CN213999512U - Industrial robot safety electric control device - Google Patents
Industrial robot safety electric control device Download PDFInfo
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- CN213999512U CN213999512U CN202120028819.4U CN202120028819U CN213999512U CN 213999512 U CN213999512 U CN 213999512U CN 202120028819 U CN202120028819 U CN 202120028819U CN 213999512 U CN213999512 U CN 213999512U
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Abstract
The utility model relates to a safety electric control device of an industrial robot, which comprises an industrial robot power supply, a current sensor, a voltage sensor, a temperature sensor, a rotating speed sensor, a safety protection circuit and an electric control switch, wherein the electric control switch is arranged in series in a power supply line connected with the industrial robot power supply, the current sensor detects a current signal of the power supply line, the voltage sensor detects a voltage signal of the power supply line, the temperature sensor detects a temperature signal of a preset position in the industrial robot, the rotating speed sensor detects a rotating speed signal of a related motor in the industrial robot, the safety protection circuit controls the conduction state of the electric control switch according to the signals, compared with the prior mode of carrying out safety control only through the current signal, four sensors are arranged to carry out reliable and comprehensive detection and safety control on the industrial robot, and the control safety is improved.
Description
Technical Field
The utility model relates to an industrial robot technical field especially relates to an industrial robot safety electrically controlled device.
Background
With the continuous development of economy and control technology, industrial robots are applied to more and more fields, and get more and more attention of users. The most common form of construction of an industrial robot is a robot arm, which is used for the handling of articles in a flow line. The operating principle of safety-oriented control devices of existing industrial robots is generally: and detecting a current signal of a power supply line of the industrial robot, and judging whether the industrial robot normally operates according to the current signal so as to perform safety control. The safety control mode is relatively limited, and the industrial robot cannot be comprehensively detected and safely controlled.
SUMMERY OF THE UTILITY MODEL
The utility model provides an industrial robot safety electrically controlled device for solve current industrial robot safety control mode and compare the limitation, can't carry out comparatively comprehensive detection and safety control's technical problem to industrial robot.
The utility model adopts the following technical scheme:
a safety electric control device of an industrial robot comprises an industrial robot power supply, a current sensor, a voltage sensor, a temperature sensor, a rotating speed sensor, a safety protection circuit and an electric control switch;
the electric control switch is arranged in series in a power supply line connected with a power supply of the industrial robot;
the current sensor is used for detecting a current signal of the power supply line, the voltage sensor is used for detecting a voltage signal of the power supply line, the temperature sensor is used for detecting a temperature signal of a preset position in the industrial robot, and the rotating speed sensor is used for detecting a rotating speed signal of a related motor in the industrial robot;
the signal output ends of the current sensor, the voltage sensor, the temperature sensor and the rotating speed sensor are connected with the signal input end of the safety protection circuit, and the signal output end of the safety protection circuit is connected with the electric control switch.
Further, the power supply for the industrial robot comprises an alternating current input interface, a direct current input interface, an electric energy output interface, a change-over switch, an AC/DC conversion circuit, a DC/DC conversion circuit and a storage battery;
the alternating current input interface is connected with the input end of the AC/DC conversion circuit, the direct current input interface is connected with the input end of the DC/DC conversion circuit, the output end of the AC/DC conversion circuit is connected with the first input end of the change-over switch, the output end of the DC/DC conversion circuit is connected with the second input end of the change-over switch, the output end of the change-over switch and the power supply end of the storage battery are connected with the electric energy output interface, and the electric energy output interface is used for being connected with the power supply line.
Furthermore, a first self-recovery fuse is arranged on a connecting line between the alternating current input interface and the input end of the AC/DC conversion circuit in series, and a second self-recovery fuse is arranged on a connecting line between the direct current input interface and the input end of the DC/DC conversion circuit in series.
Furthermore, the safety protection circuit comprises a current comparator, a voltage comparator, a temperature comparator, a rotating speed comparator, an OR logic circuit and a switch tube, and the electric control switch is a normally closed contact switch of a relay;
the signal output end of the current sensor is connected with the first input end of the current comparator, and the second input end of the current comparator is used for inputting comparison current; the signal output end of the voltage sensor is connected with the first input end of the voltage comparator, and the second input end of the voltage comparator is used for inputting comparison voltage; the signal output end of the temperature sensor is connected with the first input end of the temperature comparator, and the second input end of the temperature comparator is used for inputting comparison temperature; the signal output end of the rotating speed sensor is connected with the first input end of the rotating speed comparator, and the second input end of the rotating speed comparator is used for inputting and comparing rotating speed;
the output of current comparator, the output of voltage comparator, the output of temperature comparator and the output of rotational speed comparator are connected OR logic circuit's input, OR logic circuit's output is through first resistance connection the control end of switch tube, the control end of switch tube passes through second resistance ground connection, the one end of the control coil of relay is used for connecting the power VCC, the other end of control coil is connected the input of switch tube, the output ground connection of switch tube.
Further, the safety protection circuit still includes the alarm, the relay still includes normally open contact switch, the input of switch tube is through a auto-lock circuit ground connection, normally open contact switch and alarm series connection set up in the auto-lock circuit.
The utility model discloses following technological effect has: current sensor detects the current signal of power supply line, voltage sensor detects the voltage signal of power supply line, temperature sensor detects the temperature signal of the preset position among the industrial robot, speed sensor detects the rotational speed signal of the relevant motor among the industrial robot, the on-state of safety protection circuit according to these signal control electric control switch, compare in the current mode of only carrying out safety control through current signal, set up four kinds of sensors and can carry out comparatively reliable comprehensive detection and safety control to industrial robot, promote control security.
Drawings
Fig. 1 is a control structure diagram of a safety electric control device of an industrial robot;
fig. 2 is a circuit diagram of a power supply for an industrial robot;
FIG. 3 is a first partial circuit diagram of a safety circuit;
fig. 4 is a second partial circuit diagram of the safety protection circuit.
Detailed Description
The utility model relates to an industrial robot safety electrically controlled device, as shown in fig. 1, including industrial robot power supply, current sensor, voltage sensor, temperature sensor, speed sensor, safety protection circuit and electrical control switch S1.
The electric control switch S1 is arranged in series in a power supply line connected with a power supply source of the industrial robot. It will be appreciated that the other end of the power supply line is connected to the industrial robot for supplying power to the industrial robot.
The current sensor is used for detecting a current signal of the power supply line, and in this embodiment, the electric energy in the power supply line is direct current electric energy, so the current sensor is a direct current sensor. The voltage sensor is used for detecting a voltage signal of a power supply line, and correspondingly, the voltage sensor is a direct current voltage sensor.
The temperature sensor is used for detecting a temperature signal of a preset position in the industrial robot. The temperature sensor may be a conventional temperature sensing device. Wherein, preset position is set up by actual need, for example the line junction of power supply line and industrial robot, or a certain motor department in the industrial robot.
The rotation speed sensor is used for detecting a rotation speed signal of a related motor in the industrial robot, such as a motor of a certain main joint or a motor at a certain other joint. The rotation speed sensor may be a conventional rotation speed detecting device.
As shown in fig. 1, the signal output ends of the current sensor, the voltage sensor, the temperature sensor and the rotation speed sensor are connected with the signal input end of the safety protection circuit, and the signal output end of the safety protection circuit is connected with the electronic control switch S1.
In order to improve the power supply reliability, as shown in fig. 2, the power supply for the industrial robot includes an alternating current input interface, a direct current input interface, a power output interface, a change-over switch T1, an AC/DC conversion circuit, a DC/DC conversion circuit and a storage battery.
The alternating current input interface is used for connecting commercial power (namely 220V alternating current), and a specific interface type, such as a power plug, is set according to actual needs. The direct current input interface is used for connecting an external direct current power supply, and specific interface types such as power plugs are arranged according to actual needs. The electric energy output interface is used for outputting electric energy, and specific interface types such as power sockets are set according to actual needs. The switch T1 includes a first input terminal, a second input terminal, and an output terminal, and enables gating of the first input terminal or the second input terminal and the output terminal. The changeover switch T1 is a manually operated switch, and may be a rocker switch or a rotary switch having two gate positions. The AC/DC conversion circuit may be a conventional AC to DC conversion circuit. The DC/DC conversion circuit can be a conventional DC-DC conversion circuit, and a boosting circuit or a voltage reduction circuit is selected according to actual needs. The battery may be a conventional stored energy power source.
The alternating current input interface is connected with the input end of the AC/DC conversion circuit, the direct current input interface is connected with the input end of the DC/DC conversion circuit, the output end of the AC/DC conversion circuit is connected with the first input end of the change-over switch T1, the output end of the DC/DC conversion circuit is connected with the second input end of the change-over switch T1, the output end of the change-over switch T1 and the power supply end of the storage battery are connected with the electric energy output interface, and the electric energy output interface is used for being connected with a power supply line. Therefore, the direct-current voltage at the output terminal of the AC/DC converter circuit, the direct-current voltage at the output terminal of the DC/DC converter circuit, and the direct-current voltage output from the secondary battery are the same.
In this embodiment, in order to improve the safety of the AC branch in which the AC input interface is located, a first self-recovery fuse H1 is serially connected to a connection line between the AC input interface and the input end of the AC/DC conversion circuit. In order to improve the safety of the direct current branch where the direct current input interface is located, a second self-recovery fuse H2 is arranged in series on a connecting circuit between the direct current input interface and the input end of the DC/DC conversion circuit. Moreover, the self-recovery fuse can also be self-recovered after disconnection, multiple times of disconnection can be realized, the situation that the fuse is replaced after disconnection once is avoided, the reliability of the circuit is improved, and the circuit repair frequency is reduced.
The safety protection circuit is used for carrying out safety control on the switch state of the electric control switch S1 according to detection signals of the current sensor, the voltage sensor, the temperature sensor and the rotating speed sensor. In this embodiment, as shown in fig. 3, the safety protection circuit includes a current comparator a1, a voltage comparator a2, a temperature comparator A3, a rotation speed comparator a4, and/or a logic circuit B1.
Although the specific types of detection signals of the current sensor, the voltage sensor, the temperature sensor and the rotation speed sensor are different, in terms of signal nature, the detection signals are all electric signals, namely, all voltage signals, and the larger the detection signal is, the larger the corresponding voltage signal is, specifically: the current sensor outputs a voltage signal corresponding to the current signal, the temperature sensor outputs a voltage signal corresponding to the temperature signal, and the rotation speed sensor outputs a voltage signal corresponding to the rotation speed signal.
The current comparator a1 is used to implement the comparison of the current signal, and may be a conventional comparator circuit, the current comparator a1 has two inputs and one output, wherein, the signal output of the current sensor is connected to the first input of the current comparator a1, the second input of the current comparator a2 is used to input a comparison current Iref, the comparison current Iref is essentially a voltage signal corresponding to the comparison current, the voltage signal is set according to actual needs, and can be provided by a special voltage output circuit. If the current signal detected by the current sensor is greater than the comparison current Iref, the current comparator a1 outputs a high level signal, and if the current signal detected by the current sensor is less than the comparison current Iref, the current comparator a1 outputs a low level signal.
Similarly, the voltage comparator a2 is used to implement the comparison of the voltage signal, and may be a conventional comparator circuit, and the voltage comparator a2 has two inputs and one output, wherein the signal output of the voltage sensor is connected to the first input of the voltage comparator a2, the second input of the voltage comparator a2 is used to input a comparison voltage Uref, and the comparison voltage Uref is set according to actual needs and may be provided by a voltage output circuit. The voltage comparator a2 outputs a high level signal if the voltage signal detected by the voltage sensor is greater than the comparison voltage Uref, and the voltage comparator a2 outputs a low level signal if the voltage signal detected by the voltage sensor is less than the comparison voltage Uref.
The temperature comparator A3 is used for comparing the temperature signals, and may be a conventional comparator circuit, the temperature comparator A3 has two inputs and one output, wherein the signal output of the temperature sensor is connected to the first input of the temperature comparator A3, the second input of the temperature comparator A3 is used for inputting a comparison temperature Wref, the comparison temperature Wref is essentially a voltage signal corresponding to the comparison temperature, the voltage signal is set according to actual needs, and can be provided by a special voltage output circuit. The temperature comparator A3 outputs a high level signal if the temperature signal detected by the temperature sensor is greater than the comparison temperature Wref, and the temperature comparator A3 outputs a low level signal if the temperature signal detected by the temperature sensor is less than the comparison temperature Wref.
The speed comparator a4 is used to compare the speed signals, and may be a conventional comparator circuit, the speed comparator a4 has two inputs and one output, wherein the signal output of the speed sensor is connected to the first input of the speed comparator a4, the second input of the speed comparator a4 is used to input the comparison speed Zref, the comparison speed Zref is essentially a voltage signal corresponding to the comparison speed, the voltage signal is set according to actual needs, and can be provided by a special voltage output circuit. If the rotation speed signal detected by the rotation speed sensor is greater than the comparison rotation speed Zref, the rotation speed comparator a4 outputs a high level signal, and if the rotation speed signal detected by the rotation speed sensor is less than the comparison rotation speed Zref, the rotation speed comparator a4 outputs a low level signal.
The or logic circuit B1 includes four inputs and an output, and may be an or logic circuit having four inputs and an output, or the or logic circuit B1 includes three or logics, each or logic has two inputs and an output, the outputs of the first or logic and the second or logic are respectively connected to the two inputs of the third or logic, and the output of the third or logic is the output of the or logic circuit B1.
As shown in fig. 3, the output terminal of the current comparator a1, the output terminal of the voltage comparator a2, the output terminal of the temperature comparator A3, and the output terminal of the speed comparator a4 are connected to the input terminal of the or logic circuit B1.
The safety protection circuit also comprises a switch tube Q1, and the electric control switch S1 is a normally closed contact switch of the relay. As shown in fig. 4, the output terminal of the or logic circuit B1 is connected to the control terminal of the switching tube Q1 through the first resistor R1, the control terminal of the switching tube Q1 is grounded through the second resistor R2, one end of the control coil K1 of the relay is used for connecting to a power source VCC, and the power source VCC may be a separately provided power source, such as a lithium battery + 24V. The other end of the control coil K1 is connected with the input end of the switch tube Q1, and the output end of the switch tube Q1 is grounded. In this embodiment, when the control terminal of the switching transistor Q1 is a high level signal, the switching transistor Q1 is turned on, and when the control terminal of the switching transistor Q1 is a low level signal, the switching transistor Q1 is turned off. Further, the control coil K1 is connected in parallel with a diode D1 in the reverse direction, and the current leakage rate in the control coil K1 is increased through the diode D1.
In order to realize the continuous disconnection by self-locking after the electronic control switch S1 is disconnected, the relay further comprises a normally open contact switch S2, and the safety protection circuit further comprises an alarm L1 (such as an audible and visual alarm), the input end of the switch tube Q1 is grounded through a self-locking line, and the normally open contact switch S2 and the alarm L1 are arranged in the self-locking line in series. Then, after the control coil K1 gets electric, normally open contact switch S2 switches on, accomplishes the self-locking function, makes control coil K1 continuously be in the state of getting electric, and alarm L1 continuously reports to the police, and automatically controlled switch S1 continuously breaks off, and only disconnection power VCC can normally work.
It should be understood that the safety protection circuit may also be a safety protection circuit having other circuit configurations with the above-described control function, or a control chip.
The current sensor, the voltage sensor, temperature sensor and rotational speed sensor detect the corresponding detected signal, and compare through the comparator that corresponds, when at least one detected signal is greater than the comparative signal that corresponds, the comparator that corresponds will output high level signal, or logic circuit B1 outputs high level signal, switch tube Q1' S control end is high level signal, switch tube Q1 switches on, control coil K1 is electrified, electric control switch S1 disconnection, and, normally open contact switch S2 switches on, make control coil K1 continuously electrified, accomplish the auto-lock function, alarm L1 lasts the warning, electric control switch S1 continuously disconnects.
Claims (5)
1. A safety electric control device of an industrial robot is characterized by comprising an industrial robot power supply, a current sensor, a voltage sensor, a temperature sensor, a rotating speed sensor, a safety protection circuit and an electric control switch;
the electric control switch is arranged in series in a power supply line connected with a power supply of the industrial robot;
the current sensor is used for detecting a current signal of the power supply line, the voltage sensor is used for detecting a voltage signal of the power supply line, the temperature sensor is used for detecting a temperature signal of a preset position in the industrial robot, and the rotating speed sensor is used for detecting a rotating speed signal of a related motor in the industrial robot;
the signal output ends of the current sensor, the voltage sensor, the temperature sensor and the rotating speed sensor are connected with the signal input end of the safety protection circuit, and the signal output end of the safety protection circuit is connected with the electric control switch.
2. The industrial robot safety electric control device according to claim 1, wherein the industrial robot power supply comprises an alternating current input interface, a direct current input interface, a power output interface, a change-over switch, an AC/DC conversion circuit, a DC/DC conversion circuit and a storage battery;
the alternating current input interface is connected with the input end of the AC/DC conversion circuit, the direct current input interface is connected with the input end of the DC/DC conversion circuit, the output end of the AC/DC conversion circuit is connected with the first input end of the change-over switch, the output end of the DC/DC conversion circuit is connected with the second input end of the change-over switch, the output end of the change-over switch and the power supply end of the storage battery are connected with the electric energy output interface, and the electric energy output interface is used for being connected with the power supply line.
3. The industrial robot safety electric control device according to claim 2, wherein a first self-recovery fuse is provided in series on a connection line between the alternating current input interface and the input terminal of the AC/DC conversion circuit, and a second self-recovery fuse is provided in series on a connection line between the direct current input interface and the input terminal of the DC/DC conversion circuit.
4. The industrial robot safety electric control device according to claim 1, wherein the safety protection circuit comprises a current comparator, a voltage comparator, a temperature comparator, a rotating speed comparator, or a logic circuit and a switch tube, and the electric control switch is a normally closed contact switch of a relay;
the signal output end of the current sensor is connected with the first input end of the current comparator, and the second input end of the current comparator is used for inputting comparison current; the signal output end of the voltage sensor is connected with the first input end of the voltage comparator, and the second input end of the voltage comparator is used for inputting comparison voltage; the signal output end of the temperature sensor is connected with the first input end of the temperature comparator, and the second input end of the temperature comparator is used for inputting comparison temperature; the signal output end of the rotating speed sensor is connected with the first input end of the rotating speed comparator, and the second input end of the rotating speed comparator is used for inputting and comparing rotating speed;
the output of current comparator, the output of voltage comparator, the output of temperature comparator and the output of rotational speed comparator are connected OR logic circuit's input, OR logic circuit's output is through first resistance connection the control end of switch tube, the control end of switch tube passes through second resistance ground connection, the one end of the control coil of relay is used for connecting the power VCC, the other end of control coil is connected the input of switch tube, the output ground connection of switch tube.
5. The industrial robot safety electric control device according to claim 4, characterized in that the safety protection circuit further comprises an alarm, the relay further comprises a normally open contact switch, the input end of the switch tube is grounded through a self-locking circuit, and the normally open contact switch and the alarm are arranged in series in the self-locking circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120028819.4U CN213999512U (en) | 2021-01-07 | 2021-01-07 | Industrial robot safety electric control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120028819.4U CN213999512U (en) | 2021-01-07 | 2021-01-07 | Industrial robot safety electric control device |
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| Publication Number | Publication Date |
|---|---|
| CN213999512U true CN213999512U (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120028819.4U Expired - Fee Related CN213999512U (en) | 2021-01-07 | 2021-01-07 | Industrial robot safety electric control device |
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| CN (1) | CN213999512U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779691A (en) * | 2022-04-15 | 2022-07-22 | 沈阳佰奥特种机器人有限公司 | Motor temperature safety monitoring device for explosion-proof robot and monitoring method thereof |
-
2021
- 2021-01-07 CN CN202120028819.4U patent/CN213999512U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779691A (en) * | 2022-04-15 | 2022-07-22 | 沈阳佰奥特种机器人有限公司 | Motor temperature safety monitoring device for explosion-proof robot and monitoring method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210820 Termination date: 20220107 |
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| CF01 | Termination of patent right due to non-payment of annual fee |