Six-axis drive control integrated controller

Abstract

The application relates to a six-axis driving control integrated controller, which comprises an emergency stop protection circuit, a motion control module and a plurality of double-shaft motor driving modules, and the emergency stop protection circuit, the motion control module and the plurality of double-shaft motor driving modules are connected in pairs; the emergency stop protection circuit comprises a rectifier circuit, a starting circuit, a detection circuit, a control chip and a discharging circuit; the detection circuit is used for sending an emergency stop signal to the control chip after receiving the emergency stop signal; the control chip controls the starting circuit and the discharging circuit according to the emergency stop signal; the starting circuit is used for changing the opening and closing conditions of the circuit under the control of the control chip; and the discharging circuit is used for discharging the redundant electricity caused by the emergency stop signal. The application adds the emergency stop protection function to the original driving controller, and different double-shaft motors are driven by the motion control module to control the six-joint robot; when a fault occurs, the emergency stop protection function can be started in time, the driving is simple, and the consumption of materials is small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot drive protection, and particularly relates to a six-axis drive control integrated controller. BACKGROUND

[0002] According to the GB11291.1 industrial environment robot safety requirements part 1 for the provisions of the robot, in order to achieve the standard requirements, the existing robot integrated cabinet needs to be intelligently controlled, and an external safety relay control is generally used in the prior art. The external safety relay generally uses an industrial computer as the main control, and other control systems (such as a PLC programmable logic controller scheme) are added. This way is very high in cost, complex in wiring, expensive, and prone to line wear and tear problems, which reduces the reliability of the drive control. In particular, when emergency stop processing is performed, the time efficiency, reliability and safety need to be considered. Therefore, the control system or the wiring of the prior art is complex, or the control is complex, and it is difficult to achieve the reliability and safety of the robot drive control.

[0003] Therefore, there is an urgent need to find a controller with superior performance in emergency stop control, which can realize accurate identification and safety protection of emergency stop. SUMMARY

[0004] Therefore, it is necessary to provide a six-axis drive control integrated controller which can realize accurate identification and safety protection of emergency stop when emergency drive control is performed.

[0005] In order to achieve the above purpose, the present application provides a six-axis drive control integrated controller, which comprises:

[0006] An emergency stop protection circuit, a motion control module and a plurality of double-shaft motor drive modules are connected two by two.

[0007] The emergency stop protection circuit comprises a rectifier circuit, a starting circuit, a detection circuit, a control chip and a discharge circuit.

[0008] The detection circuit is used to send an emergency stop signal to the control chip after receiving the emergency stop signal, and the control chip controls the starting circuit and the discharge circuit according to the emergency stop signal. The starting circuit is used to change the opening and closing state of the circuit under the control of the control chip, and the discharge circuit is used to discharge the excess power caused by the emergency stop signal.

[0009] Preferably, the rectifier circuit is a diode bridge, and the diode bridge comprises diodes D6, D7, D11 and D12.

[0010] Preferably, the starting circuit comprises diodes D1, D2, D3, D9, D13, DS1, resistor R3, relays RLY1, RLY2, RLY3, triodes Q2, Q3, Q4;

[0011] The positive electrode of the diode D1 is connected with the positive output end of the diode bridge, the negative electrode of the diode D1 is connected with the negative electrode of the diode D2, and the positive electrode of the diode D2 is connected with the positive input end of the inverter;

[0012] One end of the resistor R3 is connected with the positive rectification output end of the diode bridge, the other end is connected with the relay RLY1 in series, and the resistor R3 and the relay RLY1 are connected with the relay RLY2 in parallel at both ends, the diode D3 is connected with the relay RLY1 in parallel, the diode D9 is connected with the relay RLY2 in parallel, and the common end of the relay RLY1 and the relay RLY2 is connected with the positive input end of the inverter;

[0013] The collector of the triode Q2 is connected with the positive electrode of the diode D3, the base of the triode Q2 is connected with the control chip, and the emitter of the triode Q2 is connected with the emitter of the triodes Q3 and Q4;

[0014] The collector of the triode Q3 is connected with the positive electrode of the diode D9, and the base of the triode Q3 is connected with the control chip;

[0015] The collector of the triode Q4 is connected with the positive electrode of the diode D13, and the base of the triode Q4 is connected with the control chip;

[0016] One end of the relay resistor RLY3 is connected with the reverse rectification output end of the diode bridge, the diode D13 and the diode DS1 are connected in parallel at both ends of the relay resistor RLY3 respectively, and the common end of the relay resistor RLY3 and the diode DS1 is connected with the negative input end of the inverter.

[0017] Preferably, the detection circuit comprises an isolation power supply DC / DC1, a driving power supply DC / DC2, emergency stop access ports J1, J2, resistors R1, R4, capacitors C1, C3, a diode D4, a triode Q1, and an enabler OE2;

[0018] The input end of the isolation power supply DC / DC1 is connected with the input voltage, and the output end is connected with the input end of the driving power supply DC / DC2 and the emergency stop access ports J1, J2 respectively;

[0019] The positive electrode of the diode D4 is connected with the emergency stop access port J1, and the negative electrode is connected with the common negative end of the diodes D3 and D9;

[0020] The collector of the triode Q1 is connected with the emitter of the triode Q2, the base of the triode Q1 is connected with the control chip, and the emitter of the triode Q1 is connected with the emergency stop access port J2;

[0021] One end of the R1 is connected with the emergency stop access port J1, and the other end is connected with the discharge circuit, one end of the capacitor C1 is connected with the emergency stop access port J1, and the other end is connected with the common terminal of the resistor R4 and the capacitor C3, the other end of the resistor R4 is connected with the discharge circuit, and the other end of the capacitor C3 is connected with the discharge circuit;

[0022] The first and second pins of the enabler OE2 are connected in parallel with the capacitor C3 and the resistor R4, the third pin of the enabler OE2 is grounded, and the fourth pin is connected with the control chip.

[0023] Preferably, the control chip is an ARM chip, and the ARM chip is used to send control signals to the bases of the triodes Q1, Q2, Q3 and Q4 after receiving the emergency stop signal output by the enabler OE2.

[0024] Preferably, the discharge circuit comprises resistors R2, R5, R6, R7, R8 and R9, capacitors C2, C4 and C5, diodes D5, D8, D10, DZ1 and DZ2, enablers OE1 and OE3, and an IGBT.

[0025] The resistor R5 is connected in parallel with the capacitor C2, one end of the resistor R5 and the first common terminal of the capacitor C2 are connected with one end of the resistor R1, and the second common terminal of the resistor R5 and the capacitor C2 is connected with one end of the resistor R3, the first and second pins of the enabler OE1 are connected in parallel with the resistor R5 and the capacitor C2, the third pin of the enabler OE1 is connected with the negative terminal of the inverter input, and the fourth pin of the enabler OE1 is connected with one end of the resistor R6.

[0026] The other end of the resistor R6 is a common terminal, and is connected with one end of the capacitor C4, one end of the diode DZ1, one end of the resistor R2 and the positive terminal of the diode D8 respectively.

[0027] The other end of the capacitor C4 is connected with the other end of the diode DZ1, the other end of the R2 is connected with the positive terminal of the D2 and the positive terminal of the inverter input.

[0028] The negative terminal of the D8 is a common terminal, and is connected with the common terminals of the R8 and R9, one end of the DZ2, one end of the capacitor C5 and the gate of the IGBT respectively, and the other end of the R9, the other end of the DZ2, the other end of the capacitor C5 and the emitter of the IGBT are connected with the negative terminal of the inverter input.

[0029] The first pin of the enabler OE3 is connected with the control chip, the second pin and the third pin are grounded, the fourth pin is connected with the negative terminal of the inverter input, the fifth pin is connected with the positive terminal of the diode D10, and the sixth pin is connected with a 15V voltage;

[0030] The resistance D5 and the resistance R7 are connected in parallel, and the first common terminal of the resistance D5 and the resistance R7 is connected with the collector of the IGBT, and the second common terminal of the resistance D5 and the resistance R7 is connected with the positive terminal of the inverter input.

[0031] Preferably, an emergency stop signal generating circuit is further included, which is used for generating an emergency stop signal and a shutdown signal according to an internal fault, wherein the emergency stop signal is input to the detection circuit, and the shutdown signal is a signal for inputting a motor PWM signal.

[0032] Preferably, the emergency stop signal generating circuit includes a chip UL4, enablers OE11, OE12, OE13 and OE14, resistances R29, R30, R31, R32, R33, R34, R35, R38, R39, R40 and R41, capacitors C18, C19, C20, C21 and C112, diodes D19, D20, D21 and D22, and a thyristor M7.

[0033] The first pin and the second pin of the enabler OE11 are connected with the resistance R29 and the capacitor C18 in series, and the first common terminal of the resistance R29 and the capacitor C18 is connected with an internal voltage, and the second common terminal is connected with one end of the R30, and the other end of the R30 is connected with an emergency stop signal first access terminal.

[0034] The first pin and the second pin of the enabler OE12 are connected with the resistance R31 and the capacitor C19 in series, and the first common terminal of the resistance R31 and the capacitor C19 is connected with an internal voltage, and the second common terminal is connected with one end of the R32, and the other end of the R32 is connected with an emergency stop signal second access terminal.

[0035] The third pin of the enabler OE11 is connected with the fourth pin of the enabler OE12, the fourth pin of the enabler OE11 is connected with the common terminal of the resistance R35 and the diode D19, the other end of the resistance R35 is connected with an input voltage, the other end of the diode D19 is connected with the negative terminal of the diode D20, and the positive terminal of the diode D20 is connected with the third pin of the enabler OE12.

[0036] One end of the capacitor C21 is connected with the input voltage, and the other end is connected with one end of the resistance R34, and the other end of the resistance R34 is connected with the third pin of the enabler OE12.

[0037] The common end of D19, D20, C21 and R34 is connected to the G2 end of the chip UL4, the G1 end of the chip UL4 is connected to an input voltage through R33, the A1, A2 ends of the chip UL4 are grounded, the A3, A4, A5, A6, A7, A8 ends of the chip UL4 are connected to motor control PWM signals, the VCC end of the chip UL4 is connected to an input voltage, the GND end of the chip UL4 is grounded, the Y3, Y4 ends of the chip UL4 output W-phase signals, the Y5, Y6 ends of the chip UL4 output V-phase signals, and the Y7, Y8 ends of the chip UL4 output U-phase signals, the Y3 end is connected to the 1st pin of the enabler OE13 and the 3rd pin of the enabler OE14 through a resistor R40, and the Y4 end is connected to the 1st pin of the enabler OE14 and the 3rd pin of the enabler OE13 through a resistor R41.

[0038] One end of the resistor R39 is connected to the 4th pin of the enabler OE11, the R38 is connected in parallel with the capacitor C20, the first common end of the 38 and the capacitor C20 is connected to the other end of the resistor R39 and the gate of the thyristor M7, and the second common end of the 38 and the capacitor C20 is grounded.

[0039] The emitter of the thyristor M7 is connected to the common negative end of the parallel-connected diodes D21 and D22, the positive end of the diode D21 is connected to one end of the R41, and the positive end of the diode D22 is connected to one end of the R40.

[0040] Preferably, the model of the chip UL4 is SN74AHCT541.

[0041] Preferably, the inverter circuit further comprises six IGBT modules.

[0042] The application has the advantages that the emergency stop protection function is added to the original drive controller, different double-shaft motors are driven by the motion control module to control the six-joint robot, the emergency stop protection function can be started in time when a fault occurs, the driving is simple, and the consumption of materials is small.

[0043] Further, the integrated robot drive controller with safety function interface retains the emergency stop and external safety door and other emergency stop interfaces, only needs to connect the relay signal or other signals of the normally open contact, can realize the safety function, and integrates the motion control, logic control, safety function, motor drive module and the like, the external wiring is simple, and the motion control of the six-joint robot can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 The frame schematic diagram of one embodiment of the six-axis drive control integrated controller provided by the application is shown in the figure.

[0045] Figure 2The framework schematic diagram of one embodiment of the emergency stop protection circuit provided by the application;

[0046] Figure 3 The circuit principle diagram of one embodiment of the emergency stop protection circuit provided by the application;

[0047] Figure 4 The circuit principle diagram of another embodiment of the emergency stop protection circuit provided by the application;

[0048] Figure 5 The circuit principle diagram of still another embodiment of the emergency stop protection circuit provided by the application;

[0049] Figure 6 The circuit principle diagram of one embodiment of the function description of the emergency stop protection circuit provided by the application;

[0050] Figure 7 The circuit principle diagram of one embodiment of the discharge circuit provided by the application;

[0051] Figure 8 The circuit principle diagram of another embodiment of the discharge circuit provided by the application;

[0052] Figure 9 The circuit principle diagram of one embodiment of the emergency stop signal generation circuit provided by the application;

[0053] Figure 10 The circuit principle diagram of another embodiment of the emergency stop signal generation circuit provided by the application. DETAILED DESCRIPTION

[0054] The preferred embodiments of the application will be described in detail below with reference to the accompanying drawings, which form a part of this application. The accompanying drawings and the embodiments together illustrate the principles of the application, but are not intended to limit the scope of the application.

[0055] As Figure 1 shown, Figure 1 The framework schematic diagram of one embodiment of the six-axis drive control integrated controller provided by the application, which comprises:

[0056] The emergency stop protection circuit 10, the motion control module 20 and the plurality of double-shaft motor drive modules 30 are connected two by two, wherein the plurality of double-shaft motor drive modules 30 jointly drive and control the six-joint robot 40. In the preferred embodiment, the number of double-shaft motor drive modules 30 is three.

[0057] In some embodiments of the application, please refer to Figure 2 , Figure 2The framework schematic diagram of one embodiment of the emergency stop protection circuit provided by the application comprises a rectifier circuit 101, a starting circuit 102, a detection circuit 103, a control chip 104 and a discharge circuit 105.

[0058] The detection circuit 103 is used for sending the emergency stop signal to the control chip 104 after receiving the emergency stop signal, the control chip 104 controls the starting circuit 102 and the discharge circuit 105 according to the emergency stop signal, the starting circuit 102 is used for changing the circuit opening and closing state under the control of the control chip, and the discharge circuit 105 is used for discharging the excess electric quantity caused by the emergency stop signal.

[0059] In summary, the application adds the emergency stop protection function in the original drive controller, and controls the six-joint robot by driving different double-shaft motors through the motion control module, so that the emergency stop protection function can be started in time when a fault occurs, the driving is simple, and the material consumption is small.

[0060] Further, the integrated robot drive controller of the application integrates the safety function interface, retains the emergency stop and external safety door and other emergency stop interfaces, only needs to connect the relay signal or other signals of the normally open contact, can realize the safety function, and integrates the motion control, logic control, safety function, motor driving module and the like, the external wiring is simple, and the motion control of the six-joint robot can be realized.

[0061] As a preferred embodiment, in order to further clarify how the emergency stop protection circuit in the application performs the emergency stop protection, please refer to Figure 3 , Figure 3 The circuit principle diagram of one embodiment of the emergency stop protection circuit provided by the application.

[0062] In the embodiment, the rectifier circuit is a diode rectifier bridge, the diode rectifier bridge comprises diodes D6, D7, D11 and D12, wherein the 220V zero line is connected to the common terminal of the positive electrode of the diode D6 and the negative electrode of the diode D11, and the 220V live wire is connected to the common terminal of the positive electrode of the diode D7 and the negative electrode of the diode D12.

[0063] In the embodiment, the starting circuit comprises diodes D1, D2, D3, D9, D13, DS1, resistor R3, relays RLY1, RLY2, RLY3, triodes Q2, Q3, Q4; the positive electrode of the diode D1 is connected with the forward output end of the diode rectifier bridge, the negative electrode of the diode D1 is connected with the negative electrode of the diode D2, and the positive electrode of the diode D2 is connected with the positive input end of the inverter; one end of the resistor R3 is connected with the forward rectification output end of the diode rectifier bridge, the other end is connected with the relay RLY1 in series, and the two ends of the resistor R3 and the relay RLY1 in series are connected with the relay RLY2 in parallel, the diode D3 is connected with the relay RLY1 in parallel, the diode D9 is connected with the relay RLY2 in parallel, and the common end of the relay RLY1 and the relay RLY2 is connected with the positive input end of the inverter; the collector of the triode Q2 is connected with the positive electrode of the diode D3, the base of the triode Q2 is connected with the control chip, and the emitter of the triode Q2 is connected with the emitter of the triode Q3 and Q4; the collector of the triode Q3 is connected with the positive electrode of the diode D9, and the base of the triode Q3 is connected with the control chip; the collector of the triode Q4 is connected with the positive electrode of the diode D13, and the base of the triode Q4 is connected with the control chip; one end of the relay resistor RLY3 is connected with the reverse rectification output end of the diode rectifier bridge, the diode D13 and the diode DS1 are connected with the two ends of the relay resistor RLY3 in parallel, and the common end of the relay resistor RLY3 and the diode DS1 is connected with the negative input end of the inverter.

[0064] In the embodiment, the detection circuit comprises an isolation power supply DC / DC1, a driving power supply DC / DC2, emergency stop access ports J1, J2, resistors R1, R4, capacitors C1, C3, a diode D4, a triode Q1 and an enabler OE2; the input end of the isolation power supply DC / DC1 is connected with an input voltage, and the output end is connected with the input end of the driving power supply DC / DC2 and the emergency stop access ports J1, J2 respectively, wherein the emergency stop access ports J1, J2 are in a normally closed state in normal operation, and in a normally open state when a fault occurs; generally, when the external environment is normal, the emergency stop is closed, 24V+ and 24V- supply power to the bus relay circuit through the emergency stop switch, and at the same time, the normal signal of the emergency stop is sent to ARM1. ARM1 considers that the emergency stop signal is normal, and can notify other slave ARMs (ARM2, ARM3, ARM4) that the external condition is ready OK, and can act (power on the mechanical arm and prepare to run).

[0065] The positive electrode of the diode D4 is connected with the emergency access port J1, and the negative electrode is connected with the common negative electrode of the diodes D3 and D9; the collector of the triode Q1 is connected with the emitter of the triode Q2, the base of the triode Q1 is connected with the control chip, and the emitter of the triode Q1 is connected with the emergency access port J2; one end of the R1 is connected with the emergency access port J1, and the other end is connected with the discharge circuit, one end of the capacitor C1 is connected with the emergency access port J1, and the other end is connected with the common end of the resistor R4 and the capacitor C3, the other end of the resistor R4 is connected with the discharge circuit, and the other end of the capacitor C3 is connected with the discharge circuit; the first and second pins of the enabler OE2 are connected in parallel with the capacitor C3 and the resistor R4, the third pin of the enabler OE2 is grounded, and the fourth pin is connected with the control chip.

[0066] In the embodiment, the control chip is an ARM chip, which is used to send control signals to the bases of the triodes Q1, Q2, Q3 and Q4 respectively after receiving the emergency signal output by the enabler OE2.

[0067] In the embodiment, the discharge circuit includes resistors R2, R5, R6, R7, R8 and R9, capacitors C2, C4 and C5, diodes D5, D8, D10, DZ1 and DZ2, enablers OE1 and OE3, and an IGBT; the resistor R5 is connected in parallel with the capacitor C2, and the first common end of the resistor R5 and the capacitor C2 is connected with one end of the resistor R1, and the second common end is connected with one end of the resistor R3; the first and second pins of the enabler OE1 are connected in parallel with the resistor R5 and the capacitor C2, the third pin of the enabler OE1 is connected with the negative electrode of the inverter input, and the fourth pin of the enabler OE1 is connected with one end of the resistor R6; the other end of the resistor R6 is a common end, which is connected with one end of the capacitor C4, one end of the diode DZ1, one end of the resistor R2 and the positive electrode of the diode D8 respectively; the other end of the capacitor C4 is connected with the other end of the diode DZ1, the other end of the resistor R2 is connected with the positive electrode of the diode D2 and the positive electrode of the inverter input; the negative electrode of the diode D8 is a common end, which is connected with the common end of the resistors R8 and R9, one end of the diode DZ2, one end of the capacitor C5 and the gate of the IGBT, and the other end of the resistor R9, the other end of the diode DZ2, the other end of the capacitor C5 and the emitter of the IGBT are all connected with the negative electrode of the inverter input; the first pin of the enabler OE3 is connected with the control chip, the second and third pins are grounded, the fourth pin is connected with the negative electrode of the inverter input, the fifth pin is connected with the positive electrode of the diode D10, and the sixth pin is connected with a 15V voltage; the resistor D5 and the resistor R7 are connected in parallel, and the first common end of the resistor D5 and the resistor R7 is connected with the collector of the IGBT, and the second common end of the resistor D5 and the resistor R7 is connected with the positive electrode of the inverter input.

[0068] In a specific embodiment, 220V AC is rectified first to supply power to the isolation power supply DC / DC1 through D1, at this time the isolation power supply DC / DC1 generates 24V power, the 24V power is connected in series through the emergency stop line (J1, J2), and then supplied to the main control circuit relay, wherein R1 and RLY2 are the current general technical solution, and RLY1 is additionally added here, because it is connected in series in the resistance loop, RLY1 only needs a small current relay, and RLY3 is connected in series in the main loop, and thus needs to be consistent with the capacity of RLY2. Q1 is a safety power control switch, when OE1 detects that the emergency stop switch is attracted, the contact is good, and there is no jitter, at this time the protection control will first turn on RLY3 according to the control logic, and then turn on RLY1, at this time it is necessary to judge whether there is a serious fault according to other comprehensive fault judgment, if there is, RLY1 and RLY3 are cut off, and if it is normal, RLY2 is turned on, and the whole system is in a normal power-on state. Here Q1-Q2-Q3-Q4 are all triodes, and the purpose is to ensure safety, that is, as long as there is a single device fault of the triode, the corresponding relay or control power will be disconnected to achieve the purpose of protection.

[0069] As Figure 3 in the description, the control power is taken from REC+ and REC- after rectification, which can ensure that the control power is prior to the power, in the case of normal power failure, the emergency stop jitter detection control detects that the emergency stop is normal, and D2 guides the excess energy of the bus capacitor to the switching power supply, at this time the residual energy of the control power can be used to start IGBT1, and the built-in discharge resistor is opened, so that the switching power supply and the discharge circuit work at the same time, which can accelerate the rapid discharge of the DC positive and negative bus capacitors. In the circuit, DS1 diode is connected in parallel with the contact of RLY3, in normal operation, the current direction is from right to left, as described above, when the normal power failure and emergency stop signal come, the energy of the bus capacitor can be returned to the bus capacitor negative (-DC) through the secondary tube D2, the switching power supply and the diode DS, which can accelerate the discharge.

[0070] In other embodiments, part of the emergency stop protection circuit can also be modified, please refer to Figures 4-5 , Figure 4 the circuit principle diagram of another embodiment of the emergency stop protection circuit provided by the application; Figure 5 the circuit principle diagram of still another embodiment of the emergency stop protection circuit provided by the application.

[0071] In Figure 4 , compared with Figure 3 , only the enabler OE3 is replaced, the functions of the two are similar, only the diode D10 is added, which can reduce the investment of components.

[0072] In Figure 5 , compared with Figure 4 , and the core is that the 15V control power generated by the DC / DC2 driving power supply reduces the power consumption under normal circumstances, based on which, the current control circuit composed of R10, R12, R13 and triode Q5 is increased, the input voltage of the control enabler OE1 is adjusted by Q5 under 15V voltage, and the energy consumption is further reduced.

[0073] In order to further clarify how the emergency stop protection circuit realizes the emergency stop protection, please refer to Figure 6 , Figure 6 The circuit principle diagram of an embodiment of the emergency stop protection circuit provided by the application is described in the function description of the emergency stop protection circuit. Figures 3-5 The working principle of the emergency stop protection circuit is described in words.

[0074] In this embodiment, the double-path terminal connects the normally closed emergency stop switch (i.e. J1 and J2), and the isolation control power supply is DC / DC1, which specifically converts 310V into 24V, and the DC / DC driving power supply, i.e. DC / DC2, is the CPU working power supply, which is generally 24V. The control chip includes an optical coupling isolation switch, which is used for signal detection and protection control, and of course other detection units can also be connected. The final output end of the emergency stop protection circuit is DC+ and DC-, which are positive and negative bus lines, and the function is to provide energy for the inverter circuit, and multiple inverter circuits can be connected in parallel. The emergency stop jitter detection control is essentially part of the discharge circuit, which can discharge and detect jitter.

[0075] In order to further describe how the discharge circuit realizes the discharge and jitter detection functions, please refer to Figures 7-8 , Figure 7 The circuit principle diagram of an embodiment of the discharge circuit provided by the application is described in the function description of the discharge circuit. Figure 8 The circuit principle diagram of another embodiment of the discharge circuit provided by the application is described in the function description of the discharge circuit.

[0076] In Figure 7 , the "emergency stop open acceleration discharge circuit" is the discharge circuit of the application, and is described as "emergency stop open acceleration discharge circuit" for convenience. It should be noted that the circuit represented by the dashed box is the core circuit, and other devices are existing circuits and devices. The specific principle is as follows: when the emergency stop is opened, OE5 does not work, and DC+ voltage is discharged through R12 and D16 to IGBT3, and the built-in discharge resistor 3 (which can be understood as Figures 3-5The R7) starts to leak, accelerates the leakage process, R15 and C11 filter the emergency mechanical shock, the circuit has the advantages of not needing a control power supply, directly using the bus voltage to leak, and the disadvantages of R12 needing a slightly large power device, DZ3 needing a large power device, and OE7 needing a driving optical coupler and D14, so that normal braking is not affected, and the shutdown is slow, and because the leakage belongs to slow switching, normal work is not affected.

[0077] In Figure 8 , only OE7 is replaced by OE4, and D14 in Figure 7 is removed, and the working principle is the same as that in Figure 7 , and details are not repeated here.

[0078] In some embodiments of the application, please refer to Figures 9-10 , Figure 9 a circuit principle diagram of an embodiment of the emergency stop signal generation circuit provided by the application; Figure 10 a circuit principle diagram of another embodiment of the emergency stop signal generation circuit provided by the application. The six-axis drive control integrated controller also comprises an emergency stop signal generation circuit, which is used to generate an emergency stop signal and a shutdown signal according to internal faults, wherein the emergency stop signal is input to the detection circuit, and the shutdown signal is a signal input to a motor PWM signal.

[0079] In the embodiment, the emergency stop signal generating circuit comprises a chip UL4, enablers OE11, OE12, OE13 and OE14, resistors R29, R30, R31, R32, R33, R34, R35, R38, R39, R40 and R41, capacitors C18, C19, C20, C21 and C112, diodes D19, D20, D21 and D22, and a thyristor M7. The first and second pins of the enabler OE11 are connected to the two-connected resistor R29 and capacitor C18, the first common end of the resistor R29 and capacitor C18 is connected to an internal voltage (i.e. internal 24V), and the second common end is connected to one end of the resistor R30, the other end of the resistor R30 is connected to an emergency stop signal first access terminal (i.e. J1 terminal). The first and second pins of the enabler OE12 are connected to the two-connected resistor R31 and capacitor C19, the first common end of the resistor R31 and capacitor C19 is connected to an internal voltage, and the second common end is connected to one end of the resistor R32, the other end of the resistor R32 is connected to an emergency stop signal second access terminal (i.e. J2 terminal). The third pin of the enabler OE11 is connected to the fourth pin of the enabler OE12, the fourth pin of the enabler OE11 is connected to the common end of the resistor R35 and diode D19, the other end of the resistor R35 is connected to an input voltage (i.e. VCC5, 5V voltage), the other end of the diode D19 is connected to the negative electrode of the diode D20, the positive electrode of the diode D20 is connected to the third pin of the enabler OE12. One end of the capacitor C21 is connected to the input voltage, the other end is connected to one end of the resistor R34, the other end of the resistor R34 is connected to the third pin of the enabler OE12. The common end of the diodes D19, D20, C21 and R34 is connected to the G2 end of the chip UL4, the G1 end of the chip UL4 is connected to the input voltage through the resistor R33, and is also connected to the enable signal output by the CPU and the over-current protection shutdown output signal at the same time. The A1, A2 ends of the chip UL4 are grounded, the A3, A4, A5, A6, A7 and A8 ends of the chip UL4 are connected to the motor control PWM signal, the VCC end of the chip UL4 is connected to the input voltage, the GND end of the chip UL4 is grounded, the Y3 and Y4 ends of the chip UL4 output W-phase signals, the Y5 and Y6 ends output V-phase signals, and the Y7 and Y8 ends output U-phase signals. The Y3 end is connected to the first pin of the enabler OE13 and the third pin of the enabler OE14 through the resistor R40, and the Y4 end is connected to the first pin of the enabler OE14 and the third pin of the enabler OE13 through the resistor R41. One end of the resistor R39 is connected to the fourth pin of the enabler OE11, the resistor R38 is connected to the capacitor C20 in parallel, the other end of the resistor R39 and the gate of the thyristor M7 are connected to the first common end of the resistor R38 and the capacitor C20, and the second common end of the resistor R38 and the capacitor C20 is grounded.The emitter of the thyristor M7 is connected with the common negative terminal of the parallel diodes D21 and D22, the positive terminal of the diode D21 is connected with one end of the R41, and the positive terminal of the diode D22 is connected with one end of the R40.

[0080] In the embodiment, the model of the chip UL4 is SN74AHCT541.

[0081] In the specific embodiment, when the external STO is input, the motor PWM signal needs to be turned off to stop the motor, J1 and J2 are external STO terminals, the external STO needs to be normally closed or short-circuited, and the system normally works. Figure 9 When any external STO is open, the fourth pin of OE11 is high, the high-level signal is directly sent to the first stage of the PWM of the UL4 through the D19, then the signal is synchronously sent to the M7 to pull the signals of the same bridge arm to low, the OE11 fourth pin is also high when one of the OE11 and the OE12 is not conductive, and the protection is normal, the PWM signal can also be pulled to low when the M7 is a single device fault, generally short-circuit, which is one of the reasons why the M7 is selected as a MOS tube, and the other reason is that the voltage type device does not need to select the R35 and the R39 to be too low, so as to avoid affecting other circuits, so that the whole circuit can be normally protected, and the R38 resistance is 100K.

[0082] In some embodiments of the application, the six-axis drive controller of the application further comprises an inverter circuit, which is generally six IGBT modules, and the three-phase drive voltage is provided to the motor after voltage inversion through the six IGBT modules.

[0083] In summary, the emergency stop protection function is added to the original drive controller, different double-shaft motors are driven by the motion control module to control the six-joint robot, the emergency stop protection function can be started in time when a fault occurs, the drive is simple, and the consumption of materials is small.

[0084] Further, the integrated robot drive controller of the application integrates the safety function interface, retains the emergency stop and the external safety door and other emergency stop interfaces, only needs to connect the normally open contact relay signal or other signals, can realize the safety function, and the whole machine integrates the motion control, the logic control, the safety function, the motor drive module and the like, the external wiring is simple, and the motion control of the six-joint robot can be realized.

[0085] To sum up, only for the preferred embodiment of the present application, but the scope of protection of the present application is not limited to this, any skilled in the technical field of the technical personnel in the technical range disclosed by the present application, can easily think of changes or replacement, should be covered in the scope of protection of the present application.

Claims

1. A six-axis drive control integrated controller, characterized by, include: The system includes an emergency stop protection circuit, a motion control module, and multiple dual-axis motor drive modules, which are connected in pairs. The emergency stop protection circuit includes a rectifier circuit, a starting circuit, a detection circuit, a control chip, and a discharge circuit. The detection circuit sends the emergency stop signal to the control chip after receiving the emergency stop signal. The control chip controls the starting circuit and the discharge circuit according to the emergency stop signal. The starting circuit changes the circuit opening and closing status under the control of the control chip. The discharge circuit discharges the excess power caused by the emergency stop signal. The detection circuit includes an isolation power supply DC / DC1, a drive power supply DC / DC2, emergency stop access ports J1 and J2, resistors R1 and R4, capacitors C1 and C3, diode D4, transistor Q1, and enabler OE2. The input terminal of the isolation power supply DC / DC1 is connected to the input voltage, and the output terminal is connected to the input terminal of the drive power supply DC / DC2 and the emergency stop access ports J1 and J2, respectively. The positive terminal of diode D4 is connected to the emergency stop access port J1, and the negative terminal is connected to the common negative terminal of diodes D3 and D9; the collector of transistor Q1 is connected to the emitter of transistor Q2, the base of transistor Q1 is connected to the control chip, and the emitter of transistor Q1 is connected to the emergency stop access port J2. One end of R1 is connected to the emergency stop access port J1, and the other end is connected to the discharge circuit. One end of capacitor C1 is connected to the emergency stop access port J1, and the other end is connected to the common terminal of resistor R4 and capacitor C3. The other end of resistor R4 is connected to the discharge circuit, and the other end of capacitor C3 is connected to the discharge circuit. The positive and negative terminals of the transmitter of the enabler OE2 are connected to the two ends of the capacitor C3 and resistor R4 connected in parallel. The transmitter of the receiver of the enabler OE2 is grounded, and the collector of the receiver is connected to the control chip.

2. The six-axis drive and control integrated controller according to claim 1, characterized in that, The rectifier circuit is a diode rectifier bridge, which includes diodes D6, D7, D11, and D12.

3. The six-axis drive and control integrated controller according to claim 2, characterized in that, The startup circuit includes diodes D1, D2, D3, D9, D13, DS1, resistor R3, relays RLY1, RLY2, RLY3, and transistors Q2, Q3, Q4. The positive terminal of diode D1 is connected to the positive output terminal of the diode rectifier bridge, the negative terminal of diode D1 is connected to the negative terminal of diode D2, and the positive terminal of diode D2 is connected to the positive terminal DC+ of the inverter input. One end of the resistor R3 is connected to the positive rectified output terminal of the diode rectifier bridge, and the other end is connected in series with the relay RLY1. The two ends of the series connection between the resistor R3 and the relay RLY1 are connected in parallel with the relay RLY2. The diode D3 is connected in parallel with the relay RLY1, the diode D9 is connected in parallel with the relay RLY2, and the common terminal of the relays RLY1 and RLY2 is connected to the positive terminal DC+ of the inverter input. The collector of transistor Q2 is connected to the positive terminal of diode D3, the base of transistor Q2 is connected to the control chip, and the emitter of transistor Q2 is connected to the emitters of transistors Q3 and Q4. The collector of transistor Q3 is connected to the positive terminal of diode D9, and the base of transistor Q3 is connected to the control chip. The collector of transistor Q4 is connected to the positive terminal of diode D13, and the base of transistor Q4 is connected to the control chip. One end of the relay RLY3 is connected to the reverse rectified output terminal of the diode rectifier bridge. The diodes D13 and DS1 are connected in parallel across the two ends of the relay RLY3, and the common terminal of the relay RLY3 and the diode DS1 is connected to the negative DC- terminal of the inverter input.

4. The six-axis drive and control integrated controller according to claim 3, characterized in that, The control chip is an ARM chip. The ARM chip is used to receive the emergency stop signal output by the enabler OE2 and then send the control signals to the bases of transistors Q1, Q2, Q3, and Q4 respectively.

5. The six-axis drive and control integrated controller according to claim 4, characterized in that, The discharge circuit includes resistors R2, R5, R6, R7, R8, and R9; capacitors C2, C4, and C5; diodes D5, D8, D10, DZ1, and DZ2; enablers OE1 and OE3; and IGBTs. The resistor R5 and capacitor C2 are connected in parallel, and the first common terminal of the resistor R5 and capacitor C2 is connected to one end of the resistor R1, and the second common terminal is connected to one end of the resistor R3. The positive and negative terminals of the transmitter of the enabler OE1 are respectively connected to the two ends of the parallel-connected resistor R5 and capacitor C2. The emitter of the receiver of the enabler OE1 is connected to the negative terminal DC- of the inverter input. The collector of the receiver of the enabler OE1 is connected to one end of the resistor R6. The other end of the resistor R6 is a common terminal, which is connected to one end of the capacitor C4, one end of the diode DZ1, one end of the resistor R2, and the positive terminal of the diode D8. The other end of capacitor C4 is connected to the other end of diode DZ1, and the other end of R2 is connected to the positive terminal of D2 and to the positive terminal DC+ of the inverter input. The negative terminal of D8 is a common terminal, which is connected to the common terminal of R8 and R9, one end of DZ2, one end of capacitor C5, and the gate of IGBT. The other end of R9, the other end of DZ2, the other end of capacitor C5, and the emitter of IGBT are all connected to the negative terminal DC- of the inverter input. The positive terminal of the transmitter of the enabler OE3 is connected to the control chip, the floating terminal and the negative terminal of the transmitter are grounded, the negative power supply terminal is connected to the negative terminal DC- of the inverter input, the output terminal is connected to the positive terminal of the diode D10, and the positive power supply terminal is connected to a 15V voltage. The diode D5 and resistor R7 are connected in parallel, and the first common terminal of the diode D5 and resistor R7 is connected to the collector of the IGBT, and the second common terminal of the diode D5 and resistor R7 is connected to the positive terminal DC+ of the inverter input.

6. The six-axis drive and control integrated controller according to claim 1, characterized in that, It also includes an emergency stop signal generation circuit, which is used to generate an emergency stop signal and a shutdown signal according to an internal fault. The emergency stop signal is input to the detection circuit, and the shutdown signal is a signal that shuts down the motor PWM signal input.

7. The six-axis drive and control integrated controller according to claim 6, characterized in that, The emergency stop signal generation circuit includes a chip UL4, model number SN74AHCT541, enablers OE11, OE12, OE13 and OE14, resistors R29, R30, R31, R32, R33, R34, R35, R38, R39, R40 and R41, capacitors C18, C19, C20, C21 and C112, diodes D19, D20, D21 and D22, and thyristor M7. The positive and negative terminals of the transmitter of the enabler OE11 are respectively connected to the two ends of the resistor R29 and capacitor C18 connected in parallel. The first common terminal of the resistor R29 and capacitor C18 is connected to the internal voltage, the second common terminal is connected to one end of the R30, and the other end of the R30 is connected to the first access terminal of the emergency stop signal. The positive and negative terminals of the transmitter of the enabler OE12 are respectively connected to the two ends of the resistor R31 and capacitor C19 connected in parallel. The first common terminal of the resistor R31 and capacitor C19 is connected to the internal voltage, the second common terminal is connected to one end of the resistor R32, and the other end of the resistor R32 is connected to the second access terminal of the emergency stop signal. The emitter of the receiver of enabler OE11 is connected to the collector of the receiver of enabler OE12. The collector of the receiver of enabler OE11 is connected to the common terminal of resistor R35 and D19. The other end of resistor R35 is connected to the input voltage. The other end of D19 is connected to the negative terminal of D20. The positive terminal of D20 is connected to the emitter of the receiver of OE12. One end of the capacitor C21 is connected to the input voltage, and the other end is connected to one end of the resistor R34. The other end of the resistor R34 is connected to the emitter of the receiver of the OE12. The common terminal of D19, D20, C21, and R34 is connected to the G2 terminal of the UL4 chip. The G1 terminal of the UL4 chip is connected to the input voltage through R33. The A1 and A2 terminals of the UL4 chip are grounded. The A3, A4, A5, A6, A7, and A8 terminals of the UL4 chip are connected to the motor control PWM signal. The VCC terminal of the UL4 chip is connected to the input voltage. The GND terminal of the UL4 chip is grounded. The Y3 and Y4 terminals of the UL4 chip output the W-phase signal, the Y5 and Y6 terminals output the V-phase signal, and the Y7 and Y8 terminals output the U-phase signal. The Y3 terminal is connected to the resistor R40. The positive terminal of the transmitter of enabler OE13 and the negative terminal of the transmitter of OE14 are connected to the Y4 terminal through resistor R41. The receivers of enabler OE13 and enabler OE14 are both connected to the high-speed optocoupler secondary side isolation drive control module. One end of the resistor R39 is connected to the collector of the receiver of the enabler OE11. R38 is connected in parallel with the capacitor C20. The first common terminal of R38 and the capacitor C20 is connected to the other end of the resistor R39 and the gate of the thyristor M7. The second common terminal of R38 and the capacitor C20 is grounded. The emitter of the thyristor M7 is connected to the common negative terminal of the parallel diodes D21 and D22. The positive terminal of the diode D21 is connected to one end of the resistor R41, and the positive terminal of the diode D22 is connected to one end of the resistor R40.

8. The six-axis drive and control integrated controller according to claim 3, characterized in that, It also includes an inverter circuit, with the DC positive input terminal of the inverter circuit connected to the inverter input positive terminal DC+ and the DC negative input terminal of the inverter circuit connected to the inverter input negative terminal DC-. The inverter circuit consists of six IGBT modules, which invert the voltage to provide a three-phase drive voltage to the motor.

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