.Share by integrated the same functional unit of many servo-drivers the development trend that has become industrial robot drive system, although there has been Related product to occur abroad, its cost is higher, can not adapt to low and middle-end client's demand.
Summary of the invention
The invention discloses a kind of powering on and braking circuit of industrial robot driver that be applicable to, this powers on and braking circuit can be reliably for the inversion module of many servo-drivers provides energy, has solved in the industrial robot drive system being made up of many single-axis servo drivers every driver and has all comprised and power on and braking circuit and make the too complicated problem of drive system.
For achieving the above object, the technical scheme that the present invention takes is: be a kind ofly applicable to powering on and braking circuit of industrial robot driver, comprise electrification circuit, bus energy bleed-off circuit and brake unit;
Described electrification circuit is by maintenance three-phase electrical relay, three-phase commutation bridge, electrical relay on first, first resistance that powers on, electrical relay on second, second resistance that powers on, bus capacitor and busbar voltage testing circuit form, the output of maintenance three-phase electrical relay connects the input of three-phase commutation bridge, on first, electrical relay and first powers on after resistance series connection and any being in parallel of maintenance three-phase electrical relay, on second, electrical relay and second powers on resistance series connection afterwards and arbitrary being in parallel in all the other two-phases of maintenance three-phase electrical relay, bus capacitor and busbar voltage testing circuit are connected in parallel on DC bus,
Described bus energy bleed-off circuit is in series by busbar voltage bleeder resistance and the busbar voltage switch of releasing, and bus energy bleed-off circuit is connected in parallel on DC bus;
Described brake unit is made up of electrical relay on brake resistance, brake switch, the 3rd, and brake resistance is connected in parallel on DC bus by electrical relay on the 3rd after connecting with brake switch;
Described in being input as of maintenance three-phase electrical relay, power on and the input interface of braking circuit, the two ends after the brake resistance of brake unit and brake switch series connection power on described in being and the output interface of braking circuit.
The present invention integrates powering on of many single-axis servo drivers with braking circuit, greatly simplified the circuit of industrial robot drive system; Adopt system busbar voltage indirectly to control the method for the buffering work that powers on, guaranteed the reliability of electrification circuit, avoided because upper electrical relay and the impacts of problem on maintenance three-phase electrical relay, three-phase commutation bridge and bus capacitor such as resistance damage that power on; The working point of bus energy bleed-off circuit can arrange according to real work occasion, effective utilization of the system that can guarantee motor feedback energy under different operating modes; When brake unit work, do not consume the energy of storing in bus capacitor, only consume motor and feed back to the energy on bus, therefore braking effect is obvious, and speed is fast.The present invention is by the real-time detection to busbar voltage in the course of work, intelligently power on buffer circuit, motor feedback energy of system managed, system adopts large capacity brake circuit to reduce the Braking system time, has guaranteed reliability, the rapidity of industrial robot braking.
Accompanying drawing explanation
Fig. 1 is the circuit theory diagrams of powering on of industrial robot driver and braking circuit.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
In Fig. 1, industrial robot of the present invention power on braking circuit by electrical network exchange input be converted into galvanic current press output offer driver inverter circuit use, it comprises electrification circuit, bus energy bleed-off circuit and brake unit.Electrification circuit keeps three-phase electrical relay KM1, three-phase commutation bridge DB1, the relay K that powers on M2 and KM3, the resistance R that powers on 1 and R2, bus capacitor C1 and the busbar voltage testing circuit of function to form by having; Bus energy bleed-off circuit is made up of busbar voltage bleeder resistance R4 and the busbar voltage switch VT1 that releases; Brake unit is by braking auxiliary relay KM4, brake resistance R3 and brake switch SCR1 forms.Wherein, maintenance three-phase electrical relay KM1 need to control electric current in the time controlling, and after control finishes, does not need to control electric current, has maintenance function; The relay K that powers on M2, KM3, KM4 are open type relay.
The input of maintenance three-phase electrical relay KM1 connects electrical network, and electrical network can be 220V three-phase alternating current or 380V three-phase alternating current.Brake resistance R3 is connected brake resistance R3 and brake switch SCR1 at system initial state with the inversion unit of servo-driver, maintenance three-phase electrical relay KM1 is off-state, brake switch SCR1, busbar voltage are released switch VT1 in off state, and drive system and electrical network are isolated completely.The relay K that powers on while powering on M2, KM3, KM4 closure, the alternating current of input charges to bus capacitor C1 by power on resistance R 1 and R2, three-phase commutation bridge DB1, busbar voltage testing circuit detects in real time to the voltage on bus capacitor, in the time that electrical voltage point arrives set point, maintenance three-phase electrical relay KM1 closure, the relay K that powers on M2, KM3 time delay disconnect, the system end that powers on.The upper set point of voltage of bus capacitor C1 is relevant with the AC power of input, and in the time inputting the alternating current of 220V, set point is generally 290V ~ 300V; In the time inputting the alternating current of 380V, set point is generally 500V.Electrification circuit is by the occurrence of busbar voltage, judge whether three-phase electrical relay closure, can improve the reliability in the loop that powers on, such as, in the situation that the resistance that powers on damages (opening circuit), if the powering method of driver (first by resistance, bus capacitor is charged by forceful electric power, postpone after a period of time by switch resistance short circuit again) can cause rectifier bridge to damage or the tripping operation power-off of driver field of employment routinely.Electrification circuit of the present invention can be avoided the problems referred to above, because the resistance damage that powers on can affect bus voltage value, magnitude of voltage is less than set point, and system will stop lower step work.Employing has the three-phase electrical relay of function of maintenance can be made system and depart from electrical network in the time breaking down, and reduction risk is used the means of relay controlling of this function simple simultaneously, and the consumption of control circuit energy is also very low, has improved the reliability of circuit working.
Industrial robot often operates in quick acceleration and deceleration, under frequent start-stop operating mode, in quick deceleration and stopped process, the kinetic energy of load can charge to bus capacitor by inverter circuit, load, acceleration all can affect the size that feeds back to energy on bus, for preventing that bus capacitor voltage from rising too high, in requisition in time this part energy being released, the flexibility of a setting of releasing can meet the effective utilization to feedback energy under different operating modes, in the time that bus voltage value reaches set point, controlling VT1 opens, energy in bus capacitor consumes by bleeder resistance R4, busbar voltage drops in safe range.
When industrial robot driver operates in as system emergencies such as motor rotation blockage, the short circuit of motor phase line, encoder broken strings, need to promptly braking, is that driver first drops to motor speed a certain reasonable value and electromotor brake enabled below again as step 1.If driver braking effect is poor, rotating speed declines slow, will cause the motor stopped process time long, and stroke is large, and entail dangers to is to Field Force's safety.Therefore in the time that emergency occurs, just expect that driver decelerates to rapidly in the scope that electromotor brake can bear motor.For reaching this purpose, the utility model is in the time of Braking system, first by braking auxiliary relay KM4 by after braking circuit and bus capacitor C1 disconnection, open again brake switch SCR1, the energy (rectification circuit consisting of inversion unit paralleled power switches diode) of motor feedback consumes on brake resistance R3, and only the energy of motor feedback is consumed fast.Brake switch can be selected large, the withstand voltage high thyristor of electric current, and the resistance of R3 can be very little, and the benefit of doing is like this exactly, and brake circuit capacity is large, and braking effect is better.(herein I done some adjust) should note the operation to auxiliary relay KM4, system complete need to add certain time of delay after braking could be by KM4 closure, guarantee the shutoff completely of SCR1 with this.When system power failure, should first open KM4, KM1, then open SCR1, and VT1, both did motor braking to get off like this, make again the energy of bus capacitor discharge.
In a specific embodiment of the present invention, the resistance R that powers on 1 and R2 are 40W aluminum casing resistor, size is 25 Europe, and bleeder resistance R4 is 1500W wire-wound resistor, and size is 16 Europe, brake resistance R3 is 500W wire-wound resistor, size is 5 Europe, the busbar voltage IGBT module of releasing switch VT1 to use model be FF75R12RT4, and brake switch SCR1 uses the silicon controlled module that model is PK110FG160, three-phase commutation bridge DB1 model is DF100AA160, and bus capacitor C1 is 4100Uf.
Claims (1)
1. be applicable to powering on and a braking circuit of industrial robot driver, it is characterized in that: comprise electrification circuit, bus energy bleed-off circuit and brake unit;
Described electrification circuit is by maintenance three-phase electrical relay, three-phase commutation bridge, electrical relay on first, first resistance that powers on, electrical relay on second, second resistance that powers on, bus capacitor and busbar voltage testing circuit form, the output of maintenance three-phase electrical relay connects the input of three-phase commutation bridge, on first, electrical relay and first powers on after resistance series connection and any being in parallel of maintenance three-phase electrical relay, on second, electrical relay and second powers on resistance series connection afterwards and arbitrary being in parallel in all the other two-phases of maintenance three-phase electrical relay, bus capacitor and busbar voltage testing circuit are connected in parallel on DC bus,
Described bus energy bleed-off circuit is in series by busbar voltage bleeder resistance and the busbar voltage switch of releasing, and bus energy bleed-off circuit is connected in parallel on DC bus;
Described brake unit is made up of electrical relay on brake resistance, brake switch, the 3rd, and brake resistance is connected in parallel on DC bus by electrical relay on the 3rd after connecting with brake switch;
Described in being input as of maintenance three-phase electrical relay, power on and the input interface of braking circuit, the two ends after the brake resistance of brake unit and brake switch series connection power on described in being and the output interface of braking circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420045933.8U CN203691301U (en) | 2014-01-24 | 2014-01-24 | Electrifying and braking circuit applicable to industrial robot driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420045933.8U CN203691301U (en) | 2014-01-24 | 2014-01-24 | Electrifying and braking circuit applicable to industrial robot driver |
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| CN203691301U true CN203691301U (en) | 2014-07-02 |
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| CN201420045933.8U Expired - Lifetime CN203691301U (en) | 2014-01-24 | 2014-01-24 | Electrifying and braking circuit applicable to industrial robot driver |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787968A (en) * | 2016-12-28 | 2017-05-31 | 江苏经纬轨道交通设备有限公司 | Suppress the electric braking control system and method for bus fluctuation |
| CN108023510A (en) * | 2017-12-28 | 2018-05-11 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of to let out energy circuit for servomotor braking |
| WO2019091297A1 (en) * | 2017-11-07 | 2019-05-16 | 珠海格力节能环保制冷技术研究中心有限公司 | Power supply system for magnetic bearing and control method therefor |
| CN110224464A (en) * | 2019-06-18 | 2019-09-10 | 北京海益同展信息科技有限公司 | Robot power supply control system and robot |
| CN111273076A (en) * | 2020-02-26 | 2020-06-12 | 浙江禾川科技股份有限公司 | Servo driver and buffer circuit protection circuit thereof |
| CN112653322A (en) * | 2020-11-27 | 2021-04-13 | 北京动力机械研究所 | Power-on and discharge integrated control system of high-power electric winch controller |
| CN113013859A (en) * | 2021-03-03 | 2021-06-22 | 国创移动能源创新中心(江苏)有限公司 | Improved direct-current charger scram and discharge control circuit and control method |
-
2014
- 2014-01-24 CN CN201420045933.8U patent/CN203691301U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787968A (en) * | 2016-12-28 | 2017-05-31 | 江苏经纬轨道交通设备有限公司 | Suppress the electric braking control system and method for bus fluctuation |
| CN106787968B (en) * | 2016-12-28 | 2019-06-28 | 江苏经纬轨道交通设备有限公司 | Inhibit the electric braking control system and method for bus fluctuation |
| WO2019091297A1 (en) * | 2017-11-07 | 2019-05-16 | 珠海格力节能环保制冷技术研究中心有限公司 | Power supply system for magnetic bearing and control method therefor |
| US11454278B2 (en) | 2017-11-07 | 2022-09-27 | Gree Green Refrigeration Technology Center Co., Ltd. Of Zhuhai | Power supply system for magnetic bearing and control method therefor |
| CN108023510A (en) * | 2017-12-28 | 2018-05-11 | 江苏集萃智能制造技术研究所有限公司 | It is a kind of to let out energy circuit for servomotor braking |
| CN110224464A (en) * | 2019-06-18 | 2019-09-10 | 北京海益同展信息科技有限公司 | Robot power supply control system and robot |
| CN111273076A (en) * | 2020-02-26 | 2020-06-12 | 浙江禾川科技股份有限公司 | Servo driver and buffer circuit protection circuit thereof |
| CN112653322A (en) * | 2020-11-27 | 2021-04-13 | 北京动力机械研究所 | Power-on and discharge integrated control system of high-power electric winch controller |
| CN113013859A (en) * | 2021-03-03 | 2021-06-22 | 国创移动能源创新中心(江苏)有限公司 | Improved direct-current charger scram and discharge control circuit and control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190403 Address after: 211100 No. 155 General South Road, Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province Patentee after: NANJING ESTUN AUTOMATION Co. Address before: 211100 No. 155 General Avenue, Jiangning Economic Development Zone, Nanjing City, Jiangsu Province Patentee before: ESTUN AUTOMATION TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140702 |