Emergency power-off protection method and multi-channel servo motor drive control power supply system

Abstract

The present invention discloses a multi-channel servo motor drive control power supply system, including an AC power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device; the input end of the rectifier transformer is connected to the AC power supply for converting the AC power supply into a DC power supply; the input end of the emergency control relay is connected to the output end of the rectifier transformer, and the output end is connected to the DC bus for controlling the conduction and disconnection between the output end of the rectifier transformer and the DC bus; the emergency power-off protection device is connected to the emergency control relay for controlling the disconnection and restart of the emergency control relay according to a control signal. The present invention also discloses an emergency power-off protection method. The present invention can control the power off of the DC bus according to the received control signal, thereby avoiding damage to the key drive controller and servo motor, and is an important safety protection link in intelligent servo drive control.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to an emergency power-off protection method and a multi-channel servo motor drive control power supply system with an intelligent emergency power-off protection function. Background Art

[0002] Currently, intelligent robots, as the core equipment of intelligent automated production lines, are widely used in various automated industrial production lines, enabling human-robot collaboration and intelligent production lines where multiple types of robots work together. Power supply systems with intelligent emergency power-off protection are crucial components for robots to avoid collisions and mitigate operational safety risks during production.

[0003] However, while implementing the present invention, the inventors discovered that, due to the current lack of intelligent control over industrial robot drive systems, emergency shutdowns of the power supply system are often delayed until electrical damage occurs. While this can prevent further spread of accidents, it often causes severe electrical damage to key drive controllers and servo motors, leading to increased equipment replacement and maintenance costs, disrupting production processes, and reducing efficiency. Furthermore, incorporating an emergency power-off protection function into the intelligent drive control system can further enhance the intelligence of the robot control system, providing the robot with intelligent emergency response capabilities and further improving the safety and service life of the equipment. Summary of the Invention

[0004] (1) Technical issues to be solved

[0005] The technical problem to be solved by the present invention is to provide an emergency power-off protection method and a multi-channel servo motor drive control power supply system to overcome the defects of the prior art in which the key drive controller and servo motor are damaged due to the emergency shutdown action being performed too late, thereby improving the intelligence level of the robot in emergency handling and improving the safety and service life of the equipment.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a multi-channel servo motor drive control power supply system, which includes an AC power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device;

[0008] The input end of the rectifier transformer is connected to the AC power supply and is used to convert the AC power supply into a DC power supply;

[0009] The input end of the emergency control relay is connected to the output end of the rectifier transformer, and the output end is connected to the DC bus, for controlling the conduction and disconnection between the output end of the rectifier transformer and the DC bus;

[0010] The emergency power-off protection device is connected to the emergency control relay and is used to control the disconnection and restart of the emergency control relay according to a control signal.

[0011] Wherein, the emergency power-off protection device includes an intelligent drive controller and an emergency control and servo signal monitor;

[0012] The intelligent drive controller is connected to the emergency control and servo signal monitor and is used to send a power-off control signal to the emergency control and servo signal monitor according to the error and alarm signals generated during the operation of the robot; or send a restart control signal to the emergency control and servo signal monitor according to the signal that the robot is free from the error or alarm state;

[0013] The emergency control and servo signal monitor is connected to the emergency control relay and is used to send a power-off protection signal to the emergency control relay according to the received power-off control signal to control the disconnection of the emergency control relay; or to send a restart signal to the emergency control relay according to the received restart control signal to control the restart of the emergency control relay.

[0014] Wherein, the power-off protection signal and the restart signal are level signals or pulse signals.

[0015] The system further includes a second rectifier transformer, the input end of which is connected to the AC power supply, and the output end of which is connected to the emergency power-off protection device, for converting the AC power supply into a DC power supply and supplying power to the emergency power-off protection device.

[0016] The system further includes an emergency stop switch, which is connected to the emergency control relay and is used to control the disconnection and restart of the emergency control relay by manually operating the emergency stop switch.

[0017] The present invention also provides an emergency power-off protection method, the method comprising:

[0018] receiving a control signal;

[0019] controlling the emergency control relay to disconnect according to the control signal;

[0020] When the emergency control relay is disconnected, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is disconnected from the DC bus, and the DC bus is powered off.

[0021] The process of controlling the emergency control relay to disconnect according to the control signal specifically includes:

[0022] The intelligent drive controller receives error and alarm signals that occur during the operation of the robot, and determines whether the DC bus needs to be powered off based on the received signals;

[0023] When the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor;

[0024] The emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay according to the received power-off control signal, thereby controlling the emergency control relay to be disconnected.

[0025] The method further comprises:

[0026] controlling the emergency control relay to restart according to the control signal;

[0027] When the emergency control relay is restarted, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is connected to the DC bus, and the DC bus is energized.

[0028] The process of controlling the emergency control relay to restart according to the control signal specifically includes:

[0029] The intelligent drive controller receives a signal from the robot that the error or alarm state is released, and determines whether the DC bus needs to be restarted according to the received signal;

[0030] When the DC bus needs to be restarted, the intelligent drive controller sends a restart control signal to the emergency control and servo signal monitor;

[0031] The emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal, so as to control the emergency control relay to restart.

[0032] Wherein, the method further includes: controlling the disconnection and restart of the emergency control relay by manually operating an emergency stop switch.

[0033] (3) Beneficial effects

[0034] The present invention can control the DC bus to be powered off according to the received control signal, thereby avoiding damage to the key drive controller and servo motor, and is an important safety protection link in intelligent servo drive control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a structural diagram of a multi-channel servo motor drive control power supply system according to embodiment 1 of the present invention;

[0036] Figure 2 This is a flow chart of an emergency power-off protection method according to embodiment 2 of the present invention;

[0037] Figure 3 This is a structural diagram of a multi-channel servo motor drive control power supply system according to embodiment 3 of the present invention. DETAILED DESCRIPTION

[0038] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0039] Example 1

[0040] A multi-channel servo motor drive control power supply system according to an embodiment of the present invention is as follows Figure 1 As shown, the system includes an AC power supply 11 , a rectifier transformer 12 , an emergency control relay 13 , a DC bus 14 and an emergency power-off protection device 15 .

[0041] The input end of the rectifier transformer 12 is connected to the AC power supply 11 for converting the AC power supply into a DC power supply; the input end of the emergency control relay 13 is connected to the output end of the rectifier transformer 12, and the output end is connected to the DC bus 14 for controlling the conduction and disconnection between the output end of the rectifier transformer 12 and the DC bus 14; the emergency power-off protection device 15 is connected to the emergency control relay 13 for controlling the disconnection and restart of the emergency control relay 13 according to a control signal.

[0042] In this embodiment, the emergency power-off protection device includes an intelligent drive controller and an emergency control and servo signal monitor. The intelligent drive controller is connected to the emergency control and servo signal monitor and is used to send a power-off control signal to the emergency control and servo signal monitor based on error and alarm signals generated during robot operation; or to send a restart control signal to the emergency control and servo signal monitor based on a signal indicating that the robot has released an error or alarm state. The emergency control and servo signal monitor is connected to the emergency control relay and is used to send a power-off protection signal to the emergency control relay based on a received power-off control signal to control the disconnection of the emergency control relay; or to send a restart signal to the emergency control relay based on a received restart control signal to control the restart of the emergency control relay.

[0043] In this embodiment, the power-off protection signal and the restart signal are level signals or pulse signals.

[0044] In this embodiment, the system also includes a second rectifier transformer, the input end of which is connected to the AC power supply, and the output end is connected to the emergency power-off protection device, for converting the AC power supply into a DC power supply and supplying power to the emergency power-off protection device.

[0045] In this embodiment, the system further includes an emergency stop switch, which is connected to the emergency control relay and is used to control the disconnection and restart of the emergency control relay by manually operating the emergency stop switch.

[0046] The multi-channel servo motor drive control power supply system of this embodiment can provide a long-term safe and stable power supply system with intelligent emergency power-off protection function for a multi-axis high-precision servo control system. The system provides a regulated DC power supply to the load power bus through a power conversion and voltage reduction distribution scheme, and provides a stable low-voltage DC power supply to low-voltage power modules such as servo controllers and industrial computers. It can also implement emergency power-off protection for the power bus circuit according to emergency and servo signal monitors or manual operations.

[0047] Example 2

[0048] The process of an emergency power-off protection method according to an embodiment of the present invention is as follows: Figure 2 As shown, the method includes the following steps:

[0049] Step s201, receiving a control signal;

[0050] Step s202: Control the emergency control relay to disconnect according to the control signal. In this embodiment, the process of controlling the emergency control relay to disconnect according to the control signal is as follows: the intelligent drive controller receives error and alarm signals generated during the operation of the robot, and determines whether the DC bus needs to be powered off based on the received signals; when the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor; and the emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay based on the received power-off control signal, controlling the emergency control relay to disconnect.

[0051] In this embodiment, there are many conditions for determining whether the DC bus needs to be powered off, because the power supply system is applicable to a variety of multi-axis robots. The working environment and working mode of each robot are different, and the logic for determining bus power-off protection and restart is also different. Here are some of the judgment bases:

[0052] a. The driving current value of any servo motor (or servo driver) exceeds the limit setting value;

[0053] b. The driving current value of any servo motor (or driver) exceeds the set value and continues to work for more than the set time;

[0054] c. The accumulated encoder position error of any servo motor exceeds the set value;

[0055] d. The encoder position error of any servo motor exceeds the limit setting value instantaneously;

[0056] e. The operating temperature of any servo motor exceeds the set value and lasts for more than the set time;

[0057] f. You can set the limit warning position trigger when the robot moves to that position.

[0058] Whenever any of the above conditions are met, the intelligent drive controller shall send a power-off control signal to disconnect the emergency control relay to implement power-off protection.

[0059] Step s203: When the emergency control relay is disconnected, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is disconnected from the DC bus, and the DC bus is powered off.

[0060] The method of this embodiment further includes:

[0061] (1) Controlling the emergency control relay to restart according to the control signal. In this embodiment, the process of controlling the emergency control relay to restart according to the control signal is specifically as follows: the intelligent drive controller receives a signal indicating that the robot has released an error or alarm state, and determines whether the DC bus needs to be restarted according to the received signal; when the DC bus needs to be restarted, the intelligent drive controller sends a restart control signal to the emergency control and servo signal monitor; the emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal, thereby controlling the emergency control relay to restart.

[0062] In this embodiment, the main reference is the power-off control signal when the DC bus is powered off. When the intelligent drive controller determines that the original error and alarm status of the robot has been resolved and confirms through self-test that the robot's servo motors and intelligent drive controller are in a normal power-on state, it sends a restart control signal to the emergency control and servo signal monitor.

[0063] (2) When the emergency control relay is restarted, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is connected to the DC bus, and the DC bus is energized.

[0064] In this embodiment, the emergency power-off protection method further includes controlling the disconnection and restart of the emergency control relay by manually operating an emergency stop switch.

[0065] The emergency power-off protection method of this embodiment can provide a long-term safe and stable power supply method with intelligent emergency power-off protection function for a multi-axis high-precision servo control system. Through this method, emergency power-off protection of the power bus circuit can be implemented according to emergency control and servo signal monitoring or manual operation.

[0066] Example 3

[0067] A multi-channel servo motor drive control power supply system according to an embodiment of the present invention is as follows Figure 3 As shown, it includes the following two parts:

[0068] (1) Power conversion and step-down distribution part

[0069] Power bus power supply: 220V AC mains power is converted to a smooth 220V DC voltage through a rectifier transformer. This voltage then flows through an emergency relay and enters the power bus, supplying power to loads such as servo motors. In this embodiment, 380V AC power input can also be used, which is converted to a smooth 220V DC voltage through a rectifier transformer.

[0070] Logic Circuit Power Supply: 220V AC mains power is converted to 24V DC low-voltage power via a rectifier transformer (in this embodiment, the second rectifier transformer). One path directly supplies power to the emergency control, servo signal monitor, and heat dissipation module. A second path, converted to 5V DC low-voltage power via a DC step-down converter, supplies power to signal and logic analysis modules such as the servo controller and industrial computer. In this embodiment, 380V AC power input can also be used, which is converted to a smooth 24V DC power via a rectifier transformer (in this embodiment, the second rectifier transformer).

[0071] (2) Switch control part

[0072] This part connects the emergency stop switch to the signal monitoring of the servo motor encoder and then to the relay. It can realize emergency stop control in two situations: 1. The intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor based on the error and alarm signals during robot operation, thus realizing emergency power-off processing; 2. Through the emergency stop button, the power supply system can be shut off manually in an emergency.

[0073] Under the control of the emergency control and servo monitor, the present invention can implement emergency power-off protection and subsequent restart functions according to the power-off control signal issued by the intelligent drive controller. At the same time, the manual power-off and restart functions are retained, making it convenient for operators to carry out emergency handling and maintenance work.

[0074] The present invention can control the DC bus to be powered off according to the received control signal, thereby avoiding damage to the key drive controller and servo motor.

[0075] Compared with the existing technology, the present invention can realize emergency power-off protection and restart functions through control signals by the servo motor drive control system. This is a feature that is not available in the servo motor drive control power supply systems currently on the market and is an important safety protection link in intelligent servo drive control.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-channel servo motor drive control power supply system, characterized in that: The system includes an AC power supply, a rectifier transformer, an emergency control relay, a DC bus and an emergency power-off protection device; The input end of the rectifier transformer is connected to the AC power supply and is used to convert the AC power supply into a DC power supply; The input end of the emergency control relay is connected to the output end of the rectifier transformer, and the output end is connected to the DC bus, for controlling the conduction and disconnection between the output end of the rectifier transformer and the DC bus; The emergency power-off protection device is connected to the emergency control relay and is used to control the disconnection and restart of the emergency control relay according to the control signal; the emergency power-off protection device includes an intelligent drive controller and an emergency control and servo signal monitor; The intelligent drive controller is connected to the emergency control and servo signal monitor and is used to send a power-off control signal to the emergency control and servo signal monitor according to the error and alarm signals generated during the operation of the robot; or send a restart control signal to the emergency control and servo signal monitor according to the signal that the robot is free from the error or alarm state; The emergency control and servo signal monitor is connected to the emergency control relay and is used to send a power-off protection signal to the emergency control relay according to the received power-off control signal to control the disconnection of the emergency control relay; or send a restart signal to the emergency control relay according to the received restart control signal to control the restart of the emergency control relay; The system also includes a second rectifier transformer, the input end of which is connected to the AC power supply, and the output end of which is connected to the emergency power-off protection device, for converting the AC power supply into a DC power supply and supplying power to the emergency power-off protection device.

2. The multi-channel servo motor drive control power supply system according to claim 1, characterized in that: The power-off protection signal and the restart signal are level signals or pulse signals.

3. The multi-channel servo motor drive control power supply system according to claim 1 or 2, characterized in that: The system further comprises an emergency stop switch, which is connected to the emergency control relay and is used to control the disconnection and restart of the emergency control relay by manually operating the emergency stop switch.

4. An emergency power-off protection method, characterized in that: The method comprises: receiving a control signal; controlling the emergency control relay to disconnect according to the control signal; When the emergency control relay is disconnected, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is disconnected from the DC bus, and the DC bus is powered off. The process of controlling the emergency control relay to disconnect according to the control signal specifically includes: The intelligent drive controller receives error and alarm signals that occur during the operation of the robot, and determines whether the DC bus needs to be powered off based on the received signals; When the DC bus needs to be powered off, the intelligent drive controller sends a power-off control signal to the emergency control and servo signal monitor; The emergency control and servo signal monitor sends a power-off protection signal to the emergency control relay according to the received power-off control signal, thereby controlling the emergency control relay to be disconnected; the method further includes: controlling the emergency control relay to restart according to the control signal; When the emergency control relay is restarted, the output end of the rectifier transformer of the multi-channel servo motor drive control power supply system is connected to the DC bus, and the DC bus is energized; The process of controlling the emergency control relay to restart according to the control signal specifically includes: The intelligent drive controller receives a signal from the robot that the error or alarm state is released, and determines whether the DC bus needs to be restarted according to the received signal; When the DC bus needs to be restarted, the intelligent drive controller sends a restart control signal to the emergency control and servo signal monitor; The emergency control and servo signal monitor sends a restart signal to the emergency control relay according to the received restart control signal, so as to control the emergency control relay to restart.

5. The emergency power-off protection method according to claim 4, characterized in that: The method further includes: controlling the disconnection and restart of the emergency control relay by manually operating an emergency stop switch.

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