CN208100420U - A kind of robot control system and robot - Google Patents
A kind of robot control system and robot Download PDFInfo
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- CN208100420U CN208100420U CN201820345342.0U CN201820345342U CN208100420U CN 208100420 U CN208100420 U CN 208100420U CN 201820345342 U CN201820345342 U CN 201820345342U CN 208100420 U CN208100420 U CN 208100420U
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Abstract
The utility model discloses a kind of robot control system and robot, which includes：Main circuit switch is used to receive the ac signal of external equipment offer, and exports ac signal in main circuit switch closure；The input terminal of ac-dc converter circuit connects main circuit switch, for ac signal to be converted to DC signal output, wherein, ac-dc converter circuit includes the first output end and second output terminal, first output end connects governor circuit, to export first detection signal to governor circuit, second output terminal connects governor circuit by main circuit switch, to detect signal to governor circuit output second by main circuit switch；DC relay is connected between ac-dc converter circuit and governor circuit, governor circuit is used for the level conversion sequence using first detection signal and the second detection signal, the power-off reason of robot control system is determined, so as to improve the safety in utilization of robot.
Description
Technical field
This application involves robot fields, more particularly, to a kind of robot control system and robot.
Background technique
Now, there are the possibility of power interruptions for industrial robot power generating facilities and power grids, while under the environment of plant, also there is power cut-off
Risk, for example in robot operational process, certain short circuit, makes main circuit trip under same electric power network, after debugging
Restore main circuit power supply manually, robot re-powers.
However, manual interruption cannot be distinguished for existing industrial robot control system and external power supply interrupts, therefore sending out
The operating condition that raw external accident power-off some cycles restore again under, the performance of robot is off operation, the use as robot
Person can not judge the reason that robot is under the state, be unfavorable for the maintenance to robot.
Utility model content
The application provides a kind of robot control system and robot, and robot can not be determined in the prior art by being able to solve
Control system powers off the problem of reason.
To solve the above-mentioned problems, a technical solution of the application use is：A kind of robot control system is provided, is wrapped
Main circuit switch, ac-dc converter circuit, governor circuit and DC relay are included, wherein：Main circuit switch, for receiving outside
The ac signal that equipment provides, and ac signal is exported in main circuit switch closure；Ac-dc converter circuit, connection master
Circuit switch, for ac signal to be converted to DC signal output, wherein ac-dc converter circuit includes the first output
End and second output terminal, the first output end connect governor circuit, to export first detection signal, second output terminal to governor circuit
Governor circuit is connected by main circuit switch, to detect signal to governor circuit output second by main circuit switch；Master control electricity
Road is for receiving first detection signal and the second detection signal, to utilize the first inspection in robot control system power-off shutdown
The level conversion sequence for surveying signal and the second detection signal, determines the power-off reason of robot control system；DC relay, packet
The first control terminal, first end and second end are included, the first control terminal connects the first output end of ac-dc converter circuit, and first end connects
The first output end of ac-dc converter circuit is connect, second end connects governor circuit.
To solve the above-mentioned problems, another technical solution of the application use is：A kind of robot is provided, including as above
The robot control system.
The beneficial effect of the application is：It is in contrast to the prior art, in the section Example of the application, governor circuit
Receive first detection signal and the second detection signal, wherein first detection signal is without main circuit switch, the second detection signal
By main circuit switch, so that first detection signal and the level conversion sequence of the second detection signal are disconnected in main circuit switch
It is different when opening with external accident power-off, it is possible thereby to by the level conversion sequence of first detection signal and the second detection signal,
In robot control system power-off shutdown, the power-off reason of robot control system is determined, so that control system of robot
The user of system or robot knows the power-off reason of the robot, targetedly to be handled or to be safeguarded, improves machine
The safety in utilization of device people.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the application robot control system first embodiment；
Fig. 2 be in robot control system shown in Fig. 1 main circuit switch disconnect and external two kinds of accident power-off in the case of the
The level conversion schematic diagram of one detection signal and the second detection signal；
Fig. 3 is the structural schematic diagram of the application robot control system second embodiment；
Fig. 4 be in robot control system shown in Fig. 3 main circuit switch disconnect and external two kinds of accident power-off in the case of the
The level conversion schematic diagram of one detection signal and the second detection signal；
Fig. 5 is the structural schematic diagram of the application robot control system 3rd embodiment；
Fig. 6 be in robot control system shown in Fig. 5 main circuit switch disconnect and external two kinds of accident power-off in the case of the
The level conversion schematic diagram of one detection signal and the second detection signal；
Fig. 7 is the structural schematic diagram of one embodiment of the application robot.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1,10 first embodiment of the application robot control system includes：
Main circuit switch 101 is closed for receiving the ac signal of external equipment offer, and in main circuit switch 101
When export ac signal；
Wherein, main circuit switch 101 can be single pole multiple throw, be also possible to multi-pole, multi-throw switch, as long as manual
When closing the main circuit switch 101, the route connected on the main circuit switch 101 can be simultaneously switched off, specific Switch
Type can be not specifically limited herein depending on actual circuit connection requirement.The exchange telecommunications that external equipment (not shown) provides
It number can be 220VAC alternating current, be also possible to 110VAC etc., mainly depending on actual electric network supply standard.
Ac-dc converter circuit 102, the input terminal I connection main circuit switch 101 of the ac-dc converter circuit 102, is used for
Ac signal is converted into DC signal output, wherein ac-dc converter circuit 102 includes the first output terminals A 1 and second
Output terminals A 2, the first output terminals A 1 connect governor circuit 103, and without main circuit switch 101, with defeated to governor circuit 103
First detection signal Power_In out, second output terminal A2 connect governor circuit 103 by main circuit switch 101, to pass through master
Circuit switch 101 detects signal Manul_off to the output of governor circuit 103 second.
Specifically, as shown in Figure 1, in an application examples, 102 input terminal I of the ac-dc converter circuit receive by
After the 220VAC alternating current of the main circuit switch 101, which is converted to the 220VAC alternating current
24VDC DC signal is transferred to governor circuit 103.Wherein, the first output terminals A 1 output of the ac-dc converter circuit 102
First detection signal Power_In be directly inputted to governor circuit 103, the second output terminal A2 of the ac-dc converter circuit 102
The 24VDC DC signal of output needs after main circuit switch 101, forms the second detection signal Manul_off, and ability is defeated
Enter to governor circuit 103.Certainly, in other application example, the DC signal of the ac-dc converter circuit 102 output can also be with
10VDC, 50VDC etc. are converted to depending on specific requirements, is not specifically limited herein.
Governor circuit 103 is for receiving the detection signal Manul_off of first detection signal Power_In and second, in machine
When device people's 10 power-off shutdown of control system, the electricity of the detection of first detection signal Power_In and second signal Manul_off is utilized
Flat change over order determines the power-off reason of robot control system 10.
Specifically, as shown in connection with fig. 2, in above application examples, which can preset detection time periodicity
Ground detects the detection signal Manul_off of first detection signal Power_In and second, such as detects by cycle polling of 10ms,
The level conversion sequence for judging the detection of first detection signal Power_In and second signal Manul_off, when the main circuit is opened
When closing 101 disconnection, since second detection signal Manul_off is to be input to governor circuit after the main circuit switch 101
103, then second detection signal Manul_off can be converted to low level from moment high level, such as in dotted line position shown in Fig. 2
It sets from high level and is converted to low level, and first detection signal Power_In is due to without the main circuit switch 101, and should
There is larger capacitance inside ac-dc converter circuit 102, capacitor, which has, deposits Electricity Functional, and capacitor electric discharge needs a period of time, therefore,
After the 220VAC alternating current for being input to the ac-dc converter circuit 102 is reduced to 0V, the ac-dc converter circuit 102 output
24VDC direct current energy maintains 200ms or more (usually less than 1 second, i.e. 200~1000ms) just to drop to low level from high level.
Therefore, low level first is converted to from high level when generation second detects signal Manul_off, and passes through the first preset time (200
~1000ms) after, when first detection signal Power_In is just converted to low level from high level, governor circuit 103 determines machine
The power-off of people's control system 10 is the reason is that main circuit switch disconnection, i.e. normal shutdown.
It,, should when the power interruptions as caused by external accident power-off in above application examples with continued reference to Fig. 1 and Fig. 2
Main circuit switch 101 is to maintain closed state, then can be defeated from the 24VDC direct current that ac-dc converter circuit 102 exports
Enter to the governor circuit 103, at this point, also due to 102 inside larger capacitance of ac-dc converter circuit deposits Electricity Functional, so that
One detection signal Power_In and second detection signal Manul_off be able to maintain that 200ms or more (usually less than 1 second, i.e.,
200~1000ms) just low level is dropped to from high level.Therefore, in the detection signal of first detection signal Power_In and second
When from high level being converted to low level when Manul_off is converted to low level from high level simultaneously, such as in Fig. 2, governor circuit
103 determine the power-off of robot control system 10 the reason is that external accident power-off.
In the application example, periodical poll detection first detection signal Power_In and second detection of the governor circuit 103
The default detection time of signal Manul_off can comprehensively consider detection efficiency and power consumption, select the suitable time cycle, herein
It is not specifically limited.Wherein, optionally, governor circuit 103 will can also detect every time the power-off reason obtained and log is recorded
In file, to facilitate the power-off reason of the user query robot.In addition the governor circuit 103 can also be in the robot
When control system is switched on, the power-off reason is shown in log information, so that user more intuitively learns the robot
Reason is powered off, handles and safeguards convenient for user.
To sum up, in the present embodiment, since first detection signal is without main circuit switch, the second detection signal is by master
Circuit switch, so that first detection signal and the level conversion sequence of the second detection signal are in main circuit switch disconnection and outside
Different when portion's accident power-off, thus governor circuit can be suitable by the level conversion of first detection signal and the second detection signal
Sequence determines the power-off reason of robot control system in robot control system power-off shutdown, so that robot controls
The user of system or robot knows the power-off reason of the robot, targetedly to be handled or to be safeguarded, improves
The safety in utilization of robot.
In other embodiments, the robot control system can also including AC relay etc. relay systems.
Specifically as shown in figure 3,20 second embodiment of the application robot control system includes：Main circuit switch 101 is handed over directly
Flow conversion circuit 102, governor circuit 103 and delay switching device 104.In conjunction with shown in Fig. 1 and Fig. 3, the robot of the present embodiment
Control system 20 is similar with the structure of 10 first embodiment of the application robot control system, and similar structure is no longer superfluous herein
It states, the difference is that, the robot control system 20 of the present embodiment further comprises：Delay switching device 104, the delay are opened
It closes device 104 to connect with the first output terminals A 1 of governor circuit 103 and ac-dc converter circuit 102 respectively, the first output terminals A 1
The DC signal of output is exported by the delay switching device 104 to governor circuit 103 as first detection signal.
Wherein, which can use specific element, such as AC relay or straight according to actual needs
Current relay etc., specific delay time are arranged according to specific element, are not specifically limited herein.With direct current relay in the present embodiment
It is illustrated for device.
Specifically, as shown in figure 3, in an application examples, which can be a 24V direct current relay
Device, the i.e. DC relay use 24V DC power control, the 24V direct current exported such as the ac-dc converter circuit 10 in Fig. 3
Electricity.Certainly, in other embodiments, which can also be controlled using other external dc powers, not done herein
It is specific to limit.Wherein, which includes the first control terminal C1, first end D1 and second end D2, first control terminal
First output terminals A 1 of C1 connection ac-dc converter circuit 102, first end D1 also connect the first of ac-dc converter circuit 102
Output terminals A 1, second end D2 connection governor circuit 103.
In the present embodiment, governor circuit 103 equally can be according to the detection signal of first detection signal Power_In and second
The level conversion sequence of Manul_off, determines the power-off reason of robot control system 20.But due in 103 He of governor circuit
It is connected with DC relay 104 between first output terminals A 1 of ac-dc converter circuit 102, is existed in the DC relay 104
Coil needs certain reaction time after the coil blackout, the first output of governor circuit 103 and ac-dc converter circuit 102
Route between the A1 of end can be just disconnected, therefore, the electricity of the detection of first detection signal Power_In and second signal Manul_off
Flat change over order is different from the signal timing diagram in Fig. 2.Wherein, circle of the reaction time after the coil blackout with specific reference to coil
The factors such as number are determining, usually 10~100ms, are illustrated by taking 10~80ms as an example in the present embodiment.
Specifically incorporated by reference to shown in Fig. 3 and Fig. 4, in an application examples, which turns using by alternating current-direct current
The 24V direct current of circuit 102 is changed as control power supply, governor circuit 103 periodically detects first detection signal Power_In
With second detection signal Manul_off, main circuit switch 101 disconnect when, due to this second detection signal Manul_off be through
It is input to governor circuit 103 after crossing the main circuit switch 101, then second detection signal Manul_off understands moment from high level
Low level is converted to, such as is converted to low level from high level in dotted line position shown in Fig. 4, and the first detection signal
Power_In passes through ac-dc converter circuit 102 and DC relay 104 due to without the main circuit switch 101, should
102 inside larger capacitance of ac-dc converter circuit have deposits Electricity Functional so that the end A1 output direct current be able to maintain that 200ms with
Upper (usually less than 1 second, i.e. 200~1000ms) just drops to low level from high level, while existing in the DC relay 104
Coil, the reaction time after the coil blackout is 10~80ms, therefore, in the 24VDC direct current for being input to the DC relay 104
After electricity is reduced to 0V, which, which also needs to react 10~80ms just, will disconnect ac-dc converter circuit 102 and master control
Route between circuit 103, therefore, the reaction time of comprehensive ac-dc converter circuit 102 and DC relay 104, this
Two detection signal Manul_off are converted to low level from high level, and after the time of 210ms or more (210~1080ms),
First detection signal Power_In just drops to low level from high level.Therefore, when generation second detects signal Manul_off
Low level is converted to from high level, and after third preset time (210~1080ms), first detection signal Power_In
When being converted to low level from high level, governor circuit 103 determines the power-off of robot control system 20 the reason is that main circuit switch
101 disconnect.
It,, should when the power interruptions as caused by external accident power-off in above application examples with continued reference to Fig. 3 and Fig. 4
Main circuit switch 101 is to maintain closed state, then can be defeated from the 24VDC direct current that ac-dc converter circuit 102 exports
Enter to the governor circuit 103, at this point, Electricity Functional is deposited due to 102 inside larger capacitance of ac-dc converter circuit, so that the second inspection
It is low that survey signal Manul_off is able to maintain that 200ms or more (usually less than 1 second, i.e. 200~1000ms) is just dropped to from high level
Level, and after being reduced to 0V due to the 24VDC direct current for being input to the DC relay 104, which needs instead
10~80ms is answered just and will disconnect the route between ac-dc converter circuit 102 and governor circuit 103, i.e., detects signal second
After Manul_off drops into low level, first detection signal Power_In also needs just fall from high level by 10~80ms
Drop down onto low level.Therefore, the second detection signal Manul_off drops to low level from high level first, and passes through 10~80ms
Afterwards, first detection signal Power_In just can high level drop to low level, i.e., when generation second detect signal Manul_off from
High level is converted to low level, and after the second preset time (10~80ms), and first detection signal Power_In is electric from height
When flat turn is changed to low level, governor circuit 103 determines the power-off of robot control system 20 the reason is that external accident power-off.
In other application example, which is also possible to the DC relay etc. of 36V, specifically can basis
Depending on the output voltage of the ac-dc converter circuit, it is not specifically limited herein.
As shown in figure 5,30 3rd embodiment of the application robot control system and the application robot control system 20 the
The structure of two embodiments is similar, the difference is that, in the present embodiment, which uses AC relay 105, should
AC relay 105 includes the second control terminal C2, third end B1, the 4th end B2 and the 5th end B3, the second control terminal C2 connection master
Circuit switch 101, the first output terminals A 1 of third end B1 connection ac-dc converter circuit 102, the 4th end B2 connection governor circuit
103, the input terminal I of the 5th end B3 connection ac-dc converter circuit 102.
In the present embodiment, governor circuit 103 equally can be according to the detection signal of first detection signal Power_In and second
The level conversion sequence of Manul_off, determines the power-off reason process of robot control system 30.
Specifically, in conjunction with shown in Fig. 5 and Fig. 6, in an application examples, the AC relay 105 is using by main circuit
The 220V alternating current of switch 101 as control power supply, governor circuit 103 periodically detect first detection signal Power_In and
Second detection signal Manul_off, main circuit switch 101 disconnect when, due to this second detection signal Manul_off be by
It is input to governor circuit 103 after the main circuit switch 101, then second detection signal Manul_off can turn moment from high level
It is changed to low level, such as is converted to low level from high level in dotted line position shown in Fig. 6, and first detection signal Power_
In passes through AC relay 105 due to without the main circuit switch 101, there are coil in the AC relay 105,
Reaction time after the coil blackout is 10~80ms, therefore, in the 220VAC alternating current drop for being input to the AC relay 105
Down to after 0V, which, which also needs to react 10~80ms just, will disconnect ac-dc converter circuit 102 and governor circuit
Route between 103, i.e. first detection signal Power_In also need 10~80ms just can drop to low level from high level.
Therefore, be converted to low level from high level when generation second detects signal Manul_off, and by the first preset time (10~
After 80ms), when first detection signal Power_In is converted to low level from high level, governor circuit 103 determines robot control
The power-off of system 20 processed is the reason is that main circuit switch 101 disconnects.
It,, should when the power interruptions as caused by external accident power-off in above application examples with continued reference to Fig. 5 and Fig. 6
Main circuit switch 101 is to maintain closed state, then the 24VDC exported from 102 second output terminal A2 of ac-dc converter circuit is straight
Galvanic electricity can be input to the governor circuit 103, at this point, Electricity Functional is deposited due to 102 inside larger capacitance of ac-dc converter circuit,
So that the second detection signal Manul_off is able to maintain that 200ms or more (usually less than 1 second, i.e. 200~1000ms) just from high electricity
It is flat to drop to low level, and after being reduced to 0V due to the 220VAC alternating current for being input to the AC relay 105, the exchange relay
Device 105 needs to react 10~80ms just and will disconnect the route between ac-dc converter circuit 102 and governor circuit 103, i.e., and first
Signal Power_In is detected after external accident power-off, needs that just low level can be dropped to from high level after 10~80ms.
Therefore, first detection signal Power_In drops to low level from high level first, and the second detection signal Manul_off is then the
After one detects at least 120ms (120~990ms) after signal Power_In drops into low level, just meeting high level is dropped to low
Level, i.e., when generation first detection signal Power_In is converted to low level, and the 4th preset time (120 of process from high level
~990ms) after, when the second detection signal Manul_off is converted to low level from high level, governor circuit 103 determines robot
The power-off of control system 20 is the reason is that external accident power-off.
As shown in fig. 7,80 1 embodiment of the application robot includes：Robot control system 801, wherein the robot
Control system 801 can be with reference to the structure of the application robot control system first to any one embodiment of third, herein no longer
It repeats.
In other embodiments, which can also be including display device, the other components such as input/output unit, this
Place is not specifically limited.
In the present embodiment, since first detection signal is without main circuit switch, the second detection signal is opened by main circuit
It closes, so that first detection signal and the level conversion sequence of the second detection signal are unexpected in main circuit switch disconnection and outside
Different when power-off, thus robot can be examined using the governor circuit of robot control system by first detection signal and second
The level conversion sequence for surveying signal, in robot power-off shutdown, determines the power-off reason of robot, so that robot
User knows the power-off reason of the robot, targetedly to be handled or to be safeguarded, improves the use peace of robot
Quan Xing.
The foregoing is merely the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
It is equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, directly or indirectly uses
In other related technical areas, it is also included in the patent protection scope of the utility model.
Claims (10)
1. a kind of robot control system, which is characterized in that including main circuit switch, ac-dc converter circuit, governor circuit and
DC relay, wherein：
The main circuit switch, for receiving the ac signal of external equipment offer, and in main circuit switch closure
Export the ac signal；
The input terminal of the ac-dc converter circuit connects the main circuit switch, for being converted to directly the ac signal
Galvanic electricity signal output, wherein the ac-dc converter circuit includes the first output end and second output terminal, first output end
The governor circuit is connected, to export first detection signal to the governor circuit, the second output terminal passes through the main electricity
Way switch connects the governor circuit, to detect signal to governor circuit output second by the main circuit switch；
The governor circuit is for receiving the first detection signal and the second detection signal, to control in the robot
System cut-off shut down when, using the first detection signal and it is described second detection signal level conversion sequence, determine described in
The power-off reason of robot control system；
The DC relay, including the first control terminal, first end and second end, first control terminal connect the alternating current-direct current
First output end of conversion circuit, the first end connect the first output end of the ac-dc converter circuit, the second end
Connect the governor circuit.
2. system according to claim 1, which is characterized in that the governor circuit is specifically used for：
Low level is converted to from high level when the second detection signal occurs, and after the second preset time, described first
When detection signal is converted to the low level from the high level, the governor circuit determines the disconnected of the robot control system
Electricity is the reason is that the external accident power-off.
3. system according to claim 1, which is characterized in that the governor circuit is specifically used for：
Low level is converted to from high level when the second detection signal occurs, and after third preset time, described first
When detection signal is converted to the low level from the high level, the governor circuit determines the disconnected of the robot control system
Electricity is the reason is that the main circuit switch disconnects.
4. system according to claim 2, which is characterized in that the value range of second preset time is 10~80 millis
Second.
5. system according to claim 3, which is characterized in that the value range of the third preset time be 210~
1080 milliseconds.
6. system according to claim 1, which is characterized in that the governor circuit is further used for preset detection time
It is periodically detected the level conversion sequence of the first detection signal and the second detection signal, with the determination robot control
The power-off reason of system processed.
7. system according to claim 6, which is characterized in that the default detection time is 10 milliseconds.
8. system according to claim 1, which is characterized in that the governor circuit is further used in the robot control
When system cut-off processed shuts down, the power-off reason is recorded in journal file.
9. system according to claim 8, which is characterized in that the governor circuit, which is also used to control in the robot, is
When system booting, the power-off reason is shown in log information.
10. a kind of robot, which is characterized in that including such as described in any item robot control systems of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820345342.0U CN208100420U (en) | 2018-03-13 | 2018-03-13 | A kind of robot control system and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820345342.0U CN208100420U (en) | 2018-03-13 | 2018-03-13 | A kind of robot control system and robot |
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| CN208100420U true CN208100420U (en) | 2018-11-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112236276A (en) * | 2018-03-13 | 2021-01-15 | 深圳配天智能技术研究院有限公司 | Robot control system, power supply monitoring method, robot and storage device |
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2018
- 2018-03-13 CN CN201820345342.0U patent/CN208100420U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112236276A (en) * | 2018-03-13 | 2021-01-15 | 深圳配天智能技术研究院有限公司 | Robot control system, power supply monitoring method, robot and storage device |
| CN112236276B (en) * | 2018-03-13 | 2023-09-22 | 深圳配天智能技术研究院有限公司 | Robot control system, power supply monitoring method, robot and storage device |
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