Robot emergency stop control circuit
A technology for controlling circuits and robots, applied in the field of circuits, can solve problems such as failure to compensate in time, easy to cause serious consequences, emergency stop delay, etc., to prevent crossover distortion, ensure stability, and ensure consistency.
Active Publication Date: 2020-01-07
ZHENGZHOU INST OF TECH
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- Application Information
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Problems solved by technology
[0002] At present, the emergency stop control circuit of the robot, by setting the emergency stop control board, the emergency stop switch connected with the emergency stop control board, the driver and the robot system, the emergency stop control board includes the drive module, signal compensator, signal receiver, and the driver is connected to the robot The actuator, the emergency stop switch generates an emergency stop signal output when receiving the emergency stop command through the signal receiver, the emergency stop control board receives the emergency stop signal to control the generation of a type of emergency stop signal output, the drive module controls the driver to work, the driver receives a A similar emergency stop signal is used to drive the actuator to brake, and the signal compensator compensates the line loss of the signal received by the emergency stop control board. The robot system receives the emergency stop signal to output a response signal to the emergency stop control board, so that not only makes the robot Controlled braking, and the robot system can know the current driver state, and respond to the emergency stop control board in a targeted manner to avoid misjudgment, while the existing signal compensator is a capacitor compensator, and the capacitor compensator is affected by the size of the capacitor itself, while When the first-class emergency stop signal is on a ramp emergency stop, the accuracy of the emergency stop control board receiving the first-class emergency stop signal must be guaranteed. Once the capacitor compensator is on a continuous ramp emergency stop at this time, there is a time difference between the charging and discharging of the signal compensator capacitor, resulting in The emergency stop control board receives a type of emergency stop signal and fails to compensate in time, which will lead to emergency stop delay, and it is easy to cause serious consequences on the slope
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[0011] Regarding the aforementioned and other technical contents, features and effects of the present invention, refer to the appended Figure 1 to Figure 3 It will be apparent from the detailed description of the embodiments. The structural contents mentioned in the following embodiments are all based on the accompanying drawings of the description.
[0012] A robot emergency stop control circuit, including a filter receiving circuit, a buffer adjustment circuit and an operational amplifier output circuit, the filter receiver circuit receives an emergency stop signal generated by an emergency stop switch, and the buffer adjustment circuit uses an operational amplifier AR1 and a diode D1-diode The peak circuit composed of D2 and operational amplifier AR2 screens out the peak signal, and uses the thyristor VTL1 and the voltage regulator D4 to form a detection circuit to detect abnormally high level signals, and the buffer circuit composed of diode D5, capacitor C5 and transisto...
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The invention discloses a robot emergency stop control circuit. The circuit comprises a filtering receiving circuit, a buffer adjusting circuit and an operational amplifier output circuit. The filtering receiving circuit receives an emergency stop signal generated by an emergency stop switch; the buffer adjusting circuit uses a peak value circuit composed of an operational amplifier AR1, diodes D1to D2 and an operational amplifier AR2 to screen out a peak value signal and uses a detection circuit composed of a silicon controlled rectifier VTL1 and a voltage stabilizing tube D4 to detect an abnormal high level signal, the signals are buffered by a buffer circuit composed of a diode D5, a capacitor C5 and a triode Q1, the signals are prevented from crossover distortion by a push-pull circuit consisting of a triode Q4 and a triode Q5, output signals of the push-pull circuit and the operational amplifier AR1 are input to an operational amplifier output circuit, and the operational amplifier output circuit uses an operational amplifier AR4 for in-phase amplification and then inputs the in-phase amplified signal into a signal receiving port of an emergency stop control panel of the robot. The compensation signal of the emergency stop signal received by the emergency stop control panel can be directly compensated by detecting and adjusting the emergency stop signal generated by the emergency stop switch.
Description
technical field [0001] The invention relates to the technical field of circuits, in particular to a robot emergency stop control circuit. Background technique [0002] At present, the emergency stop control circuit of the robot, by setting the emergency stop control board, the emergency stop switch connected with the emergency stop control board, the driver and the robot system, the emergency stop control board includes the drive module, signal compensator, signal receiver, and the driver is connected to the robot The actuator, the emergency stop switch generates an emergency stop signal output when receiving the emergency stop command through the signal receiver, the emergency stop control board receives the emergency stop signal to control the generation of a type of emergency stop signal output, the drive module controls the driver to work, the driver receives a A similar emergency stop signal is used to drive the actuator to brake, and the signal compensator compensates ...
Claims
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Login to View More IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor马耀锋李红丽潘会强魏富豪杨洪彩
OwnerZHENGZHOU INST OF TECH