Arc welding robot with loose brake band brake

Abstract

This invention discloses a brake release device for an arc welding robot, relating to the field of robot technology. The brake release device includes: a collision sensor, which outputs a low level when the welding torch of the arc welding robot collides with another object, and outputs a high level when no collision occurs; and a main control chip, whose input is connected to initial, intermediate, and end manual switches, the output of the collision sensor, and a switching switch. The main control chip outputs a shaft brake release switch. When the welding torch of the arc welding robot collides with another object, the main control chip controls the relevant brake to release the brake through signal acquisition and calculation from the collision sensor. When a collision fault occurs during the automatic operation of the arc welding robot, the end brake is automatically released, allowing the robot to be removed from the interference zone for maintenance at any time, while ensuring that the servo origin is not lost during the rotation of each axis.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a brake release device for an arc welding robot. Background Technology

[0002] The existing technical solution is that in the event of a collision or emergency stop unit failure in the end-effector of the FANUC robot (hereinafter referred to as the welding torch), it is impossible to release the motor brake by servo control via the teach pendant. Instead, a special device is used to manually energize each axis of the robot to release the motor brake.

[0003] Using existing brake release unit devices: During automated production, if the arc welding robot's emergency stop unit or other components malfunction, preventing the robot from engaging the servo, it's impossible to remove the robot from the area interfering with the workpiece or release the motor brake via the teach pendant. Using existing brake release unit devices, while removing the robot from the workpiece interference area, results in the loss of the robot's origin points for each movement axis, causing secondary equipment malfunctions. Subsequent maintenance requires significant time to locate the robot's origin points and necessitates full-product teaching confirmation.

[0004] The existing brake release unit works as follows: The robot-side RM1 (RMP) connector connects to the six-axis servo amplifier (interfaces CRF8 and CRR88) inside the robot control cabinet. The CRF8 interface is the servo motor encoder cable connection port, and the CRR88 interface is the motor brake power connection port. When the robot suddenly malfunctions and cannot move, an external 220V or 380V power supply is used to power the dedicated device. Simultaneously, the robot-side RM1 (RMP) connector is disconnected, and the dedicated device is used to manually power the motor brake, thereby moving the robot's joints and moving the robot out of the interference zone. However, because disconnecting the robot-side RM1 (RMP) connector disconnects the six-axis amplifier and encoder in the robot control cabinet, the servo origin of each movement axis of the robot is lost during movement. Furthermore, this device requires an external power supply (220V or 380V) to operate. Summary of the Invention

[0005] The purpose of this invention is to provide a brake release device for an arc welding robot. When the robot experiences a collision fault, the brake is automatically released, allowing the robot to be removed from the interference zone for repair at any time. This greatly improves production efficiency and ensures that the servo origin of each axis is not lost. The robot can be put into use immediately after repair.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This invention discloses a brake release device for an arc welding robot, relating to the field of robot technology. The brake release device includes: a collision sensor for detecting whether the arc welding robot's welding torch collides; when the welding torch collides, the output terminal of the collision sensor outputs a low-level signal; when the welding torch does not collide, the output terminal of the collision sensor outputs a high-level signal; a main control chip, the input terminal of which is connected to the output terminal of the collision sensor; an end-shaft brake release switch and an end-shaft brake; the main control chip controls the end-shaft brake release switch, and the end-shaft brake release switch controls the end-shaft brake; when the welding torch collides, the main control chip controls the end-shaft brake to release the robot's brake via the end-shaft brake release switch.

[0008] In some embodiments, the collision sensor includes a collision switch and a pull-down resistor. The collision switch is a normally closed switch, one end of which is connected to a power supply, and the other end of which is connected to the main control chip and one end of the pull-down resistor, with the other end of the pull-down resistor grounded. When the arc welding robot's welding torch collides, the collision switch opens, and the main control chip acquires a low-level signal through the pull-down resistor. When the arc welding robot's welding torch does not collide, the collision switch closes, and the main control chip acquires a high-level signal through the collision switch.

[0009] In some embodiments, the collision sensor further includes a pressure detection circuit, a signal amplification circuit, and a control circuit. The pressure detection circuit is used to convert the pressure signal when the arc welding robot's welding torch collides into a pressure electrical signal for output. The signal amplification circuit is used to amplify the pressure electrical signal and input the amplified pressure electrical signal to the control circuit. The control circuit is used to control the collision switch to open or close according to the pressure electrical signal.

[0010] In some embodiments, the signal amplification circuit includes an operational amplifier, a first resistor, and a second resistor. The non-inverting input of the operational amplifier receives the pressure signal through the first resistor, the inverting input of the operational amplifier is grounded through the second resistor, and the output of the operational amplifier outputs the amplified pressure signal.

[0011] In some embodiments, the signal amplification circuit further includes a feedback resistor, and the output terminal of the operational amplifier is connected to the inverting input terminal of the operational amplifier through the feedback resistor.

[0012] In some embodiments, the control circuit includes a signal processing unit, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, an NPN transistor, and a relay coil. The input terminal of the signal processing unit is connected to the output terminal of the operational amplifier through the third resistor. The output terminal of the signal processing unit is connected to one end of the fourth resistor. The other end of the fourth resistor is connected to the base of the NPN transistor and one end of the fifth resistor. The other end of the fifth resistor is grounded. The collector of the NPN transistor is connected to one end of the relay coil. The other end of the relay coil is connected to one end of the sixth resistor. The other end of the sixth resistor is connected to a power supply. The emitter of the NPN transistor is grounded. The relay coil is used to control the collision switch to open or close.

[0013] In some embodiments, the control circuit further includes a seventh resistor and a capacitor, one end of the seventh resistor being connected to one end of the capacitor and the input terminal of the signal processing unit, and the other end of the seventh resistor and the other end of the capacitor being grounded; the control circuit further includes a diode, the cathode of the diode being connected to the other end of the relay coil and one end of the sixth resistor, and the anode of the diode being connected to one end of the relay coil and the collector of the NPN transistor.

[0014] In some embodiments, the collision sensor further includes a manual test switch, which is connected in series with the collision switch.

[0015] In some embodiments, the brake release device further includes an end manual switch, a middle manual switch, a middle shaft brake release switch, a middle brake, an initial manual switch, an initial shaft brake release switch, an initial brake, and a switching switch. The main control chip is connected to one end of the end manual switch, one end of the middle manual switch, one end of the initial manual switch, one end of the switching switch, the control terminal of the initial shaft brake release switch, the control terminal of the middle shaft brake release switch, and the control terminal of the initial shaft brake release switch, respectively. The other end of the end manual switch, the other end of the middle manual switch, and the initial shaft brake release switch are also connected to the control terminal of the initial shaft brake release switch. Both the other end of the manual switch and the other end of the switching switch are connected to a power source. The end manual switch is used to control the end shaft brake release switch via the main control chip. The middle manual switch is used to control the middle shaft brake release switch via the main control chip. The initial manual switch is used to control the initial shaft brake release switch via the main control chip. The middle shaft brake release switch is connected to control the middle brake. The initial shaft brake release switch is connected to control the initial brake. The switching switch is used to switch between automatic control mode and manual control mode via the main control chip.

[0016] In some embodiments, the brake release device further includes an enable switch, one end of which is connected to the input terminal of the main control chip, and the other end of which is connected to a power supply; when in automatic control mode and the enable switch is closed, the end brake releases when the arc welding robot's welding torch collides; when in automatic control mode and the enable switch is open, the end brake engages when the arc welding robot's welding torch collides.

[0017] According to an embodiment of the present invention, a brake release device for an arc welding robot has at least the following beneficial effects: This application allows switching between automatic and manual control modes based on on-site usage requirements. When a collision occurs, the brake is automatically released, allowing the robot to be removed from the interference zone for repair at any time, greatly improving production efficiency and ensuring that the servo origin of each axis is not lost. The robot can be put back into use immediately after repair. During use, if personnel are injured due to compression by the industrial robot or other situations, this application will automatically release the brake, immediately relieving the robot's pressure on personnel.

[0018] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a circuit diagram of the brake release device according to an embodiment;

[0021] Figure 2 This is a schematic diagram of the first part of the circuit of the collision sensor according to an embodiment;

[0022] Figure 3 This is a schematic diagram of the second part of the circuit of the collision sensor according to an embodiment. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0027] The technical solutions of the embodiments of this application are briefly described below:

[0028] According to some embodiments, such as Figure 1 As shown, this application provides a brake release device for an arc welding robot, the brake release device comprising:

[0029] A collision sensor is used to detect whether the arc welding robot's welding torch has collided. When the arc welding robot's welding torch collides, the output terminal of the collision sensor outputs a low-level signal; when the arc welding robot's welding torch does not collide, the output terminal of the collision sensor outputs a high-level signal.

[0030] The main control chip 2N-20MR has its input terminal connected to the output terminal of the collision sensor.

[0031] The end-shaft brake release switch K1 and the end brake are connected and controlled by the main control chip 2N-20MR. The end-shaft brake release switch K1 is connected and controlled by the end brake. When the arc welding machine torch operator collides with the machine, the main control chip 2N-20MR controls the end brake to release the brake through the end-shaft brake release switch K1.

[0032] The working principle of the above embodiment is as follows: when the welding torch of the arc welding robot collides, the output terminal of the collision sensor outputs a low-level signal. After receiving the low-level signal through the collision sensor, the main control chip 2N-20MR determines that the welding torch of the arc welding robot has collided, and then controls the end-effector brake release switch K1 to close, so that the end brake is energized and releases the brake. At this time, because the brake has been released, the end of the robot that collided can be removed from the interference zone at any time for maintenance, which greatly improves production efficiency. Moreover, releasing the brake does not require disconnecting the RM1 (RMP) connector on the robot side, which can ensure that the servo origin of each axis is not lost, and the robot can be put into use immediately after maintenance. In the event of personnel injury caused by industrial robot squeezing or other situations during use, this application can automatically release the brake, which can immediately relieve the robot from squeezing the personnel.

[0033] The following is in conjunction with the appendix to this instruction manual. Figures 1 to 3 The preferred embodiments of this disclosure will be further described in detail below.

[0034] According to some embodiments, such as Figure 2 As shown, the collision sensor includes a collision switch KA and a pull-down resistor R8. The collision switch KA is a normally closed switch. One end of the collision switch KA is connected to a 24V DC power supply, and the other end of the collision switch KA is connected to the main control chip 2N-20MR and one end of the pull-down resistor R8. The other end of the pull-down resistor R8 is grounded.

[0035] When the arc welding robot's welding torch collides, the collision switch KA is turned off, and the main control chip 2N-20MR receives a low-level signal through the pull-down resistor R8;

[0036] When the arc welding robot's welding torch does not collide, the collision switch KA closes, and the main control chip 2N-20MR receives a high-level signal through the collision switch KA.

[0037] The working principle of the above embodiment is as follows: when the arc welding robot's welding torch collides, the collision switch KA opens, and the main control chip 2N-20MR receives a low-level signal through the collision sensor. When the arc welding robot's welding torch does not collide, the collision switch KA closes, and the main control chip 2N-20MR receives a high-level signal through the collision sensor. After receiving the high-level signal through the collision sensor, the main control chip 2N-20MR determines that the arc welding robot's welding torch has not collided and continues to operate normally.

[0038] Furthermore, such as Figure 2 As shown, the other end of the collision switch KA is also connected to the arc welding robot, so that the arc welding robot can determine that the welding torch has collided, so that the initial end shaft, the middle end shaft and the end shaft can automatically brake. However, in order to prevent the end shaft from squeezing and injuring the staff or colliding with other hard objects and making it easy to remove for maintenance, the end shaft is equipped with automatic brake release control.

[0039] According to some embodiments, such as Figure 3 As shown, the collision sensor also includes a pressure detection circuit, a signal amplification circuit, and a control circuit. The pressure detection circuit is used to convert the pressure signal when the arc welding robot's welding torch collides into a pressure electrical signal for output. The signal amplification circuit is used to amplify the pressure electrical signal and input the amplified pressure electrical signal to the control circuit. The control circuit is used to control the collision switch KA to open or close according to the pressure electrical signal.

[0040] The working principle of the above embodiment is as follows: when the welding torch of the arc welding robot collides, the pressure detection circuit outputs a high-level pressure signal. Because the generated current and voltage signals are relatively small, they are amplified by the signal amplification circuit. The amplified high-level pressure signal is then output to the control circuit. The control circuit controls the collision switch KA to open. After the main control chip 2N-20MR receives the low-level signal through the collision sensor, it determines that the welding torch of the arc welding robot has collided. Then, it controls the end-effector brake release switch K1 to close, so that the end brake is energized and releases the brake.

[0041] When the arc welding robot's welding torch does not collide with anything, the pressure detection circuit outputs a low-level electrical signal or no signal. The control circuit does not operate, the collision switch KA is closed, and the main control chip 2N-20MR receives a high-level signal through the collision sensor, determining that the arc welding robot's welding torch has not collided and continues to operate normally.

[0042] According to some embodiments, such as Figure 3As shown, the signal amplification circuit includes an operational amplifier OP, a first resistor R1, and a second resistor R2. The non-inverting input terminal of the operational amplifier OP receives the pressure signal through the first resistor R1, the inverting input terminal of the operational amplifier OP is grounded through the second resistor R2, and the output terminal of the operational amplifier OP outputs the amplified pressure signal.

[0043] The working principle of the above embodiment is as follows: when the welding torch of the arc welding robot collides, the pressure detection circuit outputs a high-level pressure signal. The high-level pressure signal is input to the non-inverting input terminal of the operational amplifier OP through the first resistor R1. The inverting input terminal of the operational amplifier OP is grounded through the second resistor R2. At this time, the operational amplifier OP outputs an amplified high-level pressure signal.

[0044] Furthermore, such as Figure 3 As shown, the signal amplification circuit also includes a feedback resistor RF, and the output terminal of the operational amplifier OP is connected to the inverting input terminal of the operational amplifier OP through the feedback resistor RF.

[0045] According to some embodiments, such as Figure 3 As shown, the control circuit includes a signal processing unit, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, an NPN transistor Q, and a relay coil KA. The input terminal of the signal processing unit is connected to the output terminal of the operational amplifier OP through the third resistor R3. The output terminal of the signal processing unit is connected to one end of the fourth resistor R4. The other end of the fourth resistor R4 is connected to the base of the NPN transistor Q and one end of the fifth resistor R5. The other end of the fifth resistor R5 is grounded. The collector of the NPN transistor Q is connected to one end of the relay coil KA. The other end of the relay coil KA is connected to one end of the sixth resistor R6. The other end of the sixth resistor R6 is connected to a power supply. The emitter of the NPN transistor Q is grounded. The relay coil KA is used to control the collision switch KA to open or close.

[0046] The signal processing unit is used for voltage regulation and to convert the pressure electrical signal into a voltage and current signal suitable for the downstream circuit.

[0047] The working principle based on the above embodiment is as follows: when the welding torch of the arc welding robot collides, the operational amplifier OP outputs a high-level signal. After receiving the high-level signal, the signal processing unit outputs a high-level signal to the base of the NPN transistor Q. The NPN transistor Q is turned on, the relay coil KA is energized, the collision switch KA is turned off, and the main control chip 2N-20MR receives a low-level signal through the collision sensor. It then determines that the welding torch of the arc welding robot has collided, and then controls the end shaft to close the brake release switch K1, so that the end brake is energized and releases the brake.

[0048] When the arc welding robot's welding torch does not collide, the signal processing unit receives a low-level signal and then outputs a low-level signal to the base of the NPN transistor Q. The NPN transistor Q is cut off, the relay coil KA is de-energized, the collision switch KA is closed, and the main control chip 2N-20MR receives a high-level signal through the collision sensor, determines that the arc welding robot's welding torch has not collided, and continues to work normally.

[0049] According to some embodiments, such as Figure 3 As shown, the control circuit also includes a seventh resistor R7 and a capacitor C. One end of the seventh resistor R7 is connected to one end of the capacitor C and the input terminal of the signal processing unit, and the other end of the seventh resistor R7 and the other end of the capacitor C are both grounded.

[0050] Among them, the seventh resistor R7 and capacitor C are used for RC filtering.

[0051] like Figure 3 As shown, the control circuit also includes a diode D, the negative terminal of which is connected to the other end of the relay coil KA and one end of the sixth resistor R6, and the positive terminal of which is connected to one end of the relay coil KA and the collector of the NPN transistor Q.

[0052] The relay coil KA contains an inductive element. When the NPN transistor Q changes from being on to being off, the relay coil KA continues to freewheel through the diode D.

[0053] According to some embodiments, such as Figure 2 As shown, the collision sensor also includes a manual test switch ST, which is connected in series with the collision switch KA.

[0054] Among them, the manual test switch ST is used to simulate whether the brake will automatically release when the end effector (welding torch) of the arc welding robot collides with an object.

[0055] According to some embodiments, such as Figure 1As shown, the brake release device further includes an end manual switch S14, a middle manual switch S24, a middle shaft brake release switch K2, a middle brake, an initial manual switch S34, an initial shaft brake release switch K3, an initial brake, and a switching switch SA. The main control chip 2N-20MR is connected to one end of the end manual switch S14, one end of the middle manual switch S24, the control terminal of the middle shaft brake release switch K2, one end of the initial manual switch S34, the control terminal of the initial shaft brake release switch K3, and one end of the switching switch SA. The other end of the end manual switch S14, the other end of the middle manual switch S24, the other end of the initial manual switch S34, and the switching switch SA are also connected to the switching switch SA. The other end of each switch is connected to a 24V DC power supply. The end manual switch S14 is used to control the end shaft brake release switch K1 through the main control chip 2N-20MR. The middle manual switch S24 is used to control the middle shaft brake release switch K2 through the main control chip 2N-20MR. The initial manual switch S34 is used to control the initial shaft brake release switch K3 through the main control chip 2N-20MR. The middle shaft brake release switch K2 is connected to control the middle brake. The initial shaft brake release switch K3 is connected to control the initial brake. The switching switch SA is used to switch between automatic control mode and manual control mode through the main control chip 2N-20MR.

[0056] The working principle based on the above embodiments is as follows: Figure 2 As shown, when the welding torch of the arc welding robot collides, the arc welding robot receives a low-level signal through the collision sensor, and the arc welding robot will automatically control the initial brake, the middle brake and the end brake to engage.

[0057] When the switch SA is switched to automatic control mode, the collision sensor outputs a low-level signal when the arc welding robot's welding torch collides. The main control chip 2N-20MR receives this low-level signal from the collision sensor, determines that the arc welding robot's welding torch has collided, and then controls the end-effector brake release switch K1 to close, energizing the end brake to release the brake.

[0058] like Figure 1 As shown, when the switch SA is switched to manual control mode, when the initial manual switch S34 is pressed, the main control chip 2N-20MR controls the initial brake to release the brake through the initial shaft release brake switch K3; when the middle manual switch S24 is pressed, the main control chip 2N-20MR controls the middle brake to release the brake through the middle shaft release brake switch K2; when the end manual switch S14 is pressed, the main control chip 2N-20MR controls the end brake to release the brake through the end shaft release brake switch K1.

[0059] Among them, such as Figure 1 As shown, the initial shaft brake release switch K3, the intermediate shaft brake release switch K2, and the final shaft brake release switch K1 all use relays. Relay K1 controls the connection between the final brake and the live wire, relay K2 controls the connection between the intermediate brake and the live wire, and relay K3 controls the connection between the initial brake and the live wire. Furthermore, a relay K4 is also included, which controls the simultaneous connection between the initial, intermediate, and final brakes and the neutral wire. When the initial brake needs to be energized to release the brake, relays K3 and K4 are energized; when the intermediate brake needs to be energized to release the brake, relays K2 and K4 are energized; and when the final brake needs to be energized to release the brake, relays K1 and K4 are energized.

[0060] In some embodiments, the initial end shaft includes a first shaft and a second shaft, the middle end shaft includes a third shaft, and the end shaft includes a fourth shaft, a fifth shaft, and a sixth shaft.

[0061] According to some embodiments, such as Figure 1 As shown, the brake release device also includes an enable switch SEN, one end of which is connected to the main control chip 2N-20MR, and the other end of which is connected to a 24V DC power supply.

[0062] When in automatic control mode and the enable switch SEN is closed, the end brake releases when the arc welding robot's welding torch collides.

[0063] When in automatic control mode and the enable switch SEN is off, the end brake engages when the arc welding robot's welding torch collides.

[0064] The enable switch SEN is used to automatically release the end brake when the welding torch of the arc welding robot collides with another object while the robot is switched to automatic control mode. If the enable switch SEN is open, the brake will not automatically release upon collision; if the enable switch SEN is closed, the brake will automatically release upon collision.

[0065] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0066] Although this disclosure has been described with reference to several typical embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Because this disclosure can be embodied in many forms without departing from the spirit or substance of this application, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A brake release device for an arc welding robot, characterized in that, The brake release device includes: A collision sensor is used to detect whether the arc welding robot's welding torch has collided. When the arc welding robot's welding torch collides, the output terminal of the collision sensor outputs a low-level signal; when the arc welding robot's welding torch does not collide, the output terminal of the collision sensor outputs a high-level signal. The main control chip, the input terminal of which is connected to the output terminal of the collision sensor; The system includes an end-rotor brake release switch and an end brake. The main control chip controls the end-rotor brake release switch, which in turn controls the end brake. When the arc welding robot's welding torch collides, the main control chip controls the end brake to release the robot's brake brake via the end-rotor brake release switch. The collision sensor includes a collision switch and a pull-down resistor. The collision switch is a normally closed switch. One end of the collision switch is connected to the power supply, and the other end of the collision switch is connected to the main control chip and one end of the pull-down resistor. The other end of the pull-down resistor is grounded. When the arc welding robot's welding torch collides, the collision switch is turned off, and the main control chip acquires a low-level signal through the pull-down resistor; When the arc welding robot's welding torch does not collide, the collision switch is closed, and the main control chip acquires a high-level signal through the collision switch; The collision sensor also includes a pressure detection circuit, a signal amplification circuit, and a control circuit. The pressure detection circuit is used to convert the pressure signal when the arc welding robot's welding torch collides into a pressure electrical signal for output. The signal amplification circuit is used to amplify the pressure electrical signal and input the amplified pressure electrical signal to the control circuit. The control circuit is used to control the collision switch to open or close according to the pressure electrical signal. The signal amplification circuit includes an operational amplifier, a first resistor, and a second resistor. The non-inverting input of the operational amplifier receives the pressure signal through the first resistor, the inverting input of the operational amplifier is grounded through the second resistor, and the output of the operational amplifier outputs the amplified pressure signal. The control circuit includes a signal processing unit, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, an NPN transistor, and a relay coil. The input terminal of the signal processing unit is connected to the output terminal of the operational amplifier through the third resistor. The output terminal of the signal processing unit is connected to one end of the fourth resistor. The other end of the fourth resistor is connected to the base of the NPN transistor and one end of the fifth resistor. The other end of the fifth resistor is grounded. The collector of the NPN transistor is connected to one end of the relay coil. The other end of the relay coil is connected to one end of the sixth resistor. The other end of the sixth resistor is connected to a power supply. The emitter of the NPN transistor is grounded.

2. The brake release device according to claim 1, characterized in that, The signal amplification circuit also includes a feedback resistor, and the output terminal of the operational amplifier is connected to the inverting input terminal of the operational amplifier through the feedback resistor.

3. The brake release device according to claim 1, characterized in that, The control circuit also includes a seventh resistor and a capacitor. One end of the seventh resistor is connected to one end of the capacitor and the input terminal of the signal processing unit, and the other end of the seventh resistor and the other end of the capacitor are both grounded.

4. The brake release device according to claim 1, characterized in that, The control circuit also includes a diode, the negative terminal of which is connected to the other end of the relay coil and one end of the sixth resistor, and the positive terminal of which is connected to one end of the relay coil and the collector of the NPN transistor.

5. The brake release device according to claim 1, characterized in that, The collision sensor also includes a manual test switch, which is connected in series with the collision switch.

6. The brake release device according to claim 1, characterized in that, The brake release device further includes an end manual switch, a middle manual switch, a middle shaft brake release switch, a middle brake, an initial manual switch, an initial shaft brake release switch, an initial brake, and a switching switch. The main control chip is connected to one end of the end manual switch, one end of the middle manual switch, one end of the initial manual switch, one end of the switching switch, the control terminal of the initial shaft brake release switch, the control terminal of the middle shaft brake release switch, and the control terminal of the initial shaft brake release switch, as well as the other end of the end manual switch, the other end of the middle manual switch, and the initial manual switch. The other end of the switch and the other end of the changeover switch are both connected to a power source. The end manual switch is used to control the end shaft brake release switch via the main control chip. The middle manual switch is used to control the middle shaft brake release switch via the main control chip. The initial manual switch is used to control the initial shaft brake release switch via the main control chip. The middle shaft brake release switch is connected to control the middle brake. The initial shaft brake release switch is connected to control the initial brake. The changeover switch is used to switch between automatic control mode and manual control mode via the main control chip.

7. The brake release device according to claim 6, characterized in that, The brake release device also includes an enable switch, one end of which is connected to the input terminal of the main control chip, and the other end of which is connected to a power supply. When in automatic control mode and the enable switch is closed, the end brake releases when the arc welding robot's welding torch collides. When in automatic control mode and the enable switch is off, the end brake engages when the arc welding robot's welding torch collides.

8. The brake release device according to claim 6, characterized in that, The initial shaft release brake switch, the middle shaft release brake switch, and the final shaft release brake switch are all relays; Relay K1 is used to control the connection and disconnection between the end brake and the live wire; Relay K2 is used to control the connection and disconnection between the intermediate brake and the power line; Relay K3 is used to control the connection and disconnection between the initial brake and the live wire.

9. The brake release device according to claim 8, characterized in that, The brake release device also includes a relay K4, which is used to control the initial brake, intermediate brake and final brake to be simultaneously connected and disconnected from the neutral line.

10. The brake release device according to claim 9, characterized in that, When the initial brake needs to be energized to release the brake, control relays K3 and K4 are energized. When the intermediate brake needs to be energized to release the holding brake, control relays K2 and K4 are energized. When the end brake needs to be energized to release the holding brake, control relays K1 and K4 are energized.

Images