Protection circuit, circuit protection method and device of industrial robot controller

Abstract

The invention discloses a protection circuit of an industrial robot controller and a circuit protection method and device. The method comprises the steps that the current of the alternating current input end of a protection circuit of the industrial robot controller is obtained, and the protection circuit is used for protecting a controller circuit of the industrial robot controller; the surge voltage of the industrial robot controller is determined according to the current; comparing the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage; and generating a protection strategy of the controller circuit according to the voltage level signal corresponding to the voltage level, and executing the protection strategy to prevent each electrical component in the controller circuit from being damaged. According to the invention, the technical problems that a mode for improving the anti-surge capability of the circuit still has partial residual voltage which may damage the switch tube, high-precision adjustment cannot be realized, the final surge suppression effect is affected, and the switch tube may be damaged in the related technology are solved.

Description

Technical Field

[0001] The present invention relates to the field of circuit protection technology, and in particular to a protection circuit, a circuit protection method and a device for an industrial robot controller. Background Art

[0002] Figure 1 Schematic diagram of a switch tube protection circuit and an electromagnetic heating device according to the prior art. Figure 1 As shown, the voltage surge detection unit generates a surge detection signal by detecting the surge voltage of the AC power supply. The main control unit stops outputting the control signal to the switch tube when it determines that a surge voltage occurs in the AC power supply based on the surge detection signal, and changes the resonant parameters of the resonant circuit by controlling the controllable switch to reduce the voltage borne by the switch tube.

[0003] When the above scheme detects a surge voltage, it stops outputting the control signal to the switch tube and changes the resonance parameters of the resonant circuit to reduce the voltage borne by the switch tube, thereby reducing the voltage borne by the collector of the switch tube and improving the circuit's surge resistance. However, there is still some residual voltage that may damage the switch tube, and the resonance parameters of the resonant circuit cannot be adjusted with high precision and the adjustment range is limited by the controllable switch. These will affect the final surge suppression result and cannot ensure that the switch tube is not damaged.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a protection circuit, a circuit protection method and a device for an industrial robot controller, so as to at least solve the technical problem that in the related art, the method for improving the surge resistance of the circuit still has some residual pressure which may cause damage to the switching tube, and high-precision regulation cannot be achieved, which affects the final surge suppression effect and the switching tube may be damaged.

[0006] According to one aspect of an embodiment of the present invention, a protection circuit of an industrial robot controller is provided, comprising: a current detection module, one end of which is connected to a protection circuit at an AC input end of the controller, and the other end is connected to a comparison module, for detecting a current flowing through the protection circuit to obtain the current of the protection circuit, wherein the controller is a controller of a target robot; the comparison module, one end of which is connected to the current detection module, and the other end is connected to a circuit protection module, for comparing a surge voltage corresponding to the current with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of a controller circuit corresponding to the controller; the circuit protection module, connected to the comparison module, for generating a protection strategy for the controller circuit according to a voltage level signal corresponding to the voltage level after receiving the voltage level, and executing the protection strategy to prevent damage to electrical components in the controller circuit.

[0007] Optionally, the AC input end includes a plurality of varistors, wherein the plurality of varistors are used to perform voltage protection on a plurality of circuits of the controller circuit, and the plurality of varistors correspond one-to-one to the plurality of circuits.

[0008] Optionally, the current detection module is used to detect the current of the plurality of varistors.

[0009] Optionally, the comparison module is used to obtain the surge voltage according to a correspondence between voltages and currents across a plurality of the varistors and the current.

[0010] Optionally, the circuit protection module includes: a first circuit protection module, one end of which is connected to the comparison module, and the other end of which is connected to the second circuit protection module, and is used to receive a control signal one output by the comparison module when the voltage level is higher than a voltage level threshold one, and to perform a disconnection action based on the control signal one to directly disconnect the power supply of the controller circuit; a second circuit protection module, one end of which is connected to the first circuit protection module, and the other end of which is connected to a sensitive device in the controller circuit, and is used to receive a control signal two output by the comparison module when the voltage level is higher than a voltage level threshold two but not higher than a voltage level threshold one, and to perform a disconnection action based on the control signal two to disconnect the sensitive device from the controller circuit; a third circuit protection module, which is connected to the comparison module, and is used to trigger the protection module of the controller circuit itself to perform circuit protection processing when the voltage level is not higher than the voltage level threshold two.

[0011] According to another aspect of an embodiment of the present invention, there is also provided a circuit protection method for an industrial robot controller, which is applied to the protection circuit of any one of the industrial robot controllers described above, and includes: obtaining the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller; determining the surge voltage of the industrial robot controller based on the current; comparing the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined based on the circuit characteristics of the controller circuit; generating a protection strategy for the controller circuit based on a voltage level signal corresponding to the voltage level, and executing the protection strategy to prevent damage to electrical components in the controller circuit.

[0012] Optionally, determining the surge voltage of the industrial robot controller according to the current includes: acquiring a correspondence between voltages across a plurality of varistors in the AC input end and currents; and determining the surge voltage of the industrial robot controller according to the current and the correspondence.

[0013] Optionally, a protection strategy for the controller circuit is generated according to a voltage level signal corresponding to the voltage level, including: when the voltage level is higher than voltage level threshold one, determining the protection strategy as: receiving control signal one output by the comparison module, and performing a disconnection action based on the control signal one to directly disconnect the power supply of the controller circuit; when the voltage level is higher than voltage level threshold two but not higher than voltage level threshold one, determining the protection strategy as: receiving control signal two output by the comparison module, and performing a disconnection action based on the control signal two to disconnect sensitive devices from the controller circuit; when the voltage level is not higher than voltage level threshold two, triggering the protection module of the controller circuit itself to perform circuit protection processing.

[0014] According to another aspect of an embodiment of the present invention, there is further provided a circuit protection device for an industrial robot controller, which is applied to the circuit protection method for an industrial robot controller described in any one of the above-mentioned methods, and includes: an acquisition module, used to acquire the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller; a determination module, used to determine the surge voltage of the industrial robot controller based on the current; a comparison module, used to compare the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined based on the circuit characteristics of the controller circuit; a processing module, used to generate a protection strategy for the controller circuit based on a voltage level signal corresponding to the voltage level, and execute the protection strategy to prevent damage to the electrical components in the controller circuit.

[0015] Optionally, the determination module includes: an acquisition unit, used to obtain the corresponding relationship between the voltage and current across multiple varistors in the AC input end; and a determination unit, used to determine the surge voltage of the industrial robot controller based on the current and the corresponding relationship.

[0016] Optionally, the processing module includes: a first determination module, used to determine that the protection strategy is: receiving control signal one output by the comparison module, and performing a disconnection action based on the control signal one to directly disconnect the power supply of the controller circuit when the voltage level is higher than voltage level threshold one; a second determination module, used to determine that the protection strategy is: receiving control signal two output by the comparison module, and performing a disconnection action based on the control signal two to disconnect the sensitive device from the controller circuit when the voltage level is higher than voltage level threshold two but not higher than voltage level threshold one; a third determination module, used to trigger the protection module of the controller circuit itself to perform circuit protection processing when the voltage level is not higher than voltage level threshold two.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the above-mentioned circuit protection methods for an industrial robot controller.

[0018] According to another aspect of an embodiment of the present invention, a processor is further provided, the processor being used to run a program, wherein the circuit protection method for an industrial robot controller described above is executed when the program is run.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the above-mentioned circuit protection methods for an industrial robot controller is executed.

[0020] In an embodiment of the present invention, the current of the AC input terminal of the protection circuit of the industrial robot controller is obtained, wherein the protection circuit is used to protect the controller circuit of the industrial robot; the surge voltage of the industrial robot controller is determined according to the current; the surge voltage is compared with a plurality of preset voltage thresholds to obtain the voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined according to the circuit characteristics of the controller circuit; the protection strategy of the controller circuit is generated according to the voltage level signal corresponding to the voltage level, and the protection strategy is executed to prevent the electrical components in the controller circuit from being damaged. Through the technical solution provided by the present invention, the purpose of detecting the surge by detecting the current of the AC input terminal, and classifying the detected surge voltage, and taking different protective measures for different levels of surge voltage is achieved, thereby avoiding damage to the circuit and the controller, and improving the safety of the controller of the industrial robot, thereby solving the technical problem that the method for improving the surge resistance of the circuit in the related art still has some residual pressure that may cause damage to the switch tube, and cannot achieve high-precision adjustment, affecting the final surge suppression effect, and the switch tube may be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a schematic diagram of a switch tube protection circuit and an electromagnetic heating device of an electromagnetic heating device according to the prior art;

[0023] Figure 2 is a schematic diagram of a protection circuit of an industrial robot controller according to an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of an optional protection circuit of an industrial robot controller according to an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of surge voltage and protection circuit timing according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of a protection circuit of an industrial robot controller with two protection levels according to an embodiment of the present invention;

[0027] Figure 6is a schematic diagram of a protection circuit of an industrial robot controller with four protection levels according to an embodiment of the present invention;

[0028] Figure 7 It is a hardware structure block diagram of a mobile terminal of a circuit protection method for an industrial robot controller according to an embodiment of the present invention;

[0029] Figure 8 is a flow chart of a circuit protection method for an industrial robot controller according to an embodiment of the present invention;

[0030] Fig. 9 is a schematic diagram of a circuit protection device of an industrial robot controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] As introduced in the background technology, the method used in the related art to improve the surge resistance of the circuit still has some residual pressure that may damage the switch tube, and cannot achieve high-precision regulation, affecting the final surge suppression effect, and the switch tube may be damaged. In view of the above defects, in the embodiments of the present invention, a protection circuit of an industrial robot controller, a circuit protection method and device of an industrial robot controller, a computer-readable storage medium, a processor and a computer program product are provided.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] According to one aspect of an embodiment of the present invention, a protection circuit of an industrial robot controller is provided. Figure 2 is a schematic diagram of a protection circuit of an industrial robot controller according to an embodiment of the present invention, such as Figure 2 As shown, the protection circuit of the industrial robot controller may include: a current detection module 201, a comparison module 203 and a circuit protection module 205. The protection circuit of the industrial robot controller is described below.

[0036] The current detection module 201 has one end connected to the AC input terminal of the controller of the target robot and the other end connected to the comparison module, and is used to detect the current flowing through the protection circuit to obtain the current of the protection circuit.

[0037] The current detection module here can be used to perform current detection on the AC input terminal of the controller of the target robot to obtain the current of the protection circuit.

[0038] Among them, the AC input end here generally uses three varistors to provide voltage protection for the three lines LN, L-PE, and N-PE.

[0039] Figure 3 is a schematic diagram of a protection circuit of an optional industrial robot controller according to an embodiment of the present invention, such as Figure 3 As shown in the figure, after the AC input comes in, it will first be protected and filtered, and then rectified to power the subsequent circuits.

[0040] The AC input may be direct mains power input, which is converted into DC power after rectification and filtering to supply power to subsequent circuits.

[0041] The comparison module 203 has one end connected to the current detection module and the other end connected to the circuit protection module, and is used to compare the surge voltage corresponding to the current with multiple preset voltage thresholds to obtain the voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined according to the circuit characteristics of the controller circuit corresponding to the controller.

[0042] Here, the comparison module can classify the detected surge voltage according to different threshold settings, and different levels of surge input circuits will take different countermeasures.

[0043] The circuit protection module 205 is connected to the comparison module, and is used to generate a protection strategy for the controller circuit according to a voltage level signal corresponding to the voltage level after receiving the voltage level, and execute the protection strategy to prevent damage to various electrical components in the controller circuit.

[0044] In this embodiment, the circuit protection module can take different circuit protection measures according to the voltage level to prevent the circuit and the controller from being damaged.

[0045] As can be seen from the above, in an embodiment of the present invention, one end of the current detection module can be connected to the AC input terminal of the controller of the target robot, and the other end can be connected to the comparison module, so as to detect the current flowing through the protection circuit and obtain the current of the protection circuit; one end of the comparison module is connected to the current detection module, and the other end is connected to the circuit protection module, so as to compare the surge voltage corresponding to the current with multiple preset voltage thresholds to obtain the voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined according to the circuit characteristics of the controller circuit corresponding to the controller; and the circuit protection module is connected to the comparison module, so as to generate a protection strategy for the controller circuit according to the voltage level signal corresponding to the voltage level after receiving the voltage level, and execute the protection strategy to prevent the various electrical components in the controller circuit from being damaged, thereby realizing the purpose of detecting the surge by detecting the current at the AC input terminal, and classifying the detected surge voltage, and taking different protection measures for surge voltages of different levels, thereby avoiding damage to the circuit and the controller and improving the safety of the controller of the industrial robot.

[0046] Therefore, the above-mentioned technical solution provided by the embodiment of the present invention solves the technical problem that the method used in the related technology to improve the surge resistance of the circuit still has some residual pressure that may cause damage to the switching tube, and high-precision regulation cannot be achieved, which affects the final surge suppression effect and the switching tube may be damaged.

[0047] According to the above embodiment of the present invention, the AC input end includes a plurality of varistors, wherein the plurality of varistors are used to perform voltage protection on a plurality of lines of the controller circuit, and the plurality of varistors correspond one-to-one to the plurality of lines.

[0048] That is, in the embodiment of the present invention, the AC input end uses multiple varistors to perform voltage protection on the three lines LN, L-PE, and N-PE. In the embodiment of the present invention, the number of varistors is not specifically limited, for example, it can be three. Of course, it can also be more.

[0049] According to the above embodiment of the present invention, the current detection module is used to detect the current of multiple varistors.

[0050] In this embodiment, the above-mentioned current detection module can be used to detect the current of multiple varistors.

[0051] In the embodiment of the present invention, the object of current detection is the current passing through the varistor, and the input surge is detected by detecting the current flowing through the varistor.

[0052] According to the above embodiment of the present invention, the comparison module is used to obtain the surge voltage according to the corresponding relationship between the voltage and the current at both ends of the plurality of varistors and the current.

[0053] In this embodiment, the comparison module can classify the detected surge voltage according to different threshold settings, and different levels of surge input circuits will take different countermeasures. The higher the surge input voltage, the greater the residual voltage after the protection circuit, and the input surge can be classified according to the circuit's own conditions.

[0054] According to the above embodiment of the present invention, the circuit protection module may include: a first circuit protection module, one end of which is connected to the comparison module, and the other end is connected to the second circuit protection module, and is used to receive the control signal one output by the comparison module when the voltage level is higher than the voltage level threshold one, and perform a disconnection action based on the control signal one to directly disconnect the power supply of the controller circuit; a second circuit protection module, one end of which is connected to the first circuit protection module, and the other end is connected to the sensitive device in the controller circuit, and is used to receive the control signal two output by the comparison module when the voltage level is higher than the voltage level threshold two but not higher than the voltage level threshold one, and perform a disconnection action based on the control signal two to disconnect the sensitive device from the controller circuit; a third circuit protection module, which is connected to the comparison module, and is used to trigger the protection module of the controller circuit itself to perform circuit protection processing when the voltage level is not higher than the voltage level threshold two.

[0055] It should be noted that when the voltage across the varistor is lower than the nominal rated voltage, the resistance of the varistor is infinite and almost no current flows inside. When the voltage across the varistor is higher than the nominal rated voltage, the varistor will quickly break down and turn on, and change from a high resistance state to a low resistance state, and the operating current will also increase sharply. Therefore, the surge can be detected by detecting the current flowing through the varistor, and the detected surge can be graded, as shown in the attached figure. Figure 4 shown.

[0056] like Figure 3 As shown, the protection circuit of the industrial robot controller can have three protection levels. Figure 4 is a schematic diagram of surge voltage and protection circuit timing according to an embodiment of the present invention, such as Figure 3 and Figure 4 As shown, assuming the surge voltage V A It is the surge input that the sensitive devices in the circuit can accept without causing damage to them; the surge voltage V B The entire circuit itself can be protected from surge inputs without causing damage to other circuit components except sensitive components.

[0057] Where the surge voltage is lower than V A(voltage level threshold 2) is classified as level 3, and only the circuit itself can be used for protection, without any other processing. A and lower than V B The surge input of (voltage level threshold 1) is classified as level 2. At this time, the comparison module outputs control signal 2 (control signal 2) to disconnect the protection circuit 2 (second circuit protection module), directly disconnecting some sensitive devices and circuits to prevent the surge from damaging these sensitive devices and circuits. B The surge input is divided into level one, at this time, the comparator module outputs control signal 1 (control signal one) to disconnect the protection circuit 1 (the first circuit protection module), so that the power input of the entire circuit is directly disconnected, protecting all subsequent circuits to prevent surges from damaging the circuits, and the protection circuit 1 can be placed before or after the rectification according to the circuit's own situation.

[0058] Among them, in the embodiments of the present invention, the protective devices such as varistors, fuses, thermistors, etc., are used to protect the power supply device from damage, including but not limited to: overcurrent protection, overvoltage protection, short circuit protection, etc. These protection measures are intended to prevent the power supply system from being damaged due to overload, short circuit or other abnormal conditions, thereby protecting the power supply device and the electronic equipment connected to it from damage. Among them, filtering, such as filters composed of inductors, capacitors, resistors, etc., is used to eliminate or reduce unnecessary fluctuations and interference in the power supply, making the power output more stable and pure. It can effectively prevent the electromagnetic interference and power noise in the power supply system from affecting the electronic equipment, and improve the stability and reliability of the system.

[0059] Above Figure 3 The other circuits and sensitive device circuits are all subsequent working circuits, which are divided according to the sensitivity to surge input. In fact, they can be divided according to the circuit itself, and can be divided into two levels, three levels, or four levels. Other circuits can be deleted, but if they are deleted, only one protection circuit is needed. That is, there are two protection levels. Figure 5 is a schematic diagram of a protection circuit of an industrial robot controller with two protection levels according to an embodiment of the present invention, such as Figure 5 As shown, at this time, the protection circuit of the industrial robot controller includes a protection circuit 1 and circuit self-protection.

[0060] Figure 6 is a schematic diagram of a protection circuit of an industrial robot controller with four protection levels according to an embodiment of the present invention, such as Figure 6 As shown, at this time, the protection circuit of the industrial robot controller includes four protection levels, and the protection circuit also adds a protection circuit 3.

[0061] The method embodiments provided in the embodiments of the present invention can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 7 FIG. 1 is a hardware structure block diagram of a mobile terminal of a circuit protection method for an industrial robot controller according to an embodiment of the present invention. Figure 7 As shown, the mobile terminal may include one or more ( Figure 7 Only one is shown in the figure) a processor 702 (the processor 702 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 704 for storing data, wherein the mobile terminal may also include a transmission device 706 and an input / output device 708 for communication functions. It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0062] The memory 704 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the circuit protection method of the industrial robot controller in the embodiment of the present invention. The processor 702 executes various functional applications and data processing by running the computer program stored in the memory 704, that is, the above method is implemented. The memory 704 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 704 may further include a memory remotely arranged relative to the processor 702, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 706 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 706 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 706 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0063] According to an embodiment of the present invention, a method embodiment of a circuit protection method for an industrial robot controller is provided. It should be noted that the protection circuit of the industrial robot controller applied to any of the above items, the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0064] Figure 8 is a flow chart of a circuit protection method for an industrial robot controller according to an embodiment of the present invention. Figure 8 As shown, the circuit protection method of the industrial robot controller includes the following steps:

[0065] Step S802: obtaining the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller.

[0066] The current detection module here can be used to perform current detection on the AC input terminal of the controller of the target robot to obtain the current of the protection circuit.

[0067] Step S804: determining a surge voltage of the industrial robot controller according to the current.

[0068] Step S806 , comparing the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of the controller circuit.

[0069] Step S808, generating a protection strategy for the controller circuit according to the voltage level signal corresponding to the voltage level, and executing the protection strategy to prevent damage to the electrical components in the controller circuit.

[0070] As can be seen from the above, in an embodiment of the present invention, the current at the AC input end of the protection circuit of the industrial robot controller can be obtained, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller; the surge voltage of the industrial robot controller is determined according to the current; the surge voltage is compared with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined according to the circuit characteristics of the controller circuit; a protection strategy for the controller circuit is generated according to a voltage level signal corresponding to the voltage level, and the protection strategy is executed to prevent damage to various electrical components in the controller circuit, thereby realizing the purpose of detecting surges by detecting the current at the AC input end, and classifying the detected surge voltage, and taking different protection measures for surge voltages of different levels, thereby avoiding damage to the circuit and the controller and improving the safety of the controller of the industrial robot.

[0071] Therefore, the above-mentioned technical solution provided by the embodiment of the present invention solves the technical problem that the method used in the related technology to improve the surge resistance of the circuit still has some residual pressure that may cause damage to the switching tube, and high-precision regulation cannot be achieved, which affects the final surge suppression effect and the switching tube may be damaged.

[0072] According to the above embodiment of the present invention, determining the surge voltage of the industrial robot controller according to the current includes: obtaining the corresponding relationship between the voltage across multiple varistors in the AC input end and the current; and determining the surge voltage of the industrial robot controller according to the current and the corresponding relationship.

[0073] In this embodiment, a current detection module is used to detect the current flowing through the varistor. After the current of the varistor is detected, the surge input voltage (ie, surge voltage) can be obtained according to the relationship between the voltage and current across the varistor.

[0074] According to the above-mentioned embodiment of the present invention, a protection strategy for the controller circuit is generated according to a voltage level signal corresponding to the voltage level, including: when the voltage level is higher than voltage level threshold one, determining the protection strategy as: receiving control signal one output by the comparison module, and performing a disconnection action based on control signal one, so that the power supply of the controller circuit is directly disconnected; when the voltage level is higher than voltage level threshold two and not higher than voltage level threshold one, determining the protection strategy as: receiving control signal two output by the comparison module, and performing a disconnection action based on control signal two, so as to disconnect the sensitive device from the controller circuit; when the voltage level is not higher than voltage level threshold two, triggering the protection module of the controller circuit itself to perform circuit protection processing.

[0075] In this embodiment, the surge voltage can be lowered to V A (voltage level threshold 2) is classified as level 3, and only the circuit itself can be used for protection, without any other processing. A and lower than V B The surge input of (voltage level threshold 1) is classified as level 2. At this time, the comparison module outputs control signal 2 (control signal 2) to disconnect the protection circuit 2 (second circuit protection module), directly disconnecting some sensitive devices and circuits to prevent the surge from damaging these sensitive devices and circuits. B The surge input is divided into level one, at this time, the comparator module outputs control signal 1 (control signal one) to disconnect the protection circuit 1 (the first circuit protection module), so that the power input of the entire circuit is directly disconnected, protecting all subsequent circuits to prevent surges from damaging the circuits, and the protection circuit 1 can be placed before or after the rectification according to the circuit's own situation.

[0076] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0077] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0078] According to an embodiment of the present invention, there is also provided a circuit protection device for an industrial robot controller for implementing the circuit protection method for the industrial robot controller, which is applied to any of the circuit protection methods for the industrial robot controller described above. Fig. 9 is a schematic diagram of a circuit protection device of an industrial robot controller according to an embodiment of the present invention. Fig. 9 As shown, the device includes: an acquisition module 901, a determination module 903, a comparison module 905 and a processing module 907. The circuit protection device of the industrial robot controller is described below.

[0079] The acquisition module 901 is used to acquire the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller.

[0080] The determination module 903 is used to determine the surge voltage of the industrial robot controller according to the current.

[0081] The comparison module 905 is used to compare the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of the controller circuit.

[0082] The processing module 907 is used to generate a protection strategy for the controller circuit according to the voltage level signal corresponding to the voltage level, and execute the protection strategy to prevent the electrical components in the controller circuit from being damaged.

[0083] It should be noted here that the above-mentioned acquisition module 901, determination module 903, comparison module 905 and processing module 907 correspond to steps S802 to S808 in the above-mentioned embodiments, and the four modules and the corresponding steps implement the same instances and application scenarios, but are not limited to the contents disclosed in the above-mentioned embodiments.

[0084] As can be seen from the above, in the scheme recorded in the above-mentioned embodiment of the present invention, an acquisition module can be used to acquire the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller; a determination module is used to determine the surge voltage of the industrial robot controller according to the current; a comparison module is used to compare the surge voltage with multiple preset voltage thresholds to obtain the voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined according to the circuit characteristics of the controller circuit; a processing module is used to generate a protection strategy for the controller circuit according to a voltage level signal corresponding to the voltage level, and the protection strategy is executed to prevent damage to the electrical components in the controller circuit, thereby realizing the purpose of detecting surges by detecting the current at the AC input end, and classifying the detected surge voltage, and taking different protection measures for surge voltages of different levels, thereby avoiding damage to the circuit and the controller and improving the safety of the controller of the industrial robot.

[0085] Therefore, the above-mentioned technical solution provided by the embodiment of the present invention solves the technical problem that the method used in the related technology to improve the surge resistance of the circuit still has some residual pressure that may cause damage to the switching tube, and high-precision regulation cannot be achieved, which affects the final surge suppression effect and the switching tube may be damaged.

[0086] Optionally, the determination module includes: an acquisition unit, used to obtain the corresponding relationship between the voltage and current across multiple varistors in the AC input end; and a determination unit, used to determine the surge voltage of the industrial robot controller according to the current and the corresponding relationship.

[0087] Optionally, the processing module includes: a first determination module, used to determine, when the voltage level is higher than voltage level threshold one, a protection strategy of receiving control signal one output by the comparison module, and performing a disconnection action based on control signal one to directly disconnect the power supply of the controller circuit; a second determination module, used to determine, when the voltage level is higher than voltage level threshold two but not higher than voltage level threshold one, a protection strategy of receiving control signal two output by the comparison module, and performing a disconnection action based on control signal two to disconnect the sensitive device from the controller circuit; a third determination module, used to trigger the protection module of the controller circuit itself to perform circuit protection processing when the voltage level is not higher than voltage level threshold two.

[0088] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein when the program is run, any of the above-mentioned circuit protection methods for an industrial robot controller is executed.

[0089] According to another aspect of an embodiment of the present invention, there is further provided a computer program product, comprising computer instructions, wherein when the computer instructions are executed by a processor, any of the above-mentioned circuit protection methods for an industrial robot controller is executed.

[0090] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes any one of the above-mentioned circuit protection methods for an industrial robot controller.

[0091] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the communication devices in a communication device group.

[0092] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: obtaining the current at the AC input end of the protection circuit of the industrial robot controller, wherein the protection circuit is used to protect the controller circuit of the industrial robot controller; determining the surge voltage of the industrial robot controller based on the current; comparing the surge voltage with multiple preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of preset voltage thresholds is determined based on the circuit characteristics of the controller circuit; generating a protection strategy for the controller circuit based on a voltage level signal corresponding to the voltage level, and executing the protection strategy to prevent damage to various electrical components in the controller circuit.

[0093] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: obtaining the correspondence between the voltage and current across multiple varistors in the AC input terminal; and determining the surge voltage of the industrial robot controller based on the current and the correspondence.

[0094] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: when the voltage level is higher than voltage level threshold one, determining the protection strategy as: receiving control signal one output by the comparison module, and performing a disconnection action based on control signal one to directly disconnect the power supply of the controller circuit; when the voltage level is higher than voltage level threshold two and not higher than voltage level threshold one, determining the protection strategy as: receiving control signal two output by the comparison module, and performing a disconnection action based on control signal two to disconnect the sensitive device from the controller circuit; when the voltage level is not higher than voltage level threshold two, triggering the protection module of the controller circuit itself to perform circuit protection processing.

[0095] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0096] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0099] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0100] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0101] 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 modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A protection circuit for an industrial robot controller, characterized in that: include: A current detection module, one end of which is connected to the protection circuit of the AC input end of the controller, and the other end of which is connected to the comparison module, for detecting the current flowing through the protection circuit to obtain the current of the protection circuit, wherein the controller is the controller of the target robot; The comparison module has one end connected to the current detection module and the other end connected to the circuit protection module, and is used to compare the surge voltage corresponding to the current with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of a controller circuit corresponding to the controller; The circuit protection module is connected to the comparison module, and is used to generate a protection strategy for the controller circuit according to the voltage level signal after receiving the voltage level signal corresponding to the voltage level, and execute the protection strategy to prevent damage to the electrical components in the controller circuit.

2. The protection circuit of the industrial robot controller according to claim 1, characterized in that: The AC input end includes a plurality of varistors, wherein the plurality of varistors are used to perform voltage protection on a plurality of circuits of the controller circuit, and the plurality of varistors correspond one-to-one to the plurality of circuits.

3. The protection circuit of the industrial robot controller according to claim 2, characterized in that: The current detection module is used to detect the current of the multiple varistors.

4. The protection circuit of the industrial robot controller according to claim 3, characterized in that: The comparison module is used to obtain the surge voltage according to the corresponding relationship between the voltages and currents at both ends of the plurality of varistors and the current.

5. The protection circuit of the industrial robot controller according to claim 3, characterized in that: The circuit protection module comprises: a first circuit protection module, one end of which is connected to the rectifier module, and the other end of which is connected to the second circuit protection module, and is used for receiving a control signal 1 output by the comparison module when the voltage level is higher than a voltage level threshold 1, and performing a disconnection action based on the control signal 1, so that the power supply of the controller circuit is directly disconnected; The second circuit protection module has one end connected to the first circuit protection module and the other end connected to the sensitive device in the controller circuit, and is used to receive the second control signal output by the comparison module when the voltage level is higher than the second voltage level threshold and not higher than the first voltage level threshold, and perform a disconnection action based on the second control signal to disconnect the sensitive device from the controller circuit; The third circuit protection module is connected to the comparison module, and is used to trigger the protection module of the controller circuit itself to perform circuit protection processing when the voltage level is not higher than the voltage level threshold 2.

6. A circuit protection method for an industrial robot controller, characterized in that: The protection circuit applied to the industrial robot controller according to any one of claims 1 to 5 comprises: Acquire a current of a protection circuit at an AC input end of an industrial robot controller, wherein the protection circuit is used to protect a controller circuit of the industrial robot controller; determining a surge voltage of the industrial robot controller based on the current; Comparing the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of the controller circuit; A protection strategy for the controller circuit is generated according to a voltage level signal corresponding to the voltage level, and the protection strategy is executed to prevent damage to electrical components in the controller circuit.

7. The circuit protection method of the industrial robot controller according to claim 6, characterized in that: Determining a surge voltage of the industrial robot controller according to the current includes: Obtaining a corresponding relationship between voltages and currents at both ends of a plurality of varistors in the AC input end; The surge voltage of the industrial robot controller is determined according to the current and the corresponding relationship.

8. The circuit protection method of the industrial robot controller according to claim 6, characterized in that: Generating a protection strategy for the controller circuit according to a voltage level signal corresponding to the voltage level, comprising: When the voltage level is higher than the voltage level threshold 1, determining the protection strategy is: receiving the control signal 1 output by the comparison module, and performing a disconnection action based on the control signal 1, so that the power supply of the controller circuit is directly disconnected; When the voltage level is higher than the voltage level threshold 2 and not higher than the voltage level threshold 1, determining the protection strategy is: receiving the control signal 2 output by the comparison module, and performing a disconnection action based on the control signal 2 to disconnect the sensitive device from the controller circuit; When the voltage level is not higher than the voltage level threshold 2, the protection module of the controller circuit itself is triggered to perform circuit protection processing.

9. A circuit protection device for an industrial robot controller, characterized in that: The circuit protection method applied to the industrial robot controller according to any one of claims 6 to 8 comprises: An acquisition module, used to acquire the current of a protection circuit at an AC input end of an industrial robot controller, wherein the protection circuit is used to protect a controller circuit of the industrial robot controller; A determination module, used to determine a surge voltage of the industrial robot controller according to the current; a comparison module, configured to compare the surge voltage with a plurality of preset voltage thresholds to obtain a voltage level of the surge voltage, wherein the number of the preset voltage thresholds is determined according to circuit characteristics of the controller circuit; A processing module is used to generate a protection strategy for the controller circuit according to a voltage level signal corresponding to the voltage level, and execute the protection strategy to prevent damage to various electrical components in the controller circuit.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the circuit protection method of the industrial robot controller according to any one of claims 6 to 8.

11. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the circuit protection method of the industrial robot controller according to any one of claims 6 to 8 is performed.

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