Fault self-checking device and sports equipment

Abstract

The invention relates to a fault self-checking device and sports equipment. The fault self-checking device comprises a first stroke circuit and a second stroke circuit, the first switch component is connected to the first stroke circuit in series, and when the first switch component is closed, the positive electrode of the power source and the position reader are conducted; the second switch component is connected to the switch circuit in series and connected with the first switch component in parallel, and when the second switch component is closed, the positive electrode of the power source and the position reader are conducted; the XOR gate circuit is provided with a first input end, a second input end and an output end, the first input end is electrically connected with the first switch component, and the second input end is electrically connected with the second switch component; the alarm circuit is electrically connected with the output end; when the working states of the first switch component and the second switch component are normal, the output end of the XOR gate circuit outputs a low level, and the alarm circuit does not give an alarm. And when the working states of the first switch component and the second switch component are inconsistent, the output end of the XOR gate circuit outputs a high level, and the alarm circuit gives an alarm.

Description

Technical Field

[0001] This application relates to the technical field of fault self - checking devices, and particularly to fault self - checking devices and motion equipment. Background Art

[0002] In modern automated control systems, travel switches and micro - switches, as basic position sensing elements, are widely used in the terminal position detection of motion mechanisms such as industrial robots, numerical control machine tools, and conveying devices. These mechanical contact switches trigger electrical signals through physical contact of moving parts, feeding back the in - place state of the actuator to the control system, and thus achieving precise control of the motion stroke.

[0003] In the fields of industrial automation and mechanical control, travel switches or micro - switches, as key position detection elements, their reliability directly determines the safety of motion mechanisms and the stability of system operation. In the prior art, to improve the detection reliability of switch signals, a redundant design scheme is generally adopted, that is, two travel switches or micro - switches are connected in parallel (hereinafter referred to as "dual - switch parallel connection") to construct a redundant signal channel. Its core logic is that when one of the switches fails due to mechanical wear, contact oxidation, or environmental interference, the other switch can still maintain the circuit on - off function, thereby reducing the risk of single - point failure. That is, in the redundant design of using two travel switches or micro - switches in parallel in the prior art, if any one of the two switches fails and is not detected in time, it will cause damage to the motion mechanism and even cause serious safety accidents. Summary of the Invention

[0004] To solve or partially solve the problems existing in the related art, this application provides a fault self - checking device and motion equipment, which can solve the technical problem that in the redundant design of using two travel switches or micro - switches in parallel in the prior art, if any one of the two switches fails and is not detected in time, it will cause damage to the motion mechanism and even cause serious safety accidents.

[0005] In the first aspect of this application, a fault self - checking device is provided. The fault self - checking device includes:

[0006] A first travel circuit for electrically connecting the positive power supply, the negative power supply, and a position reader, and outputting a first electrical signal when the positive power supply and the position reader are conducting;

[0007] A second travel circuit for electrically connecting the positive power supply, the negative power supply, and the position reader, and outputting a second electrical signal when the positive power supply and the position reader are conducting;

[0008] A first switch component, connected in series on the first travel circuit, and when the first switch component is closed, the positive power supply and the position reader are conducting;

[0009] A second switch component, connected in series to the switch circuit and arranged in parallel with the first switch component. When the second switch component is closed, the positive power supply and the position reader are electrically connected.

[0010] An exclusive - OR gate circuit, having a first input terminal, a second input terminal, and an output terminal. The first input terminal is electrically connected to the first switch component, and the second input terminal is electrically connected to the second switch component; and

[0011] An alarm circuit, electrically connected to the output terminal, for alarming when receiving a high level;

[0012] Wherein, when the operating states of the first switch component and the second switch component are normal, the output terminal of the exclusive - OR gate circuit outputs a low level, and the alarm circuit does not alarm;

[0013] When the operating states of the first switch component and the second switch component are inconsistent, the output terminal of the exclusive - OR gate circuit outputs a high level, and the alarm circuit alarms.

[0014] In some embodiments of the present application, the fault self - checking device further includes:

[0015] A triode, having an emitter, a base, and a collector. The base is electrically connected to the output terminal, the emitter is electrically connected to the alarm circuit, and the collector is electrically connected to the positive power supply.

[0016] In some embodiments of the present application, the alarm circuit includes:

[0017] A first resistor circuit, one end of which is electrically connected to the emitter;

[0018] A first diode, the first end of the first diode is electrically connected to the other end of the first resistor circuit, and the second end of the first diode is electrically connected to the negative power supply;

[0019] An alarm, electrically connected to the emitter, for generating an alarm signal.

[0020] In some embodiments of the present application, the fault self - checking device further includes:

[0021] A second resistor circuit, connected in series between the base and the output terminal.

[0022] In some embodiments of the present application, it further includes:

[0023] A filter circuit, one end of which is electrically connected to the output terminal, and the other end is electrically connected to the negative power supply.

[0024] In some embodiments of the present application, the first stroke circuit includes:

[0025] A third resistor circuit, connected in series between the first input terminal and the first switching component;

[0026] The second stroke circuit includes:

[0027] A fourth resistor circuit, connected in series between the second input terminal and the second switching component.

[0028] In some embodiments of the present application, the first stroke circuit further includes:

[0029] A fifth resistor circuit, connected in series between the first switching component and the negative pole of the power supply;

[0030] The second stroke circuit further includes:

[0031] A sixth resistor circuit, connected in series between the second switching component and the negative pole of the power supply.

[0032] In some embodiments of the present application, the fault self-checking device further includes:

[0033] A third switching component, having a first control part, a second control part and a third control part;

[0034] Wherein, one end of the first control part is electrically connected to the positive pole of the power supply, and the other end of the first control part is respectively electrically connected to the first switching component and the second switching component;

[0035] One end of the second switching component part is electrically connected to the first switching component part, and the other end of the second control part is electrically connected to the first input terminal;

[0036] One end of the third control part is electrically connected to the second switching component, and the other end of the third control part is electrically connected to the second input terminal.

[0037] In some embodiments of the present application, the fault self-checking device further includes:

[0038] A fourth switching component, having a fourth control part, a fifth control part, a sixth control part and a seventh control part;

[0039] Wherein, one end of the fourth control part is electrically connected to the positive pole of the power supply, and the other end is electrically connected to the first switching component and the second switching component;

[0040] One end of the fifth control part is electrically connected to the transmitting end, and the other end of the fifth control part is used to be electrically connected to an alarm receiver;

[0041] One end of the sixth control unit is electrically connected to the negative electrode of the power supply, and the other end of the sixth control unit is electrically connected to the second end of the first diode, the filter circuit, the fifth resistor circuit, and the sixth resistor circuit;

[0042] One end of the sixth control unit is electrically connected to the first stroke circuit and the first stroke circuit, and the other end of the sixth control unit is used to be electrically connected to the position reader.

[0043] The second aspect of the present application provides a sports device, including:

[0044] The fault self-checking device according to any one of the above embodiments, and

[0045] A power supply having a positive electrode and a negative electrode of the power supply. The positive electrode of the power supply is electrically connected to the first stroke circuit and the first stroke circuit, and the negative electrode of the power supply is electrically connected to the output end;

[0046] The position reader is electrically connected to the first switch component and the second switch component.

[0047] The technical solution provided by the present application may include the following beneficial effects:

[0048] The fault self-checking device and the exercise equipment of the present application. The fault self-checking device includes a first stroke circuit, a second stroke circuit, a first switch component, a second switch component, an exclusive-OR gate circuit, and an alarm circuit. The first stroke circuit is electrically connected to the positive electrode and the negative electrode of the power supply. When the first switch component is closed, the first stroke circuit is turned on, and the first stroke circuit outputs a first electrical signal. When the exercise equipment receives the first electrical signal, the stroke position of the exercise equipment is determined. The second stroke circuit is electrically connected to the positive electrode and the negative electrode of the power supply. When the second switch component is closed, the second stroke circuit is turned on, and the second stroke circuit outputs a second electrical signal. When the exercise equipment receives the second electrical signal, the stroke position of the exercise equipment is determined. The first switch component and the second switch component are connected in parallel with each other, and the redundant technology of double-switch parallel connection is realized in the motion mechanism. In the present application, by introducing an exclusive-OR gate circuit, the exclusive-OR gate circuit has a first input terminal, a second input terminal, and an output terminal. The first input terminal is electrically connected to the first switch component, the second input terminal is electrically connected to the second switch component, and the alarm circuit is electrically connected to the output terminal. When the working states of the first switch component and the second switch component are normal, the output terminal of the exclusive-OR gate circuit outputs a low level, and the alarm circuit does not alarm. When the working states of the first switch component and the second switch component are inconsistent, the output terminal of the exclusive-OR gate circuit outputs a high level, and the alarm circuit alarms. Therefore, it effectively solves the technical problem in the prior art that in the redundant design of using a double-stroke switch or a micro-switch in parallel, if any one of the two switches fails and is not detected in time, it will cause damage to the motion mechanism and even cause serious safety accidents. It realizes that when any one of the switches in the exercise equipment with double-switch parallel connection fails, an alarm message can be provided in time to remind the staff to replace it in time, and improves the safety of the exercise equipment.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Brief Description of the Drawings

[0050] By describing the exemplary embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0051] Figure 1 It is a circuit schematic diagram of the fault self-checking device shown in the embodiment of the present application.

[0052] Wherein:

[0053] K1, the first switch component; K2, the second switch component; XP1, the third switch component;

[0054] XP2, the fourth switching component; U1, the exclusive - OR gate circuit; V3, the triode; R7, the first resistor circuit; V4, the first diode; R6, the second resistor circuit; R1, the third resistor circuit; R2, the fourth resistor circuit; R3, the fifth resistor circuit; R4, the sixth resistor circuit; R5, the tenth resistor; C1, the capacitor. Detailed implementation manners

[0055] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0056] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0057] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0058] Unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0059] Figure 1 It is a circuit schematic diagram of the fault self - detection device shown in the embodiments of the present application.

[0060] SeeFigure 1 , the first aspect of the present application provides a fault self-checking device, including:

[0061] A first stroke circuit, configured to electrically connect the positive electrode of the power supply, the negative electrode of the power supply, and a position reader, and output a first electrical signal when the positive electrode of the power supply and the position reader are conducting;

[0062] A second stroke circuit, configured to electrically connect the positive electrode of the power supply, the negative electrode of the power supply, and the position reader, and output a second electrical signal when the positive electrode of the power supply and the position reader are conducting;

[0063] A first switch component K1, connected in series on the first stroke circuit. When the first switch component K1 is closed, the positive electrode of the power supply and the position reader are conducting;

[0064] A second switch component K2, connected in series on the switch circuit, arranged in parallel with the first switch component K1. When the second switch component K2 is closed, the positive electrode of the power supply and the position reader are conducting;

[0065] An exclusive-OR gate circuit U1, having a first input terminal, a second input terminal, and an output terminal. The first input terminal is electrically connected to the first switch component K1, and the second input terminal is electrically connected to the second switch component K2; and

[0066] An alarm circuit, electrically connected to the output terminal, configured to give an alarm when receiving a high level;

[0067] Wherein, when the working states of the first switch component K1 and the second switch component K2 are normal, the output terminal of the exclusive-OR gate circuit U1 outputs a low level, and the alarm circuit does not give an alarm;

[0068] When the working states of the first switch component K1 and the second switch component K2 are inconsistent, the output terminal of the exclusive-OR gate circuit U1 outputs a high level, and the alarm circuit gives an alarm.

[0069] The fault self-checking device and the sports equipment of the present application. Among them, the fault self-checking device includes a first stroke circuit, a second stroke circuit, a first switch component K1, a second switch component K2, an exclusive-OR gate circuit U1, and an alarm circuit. Among them, the first stroke circuit is electrically connected to the positive pole and the negative pole of the power supply. When the first switch component K1 is closed, the first stroke circuit is turned on, and the first stroke circuit outputs a first electrical signal. When the sports equipment receives the first electrical signal, the stroke position of the sports equipment is determined; the second stroke circuit is electrically connected to the positive pole and the negative pole of the power supply. When the second switch component K2 is closed, the second stroke circuit is turned on, and the second stroke circuit outputs a second electrical signal. When the sports equipment receives the second electrical signal, the stroke position of the sports equipment is determined; the first switch component K1 and the second switch component K2 are connected in parallel with each other, and the redundant technology of double-switch parallel connection is realized in the sports equipment.

[0070] In the present application, by introducing the exclusive-OR gate circuit U1, the exclusive-OR gate circuit U1 has a first input terminal, a second input terminal, and an output terminal. The first input terminal is electrically connected to the first switch component K1, the second input terminal is electrically connected to the second switch component K2, and the alarm circuit is electrically connected to the output terminal. When the working states of the first switch component K1 and the second switch component K2 are normal, the output terminal of the exclusive-OR gate circuit U1 outputs a low level, and the alarm circuit does not alarm; when the working states of the first switch component K1 and the second switch component K2 are inconsistent, the output terminal of the exclusive-OR gate circuit U1 outputs a high level, and the alarm circuit alarms. Thus, it effectively solves the technical problem in the prior art that in the redundant design of using double stroke switches or micro switches in parallel, if any one of the two switches fails and is not detected in time, it will damage the moving mechanism and even cause serious safety accidents. It realizes that when any one of the switches in the sports equipment with double-switch parallel connection fails, an alarm message can be provided in time to remind the staff to replace it in time, improving the safety of the sports equipment.

[0071] In this embodiment, one end of the first stroke circuit is connected to the positive pole of the power supply, and the other end is connected to the negative pole of the power supply. There is a second diode on the first stroke circuit. Through the second diode, the voltage across the load at both ends of the first stroke circuit can be limited to prevent damage to the load caused by excessive voltage. The position reader is the load end. When the first switch component K1 is closed, the positive-pole current of the first electrical signal passes through the first switch component K1 and the second diode and enters the position reader, so that the position reader can know that the current stroke has reached the position at this time. The first switch component K1 can be a travel switch, a micro switch, a touch switch, or an induction switch, etc. When the stroke of the sports equipment reaches the position, the first switch component K1 is closed, so that when the positive pole of the power supply and the position reader are turned on, the first electrical signal is output, and the position reader recognizes that the stroke has reached the position.

[0072] In this embodiment, one end of the second stroke circuit is connected to the positive electrode of the power supply, and the other two ends are connected to the negative electrode of the power supply. There is a third diode on the second stroke circuit. Through the third diode, the voltage across the load on the second stroke circuit can be limited to prevent the load from being damaged by excessive voltage. The position reader is the load end. When the second switch component K2 is closed, the current of the positive electrode of the power supply of the second electrical signal passes through the second switch component K2 and the third diode and enters the position reader, so that the position reader can know that the current stroke has reached the position at this time. The second switch component K2 can be a travel switch, a microswitch, a touch switch, or an induction switch, etc. When the stroke of the moving device reaches the position, the second switch component K2 is closed, so that when the positive electrode of the power supply and the position reader are conducted, the second electrical signal is output, and the position reader recognizes that the stroke has reached the position.

[0073] The first switch component K1 and the second switch component K2 are connected in parallel with each other, thus realizing the redundant technology of double-switch parallel connection in the moving device.

[0074] The first switch component K1 is electrically connected to the first input terminal of the exclusive-OR gate circuit U1, and the second switch component K2 is electrically connected to the second input terminal of the exclusive-OR gate circuit U1. When the working states of the first switch component K1 and the second switch component K2 are normal, that is, when the first switch component K1 is normally closed, the voltage transmitted by the positive electrode of the power supply will reach the exclusive-OR gate circuit U1. At this time, the first input terminal of the exclusive-OR gate circuit U1 can detect the voltage or high-level input. When the second switch component K2 is normally closed, the voltage transmitted by the positive electrode of the power supply will reach the exclusive-OR gate circuit U1. At this time, the second input terminal of the exclusive-OR gate circuit U1 can detect the voltage or high-level input. At this time, when the exclusive-OR gate circuit U1 receives the same input from the first input terminal and the second input terminal, it outputs a low level, and the low level is transmitted to the alarm circuit, and the alarm circuit does not start at this time, that is, no alarm is made.

[0075] When the working states of the first switch component K1 and the second switch component K2 are inconsistent, that is, when any one of the first switch component K1 or the second switch component K2 is damaged, at this time, one of the first input terminal or the second input terminal of the exclusive-OR gate circuit U1 receives a high level, and the other receives a low level, then the output terminal of the exclusive-OR gate circuit U1 outputs a high level, and the high level acts on the alarm circuit to trigger the alarm circuit to give an alarm.

[0076] Among them, the alarm circuit can be provided with a buzzer, or an alarm communication device, or an alarm lamp with a diode can also be set up to prompt the operator that at least one of the first switch component K1 or the second switch component K2 is damaged at this time.

[0077] In some embodiments of the present application, the fault self-checking device further includes:

[0078] A triode V3 having an emitter, a base, and a collector, the base being electrically connected to the output terminal, the emitter being electrically connected to the alarm circuit, and the collector being electrically connected to the positive power supply.

[0079] In this embodiment, by electrically connecting the base of the triode V3 to the output terminal, it can be known whether the output terminal of the exclusive-OR gate circuit U1 outputs a high level or a low level. If the output terminal of the exclusive-OR gate circuit U1 outputs a high level and the base receives the high level, the current signal of the collector can be amplified and output from the emitter to the alarm circuit. The alarm circuit can be an externally connected buzzer or an indicator light at this time, or a device that generates an alarm signal.

[0080] Through the triode of this embodiment, it is possible to avoid the problem that the high level output from the output terminal of the exclusive-OR gate circuit U1 is too small, resulting in a poor alarm effect of the alarm circuit.

[0081] In some embodiments of the present application, the alarm circuit includes:

[0082] A first resistor circuit R7, one end of which is electrically connected to the emitter;

[0083] A first diode V4, a first end of the first diode V4 being electrically connected to the other end of the first resistor circuit R7, and a second end of the first diode V4 being electrically connected to the negative power supply;

[0084] An alarm, electrically connected to the emitter, for generating an alarm signal.

[0085] In this embodiment, the first resistor circuit R7 can be a fixed resistor, a variable resistor, or a plurality of resistors connected in series, which can protect the first diode V4 and avoid the problem that the current amplified by the triode V3 directly acts on the first diode V4, resulting in damage to the first diode V4.

[0086] The first diode V4 can play a role of unidirectional current conduction and light up the alarm when the triode V3 amplifies the current at the output terminal of the exclusive-OR gate circuit U1 to prompt the user that there is a damage to the first switch component K1 or the second switch component.

[0087] In some embodiments of the present application, the fault self-checking device further includes:

[0088] A second resistor circuit R6, connected in series between the base and the output terminal.

[0089] In this embodiment, the second resistor circuit R6 can be a fixed resistor, a variable resistor, or multiple resistors connected in series, which can protect the triode V3 and avoid the problem that the high level at the output end of the exclusive-OR gate circuit U1 directly acts on the base of the triode V3 and damages the triode V3.

[0090] In some embodiments of the present application, it further includes:

[0091] A filter circuit, one end of which is electrically connected to the output end, and the other end is electrically connected to the negative power supply terminal.

[0092] In this embodiment, the filter circuit can filter out the minute asynchronization time during the operation of the first switching component K1 and the second switching component K2, and avoid the problem that the exclusive-OR gate circuit U1 misjudges that one of the switching components is damaged and issues an alarm due to the minute asynchronization time during the operation of the first switching component K1 and the second switching component K2.

[0093] The filter circuit includes one or more series-connected resistor circuits and a capacitor C1. In this embodiment, the filter circuit includes a series-connected tenth resistor R5 and a capacitor C1, so as to filter out the error of the minute asynchronization time during the operation of the first switching component K1 and the second switching component K2.

[0094] In some embodiments of the present application, the first stroke circuit includes:

[0095] A third resistor circuit R1, connected in series between the first input terminal and the first switching component K1;

[0096] The second stroke circuit includes:

[0097] A fourth resistor circuit R2, connected in series between the second input terminal and the second switching component K2.

[0098] In this embodiment, both the third resistor circuit R1 and the fourth circuit can be a circuit composed of one resistor or multiple resistors. The third resistor circuit R1 and the fourth resistor circuit R2 are both used to protect the exclusive-OR gate circuit U1 and avoid the problem that the instantaneous current increases and breaks down the exclusive-OR gate circuit U1 in the case of a short circuit or failure of the first switching component K1 or the second switching component K2.

[0099] In some embodiments of the present application, the first stroke circuit further includes:

[0100] A fifth resistor circuit R3, connected in series between the first switching component K1 and the negative power supply terminal;

[0101] The second stroke circuit further includes:

[0102] The sixth resistor circuit R4 is connected in series between the second switch component K2 and the negative pole of the power supply.

[0103] In this embodiment, both the fifth resistor circuit R3 and the sixth resistor circuit R4 can be a circuit composed of one resistor or multiple resistors. The fifth resistor circuit R3 and the sixth resistor circuit R4 are both used to protect the power supply, avoiding the problem that the instantaneous current increases and causes damage to the power supply in the case of a short circuit or failure of the first switch component K1 or the second switch component K2.

[0104] In some embodiments of the present application, the fault self-checking device further includes:

[0105] A third switch component XP1, having a first control part, a second control part, and a third control part;

[0106] Wherein, one end of the first control part is electrically connected to the positive pole of the power supply, and the other end of the first control part is electrically connected to the first switch component K1 and the second switch component K2 respectively;

[0107] One end of the second switch component K2 is electrically connected to the first switch component K1, and the other end of the second control part is electrically connected to the first input end;

[0108] One end of the third control part is electrically connected to the second switch component K2, and the other end of the third control part is electrically connected to the second input end.

[0109] In this embodiment, the third switch component XP1 is a microswitch. The third switch component XP1 is actually connected in series with the second switch component K2 and the first switch component K1, so as to realize more accurate stroke positioning and avoid the problem that the first switch component K1 or the second switch component K2 is accidentally touched and closed, generating incorrect position information.

[0110] In some embodiments of the present application, the fault self-checking device further includes:

[0111] A fourth switch component XP2, having a fourth control part, a fifth control part, a sixth control part, and a seventh control part;

[0112] Wherein, one end of the fourth control part is electrically connected to the positive pole of the power supply, and the other end is electrically connected to the first switch component K1 and the second switch component K2;

[0113] One end of the fifth control part is electrically connected to the transmitting end, and the other end of the fifth control part is used to be electrically connected to an alarm receiver;

[0114] One end of the sixth control unit is electrically connected to the negative electrode of the power supply, and the other end of the sixth control unit is electrically connected to the second end of the first diode V4, the filter circuit, the fifth resistor circuit R3, and the sixth resistor circuit R4;

[0115] One end of the sixth control unit is electrically connected to the first stroke circuit and the first stroke circuit, and the other end of the sixth control unit is used for electrically connecting to a position reader.

[0116] In this embodiment, the fourth switch component XP2 is a micro switch, which is an interface for accessing the working power supply and sending position signals and alarm signals. Through the fourth switch component XP2, the accuracy of the stroke position of the moving device can be further ensured.

[0117] The second aspect of the present application provides a moving device, including:

[0118] The fault self-checking device according to any one of the above embodiments, and

[0119] A power supply having a positive electrode and a negative electrode of the power supply. The positive electrode of the power supply is electrically connected to the first stroke circuit and the first stroke circuit, and the negative electrode of the power supply is electrically connected to the output end;

[0120] The position reader is electrically connected to the first switch component K1 and the second switch component K2.

[0121] In the moving device of the present application, the fault self-checking device includes a first stroke circuit, a second stroke circuit, a first switch component K1, a second switch component K2, an exclusive OR gate circuit U1, and an alarm circuit. Among them, the first stroke circuit is electrically connected to the positive electrode and the negative electrode of the power supply. When the first switch component K1 is closed, the first stroke circuit is turned on, and the first stroke circuit outputs a first electrical signal. When the moving device receives the first electrical signal, the stroke position of the moving device is determined; the second stroke circuit is electrically connected to the positive electrode and the negative electrode of the power supply. When the second switch component K2 is closed, the second stroke circuit is turned on, and the second stroke circuit outputs a second electrical signal. When the moving device receives the second electrical signal, the stroke position of the moving device is determined; the first switch component K1 and the second switch component K2 are connected in parallel with each other, and a redundant technology of dual-switch parallel connection is realized in the moving mechanism.

[0122] In this application, an exclusive-OR gate circuit U1 is introduced. The exclusive-OR gate circuit U1 has a first input terminal, a second input terminal, and an output terminal. The first input terminal is electrically connected to the first switch component K1, the second input terminal is electrically connected to the second switch component K2, and the alarm circuit is electrically connected to the output terminal. When the operating states of the first switch component K1 and the second switch component K2 are normal, the output terminal of the exclusive-OR gate circuit U1 outputs a low level, and the alarm circuit does not alarm. When the operating states of the first switch component K1 and the second switch component K2 are inconsistent, the output terminal of the exclusive-OR gate circuit U1 outputs a high level, and the alarm circuit alarms. Thus, it effectively solves the technical problem in the prior art that in the redundant design of using two travel switches or microswitches in parallel, if any one of the two switches fails and is not detected in time, it will cause damage to the moving mechanism and even cause serious safety accidents. It realizes that when any one of the switches in the moving device with two switches in parallel fails, an alarm message can be provided in time to remind the staff to replace it in time, improving the safety of the moving device.

[0123] The moving device in this embodiment can be an industrial robot, a numerically controlled machine tool, an industrial assembly line, a conveying device, or the like.

[0124] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also know that the actions and modules involved in the specification are not necessarily essential to this application. In addition, it can be understood that the steps in the method embodiments of this application can be adjusted, combined, and deleted according to actual needs, and the modules in the device embodiments of this application can be combined, divided, and deleted according to actual needs.

[0125] The various embodiments of this application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the embodiments disclosed herein.

Claims

1. A fault self-checking device, characterized in that, Comprising: A first stroke circuit for electrically connecting the positive power supply, the negative power supply, and a position reader, and outputting a first electrical signal when the positive power supply and the position reader are conducting; A second stroke circuit for electrically connecting the positive power supply, the negative power supply, and the position reader, and outputting a second electrical signal when the positive power supply and the position reader are conducting; A first switch component connected in series on the first stroke circuit, and when the first switch component is closed, the positive power supply and the position reader are conducting; A second switch component connected in series on the switch circuit, arranged in parallel with the first switch component, and when the second switch component is closed, the positive power supply and the position reader are conducting; An exclusive-OR gate circuit having a first input terminal, a second input terminal, and an output terminal, the first input terminal being electrically connected to the first switch component, and the second input terminal being electrically connected to the second switch component; And An alarm circuit electrically connected to the output terminal for alarming when receiving a high level; Wherein, when the operating states of the first switch component and the second switch component are normal, the output terminal of the exclusive-OR gate circuit outputs a low level, and the alarm circuit does not alarm; When the operating states of the first switch component and the second switch component are inconsistent, the output terminal of the exclusive-OR gate circuit outputs a high level, and the alarm circuit alarms.

2. The fault self-checking device according to claim 1, wherein Further comprising: A triode having an emitter, a base, and a collector, the base being electrically connected to the output terminal, the emitter being electrically connected to the alarm circuit, and the collector being electrically connected to the positive power supply.

3. The fault self-checking device according to claim 2, wherein, The alarm circuit includes: A first resistor circuit, one end of which is electrically connected to the emitter; A first diode, the first end of the first diode being electrically connected to the other end of the first resistor circuit, and the second end of the first diode being electrically connected to the negative power supply; An alarm device electrically connected to the emitter for generating an alarm signal.

4. The fault self-checking device according to claim 3, characterized in that, Further comprising: A second resistor circuit connected in series between the base and the output terminal.

5. The fault self-checking device according to claim 4, wherein Further comprising: A filter circuit, one end of which is electrically connected to the output terminal, and the other end of which is electrically connected to the negative power supply.

6. The fault self-checking device according to claim 5, characterized in that, The first stroke circuit includes: A third resistor circuit connected in series between the first input terminal and the first switch component; The second stroke circuit includes: A fourth resistor circuit connected in series between the second input terminal and the second switch component.

7. The fault self-checking device according to claim 6, characterized in that The first stroke circuit further includes: A fifth resistor circuit connected in series between the first switch component and the negative power supply; The second stroke circuit further includes: A sixth resistor circuit connected in series between the second switch component and the negative power supply.

8. The fault self-checking device according to claim 7, characterized in that, Further comprising: A third switch component having a first control part, a second control part, and a third control part; Wherein, one end of the first control part is electrically connected to the positive pole of the power supply, and the other end of the first control part is respectively electrically connected to the first switch component and the second switch component; One end of the second switch component part is electrically connected to the first switch component part, and the other end of the second control part is electrically connected to the first input terminal; One end of the third control unit is electrically connected to the second switch component, and the other end of the third control unit is electrically connected to the second input terminal.

9. The fault self-checking device according to claim 8, characterized in that, It further includes: A fourth switch component, having a fourth control unit, a fifth control unit, a sixth control unit, and a seventh control unit; Wherein, one end of the fourth control unit is electrically connected to the positive power supply, and the other end is electrically connected to the first switch component and the second switch component; One end of the fifth control unit is electrically connected to the transmitting end, and the other end of the fifth control unit is used for electrically connecting to an alarm receiver; One end of the sixth control unit is electrically connected to the negative power supply, and the other end of the sixth control unit is electrically connected to the second end of the first diode, the filter circuit, the fifth resistor circuit, and the sixth resistor circuit; One end of the sixth control unit is electrically connected to the first travel circuit and the first travel circuit, and the other end of the sixth control unit is used for electrically connecting to the position reader.

10. A sports device, characterized in that, It includes: The fault self-checking device according to any one of claims 1-9, and A power supply, having a positive power supply and a negative power supply, the positive power supply is electrically connected to the first travel circuit and the second travel circuit, and the negative power supply is electrically connected to the output terminal; The position reader is electrically connected to the first switch component and the second switch component.

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