CN208044339U - Articulated robot Special safety signal control circuit based on transistor - Google Patents
Articulated robot Special safety signal control circuit based on transistor Download PDFInfo
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- CN208044339U CN208044339U CN201721384545.2U CN201721384545U CN208044339U CN 208044339 U CN208044339 U CN 208044339U CN 201721384545 U CN201721384545 U CN 201721384545U CN 208044339 U CN208044339 U CN 208044339U
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Abstract
The utility model discloses a kind of articulated robot Special safety signal control circuit based on transistor；The technical issues of solution：For existing multi-axis robot " startup-alarm-band-type brake " using all relay control program there are the shortcomings that technical problem.The technical solution of use：A kind of articulated robot Special safety signal control circuit based on transistor, including multipath servo alarm Acquisition Circuit, the servo alarm computing circuit being connected with the output of multipath servo alarm Acquisition Circuit, the servo alarm drive circuit being connected with the output of servo alarm computing circuit, the alarm being connected with the output of servo alarm drive circuit and startup/stop signal computing circuit, the warning output being connected with startup/stop signal computing circuit output with alarm and startup latching circuit.Advantage, this circuit pass through the acquisition and processing of the safety signals such as the servo alarm signal of transistor realization multi-axis robot, urgent-stop alarm signal, robot startup/stop signal.
Description
Technical field
The utility model is related to a kind of articulated robot Special safety signal control circuit based on transistor.
Background technology
It is more multiaxis control now for robot based on the miniaturization of present robot control cabinet, integrated trend
Scheme processed, instead of original single-axis servo scheme.The advantage of multiaxis scheme, which is exactly that integrated level is high, small, performance is more uniaxial, to be watched
Take scheme free of losses.One is just needed to be uniformly coordinated all servo alarms, motor alarm, robot for the control program of multiaxis
Control the circuit of robot securities' signals such as information.
Present existing " startup-alarm-band-type brake " control program for multi-axis robot is by all relay mode
It realizes, is illustrated with general six-joint robot, there are the alarm of the servo on six tunnels, the emergency stop reports of the band-type brake of six motors, robot
Alert, robot start and stop function completes above-mentioned function by each relay.
The shortcomings that all relay mode is：1, relay used is excessive, then needs more than ten relays for above-mentioned function,
Cause circuit volume excessive, influences switch board size；2, the response speed of relay is slow, needs the time of Millisecond；3, relay
The price of device is higher than transistor；4, the service life of relay and on-off times have direct correlation, service life to fall short of； 5,
The work of relay, which can occur together, projects stronger electromagnetic interference.
Invention content
Technical problem to be solved in the utility model is：It is mentioned in the background art to be directed to existing multi-axis robot
" startup-alarm-band-type brake " using all relay control program there are the shortcomings that technical problem.
The design philosophy of the utility model is that, for the disadvantages mentioned above of relay scheme, this patent devises one kind and is based on
The multi-axis robot Special safety signal control circuit of transistor and logic chip, safety signal include robot start and stop, all kinds of
Alarm, band-type brake etc..
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of articulated robot Special safety signal control circuit based on transistor, including it is used to acquire multi-joint machine
The multipath servo alarm Acquisition Circuit of the multipath servo alarm signal of device people, is connected with the output of multipath servo alarm Acquisition Circuit
For to multipath servo alarm Acquisition Circuit output signal carry out or non-operation servo alarm computing circuit, with servo alarm
The servo alarm drive circuit for providing warning drive signal that the output of computing circuit is connected, with servo alarm drive circuit
The connected alarm and startup/stop signal computing circuit of output, export and be connected with startup/stop signal computing circuit with alarm
Warning output with start latching circuit, warning output with start latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor, further includes by 24V power supply power supplies
The signal S5 and S6 of two external scram button SE1, two external scram button SE1 are respectively connected to two for acquiring outside suddenly
Stop the two-way urgent-stop alarm Acquisition Circuit of button SE1, the output of two-way urgent-stop alarm Acquisition Circuit accesses alarm and starts/stop
Stop signal computing circuit；
By 24V power supply power supplies and concatenated normally opened start button SB1 and normally closed stop button SB2, pressed in normally opened startup
Parallel connection access warning output is pressed with the normally opened of relay K1 started in latching circuit between button SB1 and normally closed stop button SB2
Button K1A, the output signal S9 of normally opened button K1A；Startup/stop signal of normally opened start button SB1 and normally closed stop button SB2
S1 accesses startup/stop signal Acquisition Circuit, and output access alarm and the startup/stopping of startup/stop signal Acquisition Circuit are believed
Number computing circuit.
Technical solutions of the utility model are further improved, the articulated robot Special safety signal based on transistor
Control circuit further includes the multichannel band-type brake circuit of the multichannel motor internal contracting brake signal for acquiring articulated robot；Multichannel band-type brake electricity
Road includes the one-to-one band-type brake circuit of motor internal contracting brake signal with articulated robot；Multiple band-type brake circuit all sames；If more
The motor internal contracting brake signal of articulated robot be 1 band-type brake signal BR1 of motor, 2 band-type brake signal BR2 of motor ... motor N band-type brake signals
BRN, N are the positive integer more than or equal to 1；
Band-type brake circuit includes current-limiting resistance R31, protective resistance R32, capacitance C9, optocoupler U3, divider resistance R33, partial pressure electricity
Hinder R34 ,+3.9V voltage-stabiliser tubes, anti-interference resistance R35 and N-channel MOS pipe, current-limiting resistance R31 mono- termination+24V, current-limiting resistance R31
The other end and motor internal contracting brake signal BR1 access two inputs of optocoupler U3 simultaneously, in the input terminal parallel filtering capacitance of optocoupler U3
C9 and protective resistance R32 and protective resistance R32 and filter capacitor C9 is arranged in parallel；An output connects in two outputs of optocoupler U3
Direct current+24V voltages are connect, the one end another output concatenation divider resistance R33, the divider resistance R33 other ends connect divider resistance R34
One end ,+3.9V voltage-stabiliser tubes positive and anti-interference resistance R35 one end, the other end of anti-interference resistance R35 connects N-channel
The grid of metal-oxide-semiconductor；The source grounding of the other end of divider resistance R34, the cathode and N-channel MOS pipe of+3.9V voltage-stabiliser tubes, N
The band-type brake coil both ends of the motor 1 of the drain electrode connection articulated robot of channel MOS tube.
Technical solutions of the utility model are further improved, multipath servo alarm Acquisition Circuit includes and multi-joint machine
The one-to-one servo alarm Acquisition Circuit of servo alarm signal of people, multiple servos alarm Acquisition Circuit all sames；If close more
The servo alarm signal for saving robot be 1 alarm signal of servo, 2 alarm signal of servo, 3 alarm signal of servo ... servo N report
Alert signal；N is the positive integer more than or equal to 1；
Servo alarm Acquisition Circuit includes thermistor PTC1, current-limiting resistance R1, Light-emitting diode LED 1, protective resistance
R2, anti-interference capacitor C1 and TVS diode,
Input terminal of the one end of thermistor PTC1 as servo alarm Acquisition Circuit, the access input of 1 alarm signal of servo
End, while one end of one end connection TVS diode of thermistor PTC1, the other end ground connection of TVS diode；Thermistor
The conduct simultaneously of one end of another one end termination anti-interference capacitor C1 of PTC1, the cathode of Light-emitting diode LED 1 and protective resistance R2
The output end of servo alarm Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；Anti-interference capacitor C1 is another
The anode of Light-emitting diode LED 1 and the other end of protective resistance R2 are terminated, current-limiting resistance is connect in the cathode of Light-emitting diode LED 1
The one end R1, the external direct current+15V voltages of the current-limiting resistance R1 other ends.
Technical solutions of the utility model are further improved, servo alarm computing circuit includes being adopted to multipath servo alarm
The output signal (AR1~ARN) of collector first carries out or non-operation, then or non-operation is exported progress and operation；Concrete operation
Formula is：
AR=(~(AR1+AR2)) && (~(AR3+AR4)) && ......s && (~(ARN-1+ARN)) (1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
According to above-mentioned formula it is found that when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level,
Then AR=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
Technical solutions of the utility model are further improved, servo alarm drive circuit include resistance R11, resistance R12,
Resistance R13, resistance R14, resistance R15, resistance R25, resistance R26, resistance R27, diode D1, diode D2, three pole of NPN type
Pipe Q1, PNP type triode Q2 ,+5V voltage-stabiliser tubes, Light-emitting diode LED 5, capacitance C3 and capacitance C7,
One end of resistance R11 connects direct current+15V voltages, and the other end of resistance R11 is inputted as servo alarm drive circuit
Terminate the output signal AR of servo alarm computing circuit, while the anode of the other end connection diode D1 of resistance R11, diode
One end of the cathode connection resistance R12 of D1, one end of other end connection resistance R13, one end of capacitance C3 and the NPN of resistance R12
The emitter of the base stage of type triode Q1, the other end of resistance R13, the other end of capacitance C3 and NPN type triode Q1 is grounded,
One end of one end and resistance R15 of the collector connection resistance R14 of NPN type triode Q1, the other end of resistance R14 connect direct current
+ 24V voltages, the base stage of the other end connection PNP type triode Q2 of R15, the emitter of triode Q2 connect direct current+24V voltages,
The anode of the collector connection diode D2 of triode Q2, one end of the cathode connection capacitance C7 of diode D2 and+5V voltage-stabiliser tubes
Cathode, the anode of one end and Light-emitting diode LED 5 of the anode connection resistance R25 of+5V voltage-stabiliser tubes, Light-emitting diode LED 5
Cathode connection resistance R26 one end, the other end of resistance R26 is used as servo alarm drive circuit output end, output servo report
The output signal S-AR-24V of alert driving circuit, while one end of the other end connection resistance R27 of resistance R26, capacitance C7's is another
The other end of one end, the other end of resistance R25 and resistance R27 is grounded.
Technical solutions of the utility model are further improved, the emergency stop report of the signal S5 of external scram button SE1 is acquired
Alert Acquisition Circuit includes capacitance C4 ,+5V voltage-stabiliser tubes, resistance R16, resistance R17, resistance R18 and Light-emitting diode LED 2, and+5V is steady
Input terminal of the cathode of pressure pipe as this urgent-stop alarm Acquisition Circuit, one end of the cathode connection capacitance C4 of+5V voltage-stabiliser tubes simultaneously,
The anode of one end and Light-emitting diode LED 2 of the anode connection resistance R16 of+5V voltage-stabiliser tubes, the cathode of Light-emitting diode LED 2
Connect one end of resistance R17, the output end of the other end of resistance R17 as this urgent-stop alarm Acquisition Circuit, output signal S-S5,
One end of the other end connection resistance R18 of resistance R17 simultaneously, the other end of capacitance C4, the other end of resistance R16 and resistance R18
The other end be grounded；
The urgent-stop alarm Acquisition Circuit of the signal S6 of the external scram button SE1 of acquisition includes capacitance C5 ,+5V voltage-stabiliser tubes, electricity
R19, resistance R20, resistance R21 and Light-emitting diode LED 3 are hindered, the cathode of+5V voltage-stabiliser tubes is as this urgent-stop alarm Acquisition Circuit
Input terminal, one end of the cathode connection capacitance C5 of+5V voltage-stabiliser tubes simultaneously, the one of the anode connection resistance R19 of+5V voltage-stabiliser tubes
The anode at end and Light-emitting diode LED 3, one end of the cathode connection resistance R20 of Light-emitting diode LED 3, resistance R20's is another
Hold the other end connection resistance R21 of the output end as this urgent-stop alarm Acquisition Circuit, output signal S-S6, while resistance R20
One end, the other end of the other end of capacitance C5, the other end of resistance R19 and resistance R21 is grounded；
Acquire startup/stop signal of startup/stop signal S1 of normally opened start button SB1 and normally closed stop button SB2
Acquisition Circuit includes capacitance C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and Light-emitting diode LED 4 ,+5V voltage stabilizings
Input terminal of the cathode of pipe as this urgent-stop alarm Acquisition Circuit, one end of the cathode connection capacitance C6 of+5V voltage-stabiliser tubes simultaneously ,+
The anode of one end and Light-emitting diode LED 4 of the anode connection resistance R22 of 5V voltage-stabiliser tubes, the cathode of Light-emitting diode LED 4 connect
One end of connecting resistance R23, the output end of the other end of resistance R23 as this urgent-stop alarm Acquisition Circuit, output signal S-S1, together
When resistance R23 other end connection resistance R24 one end, the other end of capacitance C6, the other end of resistance R22 and resistance R24
The other end is grounded.
Technical solutions of the utility model are further improved, alarms and startup/stop signal computing circuit includes to two
Output signal S-S5, S-S6 of road urgent-stop alarm Acquisition Circuit, the output signal S-S1 of startup/stop signal Acquisition Circuit and
The output signal S-AR-24V of servo alarm drive circuit is carried out and operation；Specifically operational formula is：
SS=(S-S6&&S-S5)s && (S-S1&&S-AR-24V) (2)
Wherein, SS represents the output of alarm and startup/stop signal computing circuit；
According to formula 2 it is found that when there is no servo alarm, urgent-stop alarm, when stop button is not pressed, alarms, opens
The output signal SS of dynamic/stop signal computing circuit is high level state, and when there are servo alarm, urgent-stop alarm or stop by
Button is pressed, then alarms, the output signal SS of startup/stop signal computing circuit is low level state；
It follows that then SS=1 when robot normal operation, robot alarm or SS=0 when stopping.
Technical solutions of the utility model are further improved, warning output with start latching circuit include diode D5,
Diode D6, diode D7, diode D8, resistance R29, resistance R30, capacitance C8, capacitance C12, NPN type triode Q4 and after
The anode of electric appliance K1, diode D5 are believed as this warning output and the input terminal for starting latching circuit, alarm with startup/stopping
The output signal SS of number computing circuit is accessed by input terminal, the anode of the cathode connection diode D6 of diode D5, diode D6
Cathode connection diode D7 anode, one end of the cathode connection resistance R29 of diode D7, the other end connection of resistance R29
The base stage of one end of resistance R30, one end and NPN type triode Q4 of capacitance C8, the other end of resistance R30, capacitance C8 it is another
The emitter of end and NPN type triode Q4 are grounded, one end of the collector connection capacitance C12 of NPN type triode Q4 and relay
One end of device K1, the other end ground connection of capacitance C12, the other end of relay K1 connects direct current+24V voltages, relay K1's
Both ends anti-parallel diodes D8；The output all the way of relay K1 is alarm output signal S11.
The operation principle of this control circuit is：
The operation principle of multi-axis robot safety signal control program is control circuit while detecting each axis servo alarm signal
Number, urgent-stop alarm signal, startup/stop signal, if servo and the equal alarm free of emergency stop, when start button (self- recoverage button, often
Open) press after, can be by circuit output run signal, to control robot motion, while the self-locking circuit inside circuit board
It can be by line lock in circuit, to be worked normally ensureing the circuit board after start button reset.Robot is run
In the process, it is pressed if there is alarm signal or stop button (self- recoverage button, normally closed), circuit can export alarm signal
Number, robot stopping action, while self-locking circuit disconnects.External motor band-type brake signal is received, each motor internal contracting brake is controlled.
Compared with prior art, advantage is the utility model：
1, the articulated robot Special safety signal control circuit based on transistor of the utility model, compared with all relay
The circuit of scheme, this circuit volume reduce 1/3.
2, the articulated robot Special safety signal control circuit based on transistor of the utility model, compared with all relay
The circuit of scheme, the response time of this patent circuit is faster.
3, the articulated robot Special safety signal control circuit based on transistor of the utility model, compared with all relay
The circuit of scheme, this patent circuit reduce cost.
4, the articulated robot Special safety signal control circuit based on transistor of the utility model has to dispatch from foreign news agency
Magnetic disturbance is small, service life is long, the low advantage of upper and lower electrical noise.
Description of the drawings
Fig. 1 is the work block diagram of the articulated robot Special safety signal control circuit based on transistor.
Fig. 2 is the circuit diagram of band-type brake circuit.
Fig. 3 is the circuit diagram of servo alarm Acquisition Circuit.
The circuit diagram of servo alarm computing circuit for six tunnel servo alarm signals of Tu4Shi.
Fig. 5 is the circuit diagram of the servo alarm computing circuit for 16 tunnel servo alarm signals.
Fig. 6 is the circuit diagram of servo alarm drive circuit.
Fig. 7 is the circuit diagram of the urgent-stop alarm Acquisition Circuit of the signal S5 of the external scram button SE1 of acquisition.
Fig. 8 is the circuit diagram of the urgent-stop alarm Acquisition Circuit of the signal S6 of the external scram button SE1 of acquisition.
Fig. 9 is the startup/stopping for the startup/stop signal S1 for acquiring normally opened start button SB1 and normally closed stop button SB2
The circuit diagram of signal acquisition circuit.
Figure 10 is the circuit diagram of alarm and startup/stop signal computing circuit.
Figure 11 is the circuit diagram of warning output and startup latching circuit.
Specific implementation mode
Technical solutions of the utility model are described in detail below, but the scope of protection of the utility model is not limited to
The embodiment.
To keep the content of the utility model more obvious and easy to understand, done into one below in conjunction with attached drawing 1-11 and specific implementation mode
The description of step.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
Embodiment：
As shown in Figure 1, the articulated robot Special safety signal control circuit based on transistor, including be used to acquire more
The multipath servo alarm Acquisition Circuit of the multipath servo alarm signal of articulated robot, it is defeated with multipath servo alarm Acquisition Circuit
Go out the connected servo for carrying out multipath servo alarm Acquisition Circuit output signal or non-operation to alarm computing circuit, and watch
The servo alarm drive circuit for providing warning drive signal that the output of clothes alarm computing circuit is connected, alarms with servo and drives
The alarm and startup/stop signal computing circuit that the output of dynamic circuit is connected, it is defeated with startup/stop signal computing circuit with alarming
Go out connected warning output and starts latching circuit, warning output and startup latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor, further includes by 24V power supply power supplies
The signal S5 and S6 of two external scram button SE1, two external scram button SE1 are respectively connected to two for acquiring outside suddenly
Stop the two-way urgent-stop alarm Acquisition Circuit of button SE1, the output of two-way urgent-stop alarm Acquisition Circuit accesses alarm and starts/stop
Stop signal computing circuit；
By 24V power supply power supplies and concatenated normally opened start button SB1 and normally closed stop button SB2, pressed in normally opened startup
Parallel connection access warning output is pressed with the normally opened of relay K1 started in latching circuit between button SB1 and normally closed stop button SB2
Button K1A, the output signal S9 of normally opened button K1A；Startup/stop signal of normally opened start button SB1 and normally closed stop button SB2
S1 accesses startup/stop signal Acquisition Circuit, and output access alarm and the startup/stopping of startup/stop signal Acquisition Circuit are believed
Number computing circuit.
Articulated robot Special safety signal control circuit based on transistor further includes for acquiring multi-joint machine
The multichannel band-type brake circuit of the multichannel motor internal contracting brake signal of people, prevents articulated robot from band-type brake failure occur.
Multichannel band-type brake circuit includes the one-to-one band-type brake circuit of motor internal contracting brake signal with articulated robot；Multiple armfuls
Lock circuit all same；If the motor internal contracting brake signal of articulated robot is 1 band-type brake signal BR1 of motor, 2 band-type brake signal of motor
BR2 ... motor N band-type brake signals BRN, N are the positive integer more than or equal to 1；
The present embodiment is described in detail for acquiring 1 band-type brake signal BR1 of motor, remaining motor internal contracting brake signal is adopted
Collection is identical as 1 band-type brake signal BR1 of motor, does not elaborate.
As shown in Fig. 2, band-type brake circuit includes current-limiting resistance R31, protective resistance R32, capacitance C9, optocoupler U3, divider resistance
R33, divider resistance R34 ,+3.9V voltage-stabiliser tubes, anti-interference resistance R35 and N-channel MOS pipe, mono- termination+24V of current-limiting resistance R31,
The current-limiting resistance R31 other ends and motor internal contracting brake signal BR1 access two inputs of optocoupler U3 simultaneously, in the input terminal of optocoupler U3
Parallel filtering capacitance C9 and protective resistance R32 and protective resistance R32 and filter capacitor C9 is arranged in parallel；Two of optocoupler U3 are defeated
An output connection direct current+24V voltages in going out, the one end another output concatenation divider resistance R33, the divider resistance R33 other ends
Connect one end of divider resistance R34, the positive and anti-interference resistance R35 of+3.9V voltage-stabiliser tubes one end, anti-interference resistance R35's
The other end connects the grid of N-channel MOS pipe；The other end of divider resistance R34, the cathode of+3.9V voltage-stabiliser tubes and N-channel MOS pipe
Source grounding, N-channel MOS pipe drain electrode connection articulated robot motor 1 band-type brake coil both ends.
Current-limiting resistance R31 in this band-type brake circuit is the effect of the current-limiting resistance, protective resistance R32 of optocoupler U3 input terminals
Ensure that the good shutdown of optocoupler U3 input terminals, R33 and R34 are that+24V-S is divided to N-channel MOS tube chip by divider resistance
Voltage needed for gate turn-on ,+3.9V voltage-stabiliser tubes are protective effect, ensure that N-channel MOS tube grid voltage is no more than rated value, R35
Effect be reduce high-frequency noise interference, improve circuit anti-interference ability.
Each band-type brake circuit controls the band-type brake coil of different motors respectively, if BR1 is the band-type brake control terminal of motor 1, outside
What portion connect is the collector of optocoupler output, the emitter ground connection of external optocoupler.What 1BP and 1BN connect is the band-type brake coil of motor 1
Both ends form conducting circuit, the conducting of U3 optocouplers, the grid of power N-channel MOS pipe when external optocoupler is connected, between+24V and BR1
Pole level is+3.9V, then the band-type brake coil of motor 1 is powered, and motor 1 works normally.When external optocoupler turns off ,+24V and BR1
Between without conducting circuit, the shutdown of U3 optocouplers, the grid level of high power N-channel MOS pipe is 0V, and the band-type brake coil of motor 1 is obstructed
Electricity, the action of 1 band-type brake of motor.Multichannel band-type brake circuit is also such.
Multipath servo alarm Acquisition Circuit include and the one-to-one servo report of the servo alarm signal of articulated robot
Alert Acquisition Circuit, multiple servos alarm Acquisition Circuit all sames；If the servo alarm signal of articulated robot is alarmed for servo 1
Signal, 2 alarm signal of servo, 3 alarm signal of servo ... servo N alarm signals；N is the positive integer more than or equal to 1.
The present embodiment is described in detail for acquiring 1 alarm signal of servo, the acquisition of remaining servo alarm signal
It is identical as 1 alarm signal of servo, it does not elaborate.
As shown in figure 3, servo alarm Acquisition Circuit include thermistor PTC1, current-limiting resistance R1, Light-emitting diode LED 1,
Protective resistance R2, anti-interference capacitor C1 and TVS diode,
Input terminal of the one end of thermistor PTC1 as servo alarm Acquisition Circuit, the access input of 1 alarm signal of servo
End, while one end of one end connection TVS diode of thermistor PTC1, the other end ground connection of TVS diode；Thermistor
The conduct simultaneously of one end of another one end termination anti-interference capacitor C1 of PTC1, the cathode of Light-emitting diode LED 1 and protective resistance R2
The output end of servo alarm Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；Anti-interference capacitor C1 is another
The anode of Light-emitting diode LED 1 and the other end of protective resistance R2 are terminated, current-limiting resistance is connect in the cathode of Light-emitting diode LED 1
The one end R1, the external direct current+15V voltages of the current-limiting resistance R1 other ends.
The multipath servo alarm Acquisition Circuit of the present embodiment
What is terminated is the collector of external circuit optocoupler output for " alarm of servo 1 input " of servo alarm Acquisition Circuit,
And what the emitter of external circuit optocoupler output connect is signal ground.
When servo works normally, then external circuit optocoupler is in the conduction state, the work of the Acquisition Circuit of servo alarm at this time
It is that positive pole forms conducting circuit of connecting with external circuit optocoupler by concatenated current-limiting resistance R1, light-emitting LED 1 as state,
Light-emitting LED 1 is lit, then AR1 nodes at this time are low level state.When servo is alarmed, then external circuit optocoupler, which is in, cuts
Only state, due to being not turned on circuit, so AR1 nodes are high level state.
Multipath servo is alarmed, and Acquisition Circuit is consistent, and AR1 represents the alarm acquisition signal of servo 1, and AR2 represents servo 2
Alarm acquisition signal, and so on, ARN represents the alarm acquisition signal of servo N.
Servo alarm computing circuit includes first being carried out to the output signal (AR1~ARN) of multipath servo alarm Acquisition Circuit
Or non-operation, then or non-operation is exported into progress and operation；Concrete operation formula is：
AR=(~(AR1+AR2)) && (~(AR3+AR4)) && ......s && (~(ARN-1+ARN)) (1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
According to above-mentioned formula it is found that when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level,
Then AR=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
As shown in figure 4, the present embodiment by taking six tunnel servo alarm signals as an example, i.e., servo alarm signal is 1 alarm signal of servo
Number, 2 alarm signal of servo, 3 alarm signal of servo, 4 alarm signal of servo, 5 alarm signal of servo, 6 alarm signal of servo；Six tunnels
Servo alarm signal pass through respectively servo alarm Acquisition Circuit obtain six tunnel servos alarms output signal be respectively AR1, AR2,
AR3, AR4, AR5 and AR6.
Servo alarm computing circuit includes CD4001 chips and CD4081 chips, and the GND pin of CD4001 chips is grounded,
The VCC pin of CD4001 chips connects direct current+15V voltages, while one end VCC pin connection capacitance C2 of CD4081 chips, electricity
Hold C2 other ends ground connection；The GND pin of CD4081 chips is grounded, and the VCC pin of CD4081 chips connects direct current+15V voltages, together
When CD4081 chips VCC pin connection capacitance C10 one end, capacitance C10 other ends ground connection；
One end 1A pins connection resistance R3 of CD4001 chips, the resistance R3 other ends connect output signal AR1；CD4001
One end 1B pins connection resistance R4 of chip, the resistance R4 other ends connect the 1Y pins connection of output signal AR2, CD4001 chip
The one end resistance R5, the resistance R5 other ends connect the 4A pins of CD4081 chips；
One end 2A pins connection resistance R7 of CD4001 chips, the resistance R7 other ends connect output signal AR3；CD4001
One end 2B pins connection resistance R8 of chip, the resistance R8 other ends connect the 2Y pins connection of output signal AR4, CD4001 chip
The one end resistance R6, the resistance R6 other ends connect the 4B pins of CD4081 chips；
One end 3A pins connection resistance R11 of CD4001 chips, the resistance R11 other ends connect output signal AR5；CD4001
One end 3B pins connection resistance R10 of chip, the resistance R10 other ends connect the 3Y pins of output signal AR6, CD4001 chip
The one end resistance R9 is connected, the resistance R9 other ends connect the 3A pins of CD4081 chips；
The 3B pins of the 4Y pins connection CD4081 chips of CD4081 chips, the 3Y pins output AR letters of CD4081 chips
Number.
This servo alarm computing circuit in capacitance C2 and C10 effect be CD4001 chips power decoupling, resistance R3,
The effect of R4, R5, R6, R7, R8, R9, R10, R11 are to reduce high-frequency noise interference, improve circuit anti-interference ability.
As shown in figure 5, by taking 16 tunnel servo alarm signals as an example, i.e., servo alarm signal is 1 alarm signal of servo, servo
2 alarm signals, 3 alarm signal of servo, 4 alarm signal of servo, 5 alarm signal of servo, 6 alarm signal of servo ... servo
16 alarm signals；16 tunnel servo alarm signals pass through servo alarm Acquisition Circuit and obtain the output letter of six tunnel servo alarms respectively
Number be respectively AR1, AR2, AR3, AR4, AR5, AR6 ... AR16.
Servo alarm computing circuit includes two CD4001 chips and two CD4081 chips, and two CD4001 chips are complete
It is identical, it is the first CD4001 chips and the 2nd CD4001 chips；Identical two CD4081 chips are the first CD4081 chips
With the 2nd CD4081 chips.
GND pin in two CD4001 chips is grounded, the VCC pin connection direct current+15V of the first CD4001 chips
Voltage, while one end VCC pin connection capacitance C2 of CD4081 chips, capacitance C2 other ends ground connection；2nd CD4001 chips
VCC pin connects direct current+15V voltages, while one end VCC pin connection capacitance C13 of CD4081 chips, the capacitance C13 other ends
Ground connection.
The GND pin of two CD4081 chips is grounded, the VCC pin connection direct current+15V electricity of the first CD4081 chips
Pressure, while one end VCC pin connection capacitance C10 of CD4081 chips, capacitance C10 other ends ground connection；2nd CD4081 chips
VCC pin connects direct current+15V voltages, while one end VCC pin connection capacitance C14 of CD4081 chips, the capacitance C14 other ends
Ground connection.
One end 1A pins connection resistance R3 of first CD4001 chips, the resistance R3 other ends connect output signal AR1；First
One end 1B pins connection resistance R4 of CD4001 chips, the resistance R4 other ends connect output signal AR2, the first CD4001 chips
1Y pins connection resistance R5 one end, the resistance R5 other ends connect the 4A pins of the first CD4081 chips；
One end 2A pins connection resistance R7 of first CD4001 chips, the resistance R7 other ends connect output signal AR3；First
One end 2B pins connection resistance R8 of CD4001 chips, the resistance R8 other ends connect output signal AR4, the first CD4001 chips
2Y pins connection resistance R6 one end, the resistance R6 other ends connect the 4B pins of the first CD4081 chips；
One end 3A pins connection resistance R11 of first CD4001 chips, the resistance R11 other ends connect output signal AR5；The
One end 3B pins connection resistance R10 of one CD4001 chips, the resistance R10 other ends connect output signal AR6, the first CD4001
One end 3Y pins connection resistance R9 of chip, the resistance R9 other ends connect the 3B pins of the first CD4081 chips；
One end 4A pins connection resistance R38 of first CD4001 chips, the resistance R38 other ends connect output signal AR7；The
One end 4B pins connection resistance R37 of one CD4001 chips, the resistance R37 other ends connect output signal AR8, the first CD4001
One end 4Y pins connection resistance R36 of chip, the resistance R36 other ends connect the 3A pins of the first CD4081 chips；
One end 1A pins connection resistance R39 of 2nd CD4001 chips, the resistance R39 other ends connect output signal AR9；The
One end 1B pins connection resistance R40 of two CD4001 chips, the resistance R40 other ends connect output signal AR10, the 2nd CD4001
One end 1Y pins connection resistance R41 of chip, the resistance R41 other ends connect the 2B pins of the first CD4081 chips；
One end 2A pins connection resistance R43 of 2nd CD4001 chips, the resistance R43 other ends connect output signal AR11；
2B pins connection resistance R44 one end of 2nd CD4001 chips, the resistance R44 other ends connect output signal AR12, and second
One end 2Y pins connection resistance R42 of CD4001 chips, the resistance R42 other ends connect the 2A pins of the first CD4081 chips；
One end 3A pins connection resistance R45 of 2nd CD4001 chips, the resistance R45 other ends connect output signal AR13；
3B pins connection resistance R46 one end of 2nd CD4001 chips, the resistance R46 other ends connect output signal AR14, and second
One end 3Y pins connection resistance R47 of CD4001 chips, the resistance R47 other ends connect the 1B pins of the first CD4081 chips；
One end 4A pins connection resistance R50 of 2nd CD4001 chips, the resistance R50 other ends connect output signal AR16；
4B pins connection resistance R49 one end of 2nd CD4001 chips, the resistance R19 other ends connect output signal AR15, and second
One end 4Y pins connection resistance R48 of CD4001 chips, the resistance R48 other ends connect the 1A pins of the first CD4081 chips；
The 1Y pin output signal AR4-4 of first CD4081 chips and the 2A pins for connecting the 2nd CD4081 chips, first
The 2Y pin output signal AR4-3 of CD4081 chips and the 2B pins for connecting the 2nd CD4081 chips；2nd CD4081 chips
2Y pins connect the 3A pins of the 2nd CD4081 chips；
The 3Y pin output signal AR4-2 of first CD4081 chips and the 1B pins for connecting the 2nd CD4081 chips, first
The 4Y pin output signal AR4-1 of CD4081 chips and the 2A pins for connecting the 2nd CD4081 chips；2nd CD4081 chips
1Y pins connect the 3B pins of the 2nd CD4081 chips；The 3Y pins of 2nd CD4081 chips export AR signals.
As shown in figure 5,16 tunnel operation expanded circuits of computing circuit of alarming for servo；When servo alarm computing circuit.
As shown in fig. 6, the servo alarm drive circuit of the present embodiment, including resistance R11, resistance R12, resistance R13, resistance
R14, resistance R15, resistance R25, resistance R26, resistance R27, diode D1, diode D2, NPN type triode Q1, positive-negative-positive three
Pole pipe Q2 ,+5V voltage-stabiliser tubes, Light-emitting diode LED 5, capacitance C3 and capacitance C7,
One end of resistance R11 connects direct current+15V voltages, and the other end of resistance R11 is inputted as servo alarm drive circuit
Terminate the output signal AR of servo alarm computing circuit, while the anode of the other end connection diode D1 of resistance R11, diode
One end of the cathode connection resistance R12 of D1, one end of other end connection resistance R13, one end of capacitance C3 and the NPN of resistance R12
The emitter of the base stage of type triode Q1, the other end of resistance R13, the other end of capacitance C3 and NPN type triode Q1 is grounded,
One end of one end and resistance R15 of the collector connection resistance R14 of NPN type triode Q1, the other end of resistance R14 connect direct current
+ 24V voltages, the base stage of the other end connection PNP type triode Q2 of R15, the emitter connection direct current of PNP type triode Q2+
24V voltages, the anode of the collector connection diode D2 of triode Q2, one end of the cathode connection capacitance C7 of diode D2 and+
The cathode of 5V voltage-stabiliser tubes, the anode of one end and Light-emitting diode LED 5 of the anode connection resistance R25 of+5V voltage-stabiliser tubes, luminous two
One end of the cathode connection resistance R26 of pole pipe LED5, the other end of resistance R26 are defeated as servo alarm drive circuit output end
Go out the output signal S-AR-24V of servo alarm drive circuit, while one end of the other end connection resistance R27 of resistance R26, electricity
The other end, the other end of resistance R25 and the other end of resistance R27 for holding C7 are grounded.
The servo alarm drive circuit of the present embodiment
The total output AR of multipath servo alarm is admitted to the input terminal of servo the alarm drive circuit, (multipath servo as AR=1
Equal alarm free), then the base stage according to circuit Q1 is in the conduction state, to which Q2 is connected, AR-24V nodes and 24V power supply phases
Even.Otherwise AR=1 (has the alarm of one or more servo), then Q1, Q2 are in cut-off state, and AR-24V nodes are disconnected with 24V power supplys
It opens.
In this servo alarm drive circuit, it is to improve AR inputs that the effect of resistance R11, which is pull-up resistor, diode D1 effects,
Current-limiting resistance, resistance R13 of the conducting voltage at end to improve anti-interference ability, resistance R12 is NPN type triode Q1 base stages
It is to ensure that NPN type triode Q1 is well turned off, capacitance C3 is that decoupling protects capacitance, resistance R14 to play pincers for ground resistance effect
Position effect ensures that PNP type triode Q2 is well turned off, resistance R15 is the current-limiting resistance of PNP type triode Q2 base stages, D2 is anti-
Backward dioded plays a protective role to Q2.
As shown in fig. 7, the urgent-stop alarm Acquisition Circuit of the signal S5 of the external scram button SE1 of acquisition includes capacitance C4 ,+5V
Voltage-stabiliser tube, resistance R16, resistance R17, resistance R18 and Light-emitting diode LED 2, the cathode of+5V voltage-stabiliser tubes is as this urgent-stop alarm
The input terminal of Acquisition Circuit, one end of the cathode connection capacitance C4 of+5V voltage-stabiliser tubes, the anode of+5V voltage-stabiliser tubes connect resistance simultaneously
The anode of one end and Light-emitting diode LED 2 of R16, one end of the cathode connection resistance R17 of Light-emitting diode LED 2, resistance R17
Output end of the other end as this urgent-stop alarm Acquisition Circuit, output signal S-S5, while the other end connection of resistance R17
The other end of one end of resistance R18, the other end of capacitance C4, the other end of resistance R16 and resistance R18 is grounded.
The present embodiment works as urgent-stop alarm, i.e., external scram button SE1 is disconnected, then S5 is in vacant state, because of resistance
The effect of R17, circuit node S-S5 are low level state.When emergency stop is not alarmed, i.e., SE1 is in the conduction state, then S5 passes through urgency
Stop button with+24V power supplys to be connected ,+24V be divided to by the required high level input range of logic chip by R17 and R18,
Then S-S5 is in high level state.The effect of+5V voltage-stabiliser tubes is to improve input anti-interference ability, and R16 is power resistor, to ensure to go here and there
The voltage-stabiliser tube steady operation of connection, to provide current drain access.
As shown in figure 8, the urgent-stop alarm Acquisition Circuit of the signal S6 of the external scram button SE1 of acquisition includes capacitance C5 ,+5V
Voltage-stabiliser tube, resistance R19, resistance R20, resistance R21 and Light-emitting diode LED 3, the cathode of+5V voltage-stabiliser tubes is as this urgent-stop alarm
The input terminal of Acquisition Circuit, one end of the cathode connection capacitance C5 of+5V voltage-stabiliser tubes, the anode of+5V voltage-stabiliser tubes connect resistance simultaneously
The anode of one end and Light-emitting diode LED 3 of R19, one end of the cathode connection resistance R20 of Light-emitting diode LED 3, resistance R20
Output end of the other end as this urgent-stop alarm Acquisition Circuit, output signal S-S6, while the other end connection of resistance R20
The other end of one end of resistance R21, the other end of capacitance C5, the other end of resistance R19 and resistance R21 is grounded.
Signal S6 inputs for another way emergency stop, this signal is identical as signal S5, is no longer described in further detail.
As shown in figure 9, acquiring opening for startup/stop signal S1 of normally opened start button SB1 and normally closed stop button SB2
Dynamic/stop signal Acquisition Circuit includes capacitance C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and light emitting diode
Input terminal of the cathode of LED4 ,+5V voltage-stabiliser tube as this urgent-stop alarm Acquisition Circuit, the cathode connection of+5V voltage-stabiliser tubes is electric simultaneously
Hold one end of C6, the anode of one end and Light-emitting diode LED 4 of the anode connection resistance R22 of+5V voltage-stabiliser tubes, light emitting diode
One end of the cathode connection resistance R23 of LED4, the output end of the other end of resistance R23 as this urgent-stop alarm Acquisition Circuit are defeated
Go out signal S-S1, while one end of the other end connection resistance R24 of resistance R23, the other end of capacitance C6, resistance R22 it is another
The other end of end and resistance R24 are grounded.
Signal S1 is robot startup/stop signal input, AR-24V be have already mentioned above for servo alarm driving it is defeated
Go out.
The urgent-stop alarm Acquisition Circuit of the signal S5 of scram button SE1, acquisition are external anxious outside acquisition in the present embodiment
Stop the urgent-stop alarm Acquisition Circuit of the signal S6 of button SE1 and acquires opening for normally opened start button SB1 and normally closed stop button SB2
Startup/stop signal Acquisition Circuit all same of dynamic/stop signal S1.
R17 in the urgent-stop alarm Acquisition Circuit of the signal S5 of the external scram button SE1 of acquisition and R18 resistance play point
Pressure acts on, to make node S-S5 voltage matches CD4081 chips input reference signal (R20 and R21, R23 and R24 work(
Can also so), C4, C5, C6 be decoupling protection capacitance ,+5V voltage-stabiliser tubes effect be improve S5, S6, S1 node input voltage, from
And improve anti-interference ability, resistance R16, R19, R22 resistance be bleeder resistance, guarantee+5V voltage-stabiliser tube steady operations.
Alarm and startup/stop signal computing circuit include to the output signal S-S5 of two-way urgent-stop alarm Acquisition Circuit,
S-S6, the output signal S-S1 of startup/stop signal Acquisition Circuit and the output signal S-AR- of servo alarm drive circuit
24V is carried out and operation；Specifically operational formula is：
SS=(S-S6&&S-S5)s && (S-S1&&S-AR-24V) (2)
Wherein, SS represents the output of alarm and startup/stop signal computing circuit；
According to formula 2 it is found that when there is no servo alarm, urgent-stop alarm, when stop button is not pressed, alarms, opens
The output signal SS of dynamic/stop signal computing circuit is high level state, and when there are servo alarm, urgent-stop alarm or stop by
Button is pressed, then alarms, the output signal SS of startup/stop signal computing circuit is low level state；
It follows that then SS=1 when robot normal operation, robot alarm or SS=0 when stopping.
As shown in Figure 10, the alarm in the present embodiment and startup/stop signal computing circuit include CD4081 chips,
CD4081 chip GND pins are grounded, the VCC pin connection direct current+15V voltages of CD4081 chips, while CD4081 chips
VCC pins connect the one end capacitance C11, capacitance C11 other ends ground connection；The 1A pins connection urgent-stop alarm acquisition of CD4081 chips
The output signal S-S6 of the 1B pins connection urgent-stop alarm Acquisition Circuit of output signal S-S5, the CD4081 chip of circuit,
The cathode of the 1Y pins connection diode D3 of CD4081 chips；2A pins connection startup/stop signal acquisition of CD4081 chips
The output signal S-AR- of the 2B pins connection output servo alarm drive circuit of output signal S-S1, the CD4081 chip of circuit
The cathode of the 2Y pin diodes D4 of 24V, CD4081 chip；
Output of the anode of diode D3 with the anode of diode D4 as alarm and startup/stop signal computing circuit
The anode of end, output signal SS, while diode D3 and the anode of diode D4 are all connected with one end of resistance R31, resistance R31's
The other end connects direct current+15V voltages.
As shown in figure 11, warning output and startup latching circuit include diode D5, diode D6, diode D7, two poles
The anode of pipe D8, resistance R29, resistance R30, capacitance C8, capacitance C12, NPN type triode Q4 and relay K1, diode D5 are made
For this warning output and the input terminal for starting latching circuit, alarm and the output signal SS of startup/stop signal computing circuit by
Input terminal accesses, the anode of the cathode connection diode D6 of diode D5, the anode of the cathode connection diode D7 of diode D6,
One end of the cathode connection resistance R29 of diode D7, one end of the other end connection resistance R30 of resistance R29, one end of capacitance C8
With the base stage of NPN type triode Q4, the other end of resistance R30, the other end of capacitance C8 and NPN type triodes Q4 emitter
It is grounded, one end of one end and relay K1 of the collector connection capacitance C12 of NPN type triode Q4, capacitance C12's is another
The other end of end ground connection, relay K1 connects direct current+24V voltages, in the both ends anti-parallel diodes D8 of relay K1；Relay
The output all the way of device K1 is alarm output signal S11.
The warning output and startup latching circuit of the present embodiment, when start button action, and there is no servo alarm and suddenly
When stopping alarm, then SS is high level state, and Q4 is conducting state at this time, and energized state, K1 are in the coil of K1 relays
The two-way output end of relay is connected, then S11, S9 are connected respectively at+24V signals, and S11 output normal work signals, S9 is completed
Self-locking function.And when stop button acts or servo, urgent-stop alarm occurs, then S11, S9 are disconnected with+24V respectively, defeated outward
Go out alarm signal and self-locking disconnects.
It is that multiaxis machine is realized by transistor based on the articulated robot Special safety signal control circuit of transistor
The acquisition and processing of the safety signals such as the servo alarm signal of device people, urgent-stop alarm signal, robot startup/stop signal.Together
When, the driving circuit of robot motor's band-type brake is realized by power N-channel MOS pipe transistor.
The parts not involved in the utility model is the same as those in the prior art or can be realized by using the prior art.
As described above, although the utility model has been indicated and described with reference to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (8)
1. a kind of articulated robot Special safety signal control circuit based on transistor, which is characterized in that including being used to adopt
The multipath servo alarm Acquisition Circuit for collecting the multipath servo alarm signal of articulated robot, with multipath servo alarm Acquisition Circuit
Output be connected for multipath servo alarm Acquisition Circuit output signal carry out or non-operation servo alarm computing circuit,
The servo alarm drive circuit for providing warning drive signal being connected with the output of servo alarm computing circuit, with servo report
The alarm and startup/stop signal computing circuit that the output of alert driving circuit is connected, with alarm and startup/stop signal operation electricity
Road exports connected warning output and starts latching circuit, warning output and startup latching circuit output alarm signal；
Articulated robot Special safety signal control circuit based on transistor further includes two by 24V power supply power supplies
The signal S5 and S6 of external scram button SE1, two external scram button SE1 be respectively connected to two for acquire external emergency stop by
The two-way urgent-stop alarm Acquisition Circuit of button SE1, the output of two-way urgent-stop alarm Acquisition Circuit access alarm and believe with startup/stopping
Number computing circuit；
By 24V power supply power supplies and concatenated normally opened start button SB1 and normally closed stop button SB2, in normally opened start button SB1
The normally opened button K1A in parallel for accessing warning output and starting the relay K1 in latching circuit between normally closed stop button SB2,
The output signal S9 of normally opened button K1A；The startup of normally opened start button SB1 and normally closed stop button SB2/stop signal S1 accesses
Startup/stop signal Acquisition Circuit, output access alarm and the startup/stop signal operation of startup/stop signal Acquisition Circuit
Circuit.
2. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In the articulated robot Special safety signal control circuit based on transistor further includes for acquiring the more of articulated robot
The multichannel band-type brake circuit of road motor internal contracting brake signal；Multichannel band-type brake circuit include with the motor internal contracting brake signal of articulated robot one by one
Corresponding band-type brake circuit；Multiple band-type brake circuit all sames；If the motor internal contracting brake signal of articulated robot is 1 band-type brake signal of motor
BR1,2 band-type brake signal BR2 of motor ... motor N band-type brake signals BRN, N are the positive integer more than or equal to 1；
Band-type brake circuit includes current-limiting resistance R31, protective resistance R32, capacitance C9, optocoupler U3, divider resistance R33, divider resistance
R34 ,+3.9V voltage-stabiliser tube, anti-interference resistance R35 and N-channel MOS pipe, current-limiting resistance R31 mono- termination+24V, current-limiting resistance R31 are another
One end and motor internal contracting brake signal BR1 access two inputs of optocoupler U3 simultaneously, in the input terminal parallel filtering capacitance C9 of optocoupler U3
It is arranged in parallel with protective resistance R32 and protective resistance R32 and filter capacitor C9；An output connection in two outputs of optocoupler U3
Direct current+24V voltages, the one end another output concatenation divider resistance R33, the divider resistance R33 other ends connect divider resistance R34's
One end ,+3.9V voltage-stabiliser tubes positive and anti-interference resistance R35 one end, the other end of anti-interference resistance R35 connects N-channel MOS
The grid of pipe；The source grounding of the other end of divider resistance R34, the cathode and N-channel MOS pipe of+3.9V voltage-stabiliser tubes, N-channel
The band-type brake coil both ends of the motor 1 of the drain electrode connection articulated robot of metal-oxide-semiconductor.
3. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In multipath servo alarm Acquisition Circuit includes being acquired with the one-to-one servo alarm of the servo alarm signal of articulated robot
Circuit, multiple servos alarm Acquisition Circuit all sames；If the servo alarm signal of articulated robot be 1 alarm signal of servo,
2 alarm signal of servo, 3 alarm signal of servo ... servo N alarm signals；N is the positive integer more than or equal to 1；
Servo alarm Acquisition Circuit includes thermistor PTC1, current-limiting resistance R1, Light-emitting diode LED 1, protective resistance R2, resists
Interference capacitors C1 and TVS diode,
Input terminal of the one end of thermistor PTC1 as servo alarm Acquisition Circuit, 1 alarm signal of servo access input terminal, together
When thermistor PTC1 one end connection TVS diode one end, the other end ground connection of TVS diode；Thermistor PTC1's
Another one end termination anti-interference capacitor C1, the cathode of Light-emitting diode LED 1 and one end of protective resistance R2 are used as servo report simultaneously
The output end of alert Acquisition Circuit, the output signal AR1 of output servo alarm Acquisition Circuit；Anti-interference capacitor C1 other end sending and receiving light
The anode of diode (LED) 1 and the other end of protective resistance R2, the one end current-limiting resistance R1 is connect in the cathode of Light-emitting diode LED 1,
External direct current+15V the voltages of the current-limiting resistance R1 other ends.
4. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
Include first being carried out or non-fortune to the alarm output signal (AR1~ARN) of Acquisition Circuit of multipath servo in, servo alarm computing circuit
It calculates, then or non-operation is exported into progress and operation；Concrete operation formula is：
AR=(~(AR1+AR2)) && (~(AR3+AR4)) && ......s && (~(ARN-1+ARN)) (1)
Wherein, AR represents the total output of multiple-axis servo alarm；AR1, AR2~ARN are servo alarm Acquisition Circuit output signal；
According to above-mentioned formula it is found that when multipath servo is in normal operating conditions, i.e. AR1~ARN is low level, then AR
=1；When there is servo alarm, i.e. it is high level that AR1~ARN, which has one or more, then AR=0.
5. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In servo alarm drive circuit includes resistance R11, resistance R12, resistance R13, resistance R14, resistance R15, resistance R25, resistance
R26, resistance R27, diode D1, diode D2, NPN type triode Q1, PNP type triode Q2 ,+5V voltage-stabiliser tubes, light-emitting diodes
Pipe LED5, capacitance C3 and capacitance C7,
One end of resistance R11 connects direct current+15V voltages, and the other end of resistance R11 is inputted as servo alarm drive circuit to be terminated
The output signal AR of servo alarm computing circuit, while the anode of the other end connection diode D1 of resistance R11, diode D1's
Cathode connects one end of resistance R12, one end of other end connection resistance R13, one end of capacitance C3 and the NPN type three of resistance R12
The emitter of the base stage of pole pipe Q1, the other end of resistance R13, the other end of capacitance C3 and NPN type triode Q1 is grounded, NPN
One end of one end and resistance R15 of the collector connection resistance R14 of type triode Q1, the other end connection direct current of resistance R14+
24V voltages, the base stage of the other end connection PNP type triode Q2 of R15, the emitter of triode Q2 connect direct current+24V voltages,
The anode of the collector connection diode D2 of triode Q2, one end of the cathode connection capacitance C7 of diode D2 and+5V voltage-stabiliser tubes
Cathode, the anode of one end and Light-emitting diode LED 5 of the anode connection resistance R25 of+5V voltage-stabiliser tubes, Light-emitting diode LED 5
Cathode connection resistance R26 one end, the other end of resistance R26 is used as servo alarm drive circuit output end, output servo report
The output signal S-AR-24V of alert driving circuit, while one end of the other end connection resistance R27 of resistance R26, capacitance C7's is another
The other end of one end, the other end of resistance R25 and resistance R27 is grounded.
6. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In, the urgent-stop alarm Acquisition Circuit for acquiring the signal S5 of external scram button SE1 include capacitance C4 ,+5V voltage-stabiliser tubes, resistance R16,
Resistance R17, resistance R18 and Light-emitting diode LED 2, the input of the cathode of+5V voltage-stabiliser tubes as this urgent-stop alarm Acquisition Circuit
End, one end of the cathode connection capacitance C4 of+5V voltage-stabiliser tubes, the anode of+5V voltage-stabiliser tubes connect one end of resistance R16 and shine simultaneously
The anode of diode (LED) 2, one end of the cathode connection resistance R17 of Light-emitting diode LED 2, the other end of resistance R17 is as this
One end of the other end connection resistance R18 of the output end of urgent-stop alarm Acquisition Circuit, output signal S-S5, while resistance R17, electricity
The other end, the other end of resistance R16 and the other end of resistance R18 for holding C4 are grounded；
The urgent-stop alarm Acquisition Circuit of the signal S6 of the external scram button SE1 of acquisition includes capacitance C5 ,+5V voltage-stabiliser tubes, resistance
R19, resistance R20, resistance R21 and Light-emitting diode LED 3, the cathode of+5V voltage-stabiliser tubes is as the defeated of this urgent-stop alarm Acquisition Circuit
Enter end, simultaneously one end of the cathode connection capacitance C5 of+5V voltage-stabiliser tubes, one end of the anode connection resistance R19 of+5V voltage-stabiliser tubes and hair
The anode of optical diode LED3, one end of the cathode connection resistance R20 of Light-emitting diode LED 3, the other end conduct of resistance R20
One end of the other end connection resistance R21 of the output end of this urgent-stop alarm Acquisition Circuit, output signal S-S6, while resistance R20,
The other end of the other end of capacitance C5, the other end of resistance R19 and resistance R21 is grounded；
Acquire startup/stop signal acquisition of startup/stop signal S1 of normally opened start button SB1 and normally closed stop button SB2
Circuit includes capacitance C6 ,+5V voltage-stabiliser tubes, resistance R22, resistance R23, resistance R24 and Light-emitting diode LED 4 ,+5V voltage-stabiliser tubes
Input terminal of the cathode as this urgent-stop alarm Acquisition Circuit, one end of the cathode connection capacitance C6 of+5V voltage-stabiliser tubes ,+5V are steady simultaneously
The anode of one end and Light-emitting diode LED 4 of the anode connection resistance R22 of pressure pipe, the cathode connection electricity of Light-emitting diode LED 4
Hinder one end of R23, the output end of the other end of resistance R23 as this urgent-stop alarm Acquisition Circuit, output signal S-S1, while electricity
Hinder one end of the other end connection resistance R24 of R23, the other end of capacitance C6, the other end of resistance R22 and resistance R24 it is another
End is grounded.
7. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In, alarm and output signal S-S5, S-S6 that startup/stop signal computing circuit includes to two-way urgent-stop alarm Acquisition Circuit,
The output signal S-S1 of startup/stop signal Acquisition Circuit and the output signal S-AR-24V of servo alarm drive circuit are carried out
With operation；Specifically operational formula is：
SS=(S-S6&&S-S5)s && (S-S1&&S-AR-24V) (2)
Wherein, SS represents the output of alarm and startup/stop signal computing circuit；
According to formula 2 it is found that when there is no servo alarm, urgent-stop alarm, when stop button is not pressed, alarms, starts/stop
The output signal SS of stop signal computing circuit is high level state, and when there are servo alarm, urgent-stop alarm or stop button quilts
It presses, then alarms, the output signal SS of startup/stop signal computing circuit is low level state；
It follows that then SS=1 when robot normal operation, robot alarm or SS=0 when stopping.
8. the articulated robot Special safety signal control circuit based on transistor, feature exist as described in claim 1
In warning output includes diode D5, diode D6, diode D7, diode D8, resistance R29, resistance with startup latching circuit
R30, capacitance C8, capacitance C12, NPN type triode Q4 and relay K1, the anode of diode D5 is as this warning output and startup
The input terminal of latching circuit is alarmed and is accessed by input terminal with the output signal SS of startup/stop signal computing circuit, diode D5
Cathode connection diode D6 anode, the anode of the cathode connection diode D7 of diode D6, the cathode connection of diode D7
The other end of one end of resistance R29, resistance R29 connects one end of resistance R30, one end of capacitance C8 and NPN type triode Q4
The emitter of base stage, the other end of resistance R30, the other end of capacitance C8 and NPN type triode Q4 is grounded, NPN type triode
One end of one end and relay K1 of the collector connection capacitance C12 of Q4, the other end ground connection of capacitance C12, relay K1's is another
One end connects direct current+24V voltages, in the both ends anti-parallel diodes D8 of relay K1；The output all the way of relay K1 is report
Alert output signal S11.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621799A (en) * | 2017-10-25 | 2018-01-23 | 南京埃斯顿机器人工程有限公司 | Articulated robot Special safety signal control circuit based on transistor |
-
2017
- 2017-10-25 CN CN201721384545.2U patent/CN208044339U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621799A (en) * | 2017-10-25 | 2018-01-23 | 南京埃斯顿机器人工程有限公司 | Articulated robot Special safety signal control circuit based on transistor |
| CN107621799B (en) * | 2017-10-25 | 2023-10-20 | 南京埃斯顿机器人工程有限公司 | Transistor-based safety signal control circuit special for multi-joint robot |
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