A relay, a relay control method, a control circuit, and a safety system

Abstract

A relay is disclosed, comprising: an instantaneous module and a delay module. The instantaneous module includes a first driving circuit, a first output circuit, and a first relay. The first driving circuit instantaneously controls the first relay to operate based on a start signal, and the first output circuit outputs an operation signal for the first relay. The delay module includes a second driving circuit, a first delay circuit, a second output circuit, and a second relay. The second driving circuit controls the first delay circuit based on the operation signal of the first relay. After a first delay T1, the first delay circuit controls the second relay to operate, and the second output circuit outputs an operation signal for the second relay. Thus, the safe and reliable power-off of both instantaneous and delayed contacts is simultaneously achieved.

Description

Technical Field

[0001] This application relates to the field of industrial safety control, and mainly to a safety relay with integrated instantaneous and delayed contacts and its control circuit. Background Technology

[0002] Traditional safety relays only have instantaneous contacts, immediately disconnecting power to all loads when a safety requirement is triggered (such as an emergency stop button). However, some devices (such as motors and brakes) require a delayed power disconnection to complete the safety shutdown process. Existing solutions require external time-delay relays, leading to system complexity, high cost, low reliability, and reduced safety. Therefore, there is an urgent need for a safety relay with integrated time-delay functionality to achieve delayed contact disconnection. Summary of the Invention

[0003] To address the technical problem that existing relays cannot simultaneously satisfy the safe and reliable power-off requirements of instantaneous contacts and delayed contacts, this application proposes a relay.

[0004] In a first aspect, this application proposes a relay, comprising: an instantaneous module and a delay module. The instantaneous module includes a first driving circuit, a first output circuit, and a first relay. The first driving circuit is used to instantaneously control the first relay to operate according to a start signal, and the first output circuit outputs a first relay operation signal. The delay module includes a second driving circuit, a first delay circuit, a second output circuit, and a second relay. The second driving circuit is used to control the first delay circuit according to the first relay operation signal. The first delay circuit controls the second relay to operate after a first delay T1, and the second output circuit outputs a second relay operation signal.

[0005] This relay integrates the instantaneous module and the delay module into the same relay, thus simultaneously satisfying both the instantaneous disconnection of the relay contacts and the safe and reliable disconnection of the delayed contacts.

[0006] In one possible implementation, the first delay circuit includes a first flip-flop and a first timer. The first flip-flop is used to enable the first timer, or the first timer is used to enable the first flip-flop. Specifically, when the first flip-flop enables the first timer: the second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first flip-flop according to the first relay action signal; the first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer controls the second relay to operate after a first delay T1 according to the enable signal of the first flip-flop; or, when the first timer enables the first flip-flop: the second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first timer according to the first relay action signal; the first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer enables the first flip-flop after a first delay T1, and the first flip-flop controls the second relay to operate.

[0007] The instantaneous relay achieves millisecond-level safety response (≤45ms), meeting the ISO 13849 immediate power-off requirements; the delayed relay provides configurable delayed power-off (ms~s), compatible with controlled stop requirements such as motor inertial stop and data saving. The relay in this embodiment meets the safety power-off requirements for both instantaneous and delayed scenarios.

[0008] In one possible implementation, the instantaneous module further includes a third driving circuit, a third output circuit, and a third relay. The third driving circuit is used to instantaneously control the third relay to operate according to a start signal, and the third output circuit outputs a third relay operation signal. The delay module further includes a fourth driving circuit, a second delay circuit, a fourth output circuit, and a fourth relay. The fourth driving circuit is used to control the second delay circuit according to the third relay operation signal. The second delay circuit controls the fourth relay to operate after a second delay T2, and the fourth output circuit outputs a fourth relay operation signal. The instantaneous module further includes a fifth output circuit, which outputs a safe output instantaneous signal based on the first relay operation signal and the third relay operation signal. The delay module further includes a sixth output circuit, which outputs a safe output delayed signal based on the second relay operation signal and the fourth relay operation signal.

[0009] The dual-channel redundancy design ensures that the delayed output meets functional safety requirements, improving the safety of the relay's delayed disconnection. Dual-channel signal verification (sensor input + reset signal) achieves diagnostic coverage (DC). 99%.

[0010] The heterogeneous design of the dual channels reduces the risk of common cause failure.

[0011] In one possible implementation, the second delay circuit includes a second flip-flop and a second timer, wherein the second flip-flop is used to enable the second timer or the second timer is used to enable the second flip-flop; wherein, when the second flip-flop is used to enable the second timer: the fourth driving circuit is used to control the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit is used to control the second flip-flop according to the third relay action signal; the second delay circuit controls the fourth relay to act after a second delay T2, specifically including: the second timer controls the fourth relay to act after a second delay T2; or, when the second timer is used to enable the second flip-flop: the fourth driving circuit is used to control the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit is used to control the second timer according to the third relay action signal; the second delay circuit controls the fourth relay to act after a second delay T2, specifically including: the second timer enables the second flip-flop after a second delay T2, and the second flip-flop controls the fourth relay to act.

[0012] It is evident that the dual-channel redundancy design ensures that the instantaneous output meets functional safety requirements and enhances the safety of instantaneous relay disconnection.

[0013] In one possible implementation, the delay module is in a fixed delay mode or an adjustable delay mode.

[0014] In one possible implementation, the fixed delay mode is that the delay module includes at least one first resistor and at least one first capacitor, wherein the parameter values ​​of the first resistor and the first capacitor are fixed.

[0015] In one possible implementation, the adjustable delay mode is that the delay module includes a plurality of first resistors and a plurality of first capacitors, wherein at least one of the plurality of first resistors and at least one of the plurality of first capacitors are connected to a corresponding switch.

[0016] In one possible implementation, the first or second flip-flop is an RS flip-flop, and the first or second timer is a 4541 timer. This hardware delay module-based approach replaces the MCU solution, eliminating the risk of common-cause failure (CCF) in software; the functional safety certification cycle is shortened by 50%, and the functional safety certification cost is reduced by 35%.

[0017] In one possible implementation, the RS trigger is a Schmitt-enhanced RS trigger. The Schmitt-enhanced RS trigger suppresses sensor signal jitter of ≤10ms; in emergency situations, sensor needs take priority, ensuring the equipment is accessed and remains in a safe state.

[0018] In one possible implementation, the relay further includes a power supply circuit that provides a power signal to the relay, and / or the power supply circuit further includes an EMC protection circuit for suppressing electromagnetic interference and improving immunity.

[0019] In one possible implementation, the relay further includes a starting circuit that outputs a starting signal, which is an enable signal for the relay.

[0020] Secondly, this application also provides a relay control method. The circuit includes an instantaneous module and a delay module. The instantaneous module includes a first driving circuit, a first output circuit, and a first relay. The delay module includes a second driving circuit, a first delay circuit, a second output circuit, and a second relay. The first driving circuit instantaneously controls the first relay to operate according to a start signal. The first output circuit outputs a first relay operation signal. The second driving circuit controls the first delay circuit according to the first relay operation signal. The first delay circuit controls the second relay to operate after a first delay T1. The second output circuit outputs a second relay operation signal.

[0021] In one possible implementation, the first delay circuit includes a first flip-flop and a first timer, wherein the first flip-flop enables the first timer or the first timer enables the first flip-flop; wherein, when the first flip-flop enables the first timer: the second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first flip-flop according to the first relay action signal; the first delay circuit controls the second relay to act after a first delay T1, specifically including: the first timer controls the second relay to act after a first delay T1 according to the first flip-flop's enable signal; or, when the first timer enables the first flip-flop: the second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first timer according to the first relay action signal; the first delay circuit controls the second relay to act after a first delay T1, specifically including: the first timer enables the first flip-flop after a first delay T1, and the first flip-flop controls the second relay to act.

[0022] In one possible implementation, the instantaneous module further includes a third driving circuit, a third output circuit, and a third relay; the delay module further includes a fourth driving circuit, a second delay circuit, a fourth output circuit, and a fourth relay; the instantaneous module further includes a fifth output circuit; and the delay module further includes a sixth output circuit. The third driving circuit instantaneously controls the third relay to operate based on the start signal; the third output circuit outputs a third relay operation signal; the fourth driving circuit controls the second delay circuit based on the third relay operation signal; and the second delay circuit controls the fourth relay to operate after a second delay T2. The fourth output circuit outputs a fourth relay action signal; the fifth output circuit outputs a safety output instantaneous signal based on the first relay action signal and the third relay action signal; and the sixth output circuit outputs a safety output delay signal based on the second relay action signal and the fourth relay action signal.

[0023] In one possible implementation, the second delay circuit includes a second flip-flop and a second timer, wherein the second flip-flop enables the second timer or the second timer enables the second flip-flop; wherein, when the second flip-flop enables the second timer: the fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit controls the second flip-flop according to the third relay action signal; the second delay circuit controls the fourth relay to act after a second delay T2, specifically including: the second timer controls the fourth relay to act after a second delay T2; or, when the second timer enables the second flip-flop: the fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit controls the second timer according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically: the second timer enables the second flip-flop after a second delay T2, and the second flip-flop controls the fourth relay to operate.

[0024] Thirdly, this application also provides a control circuit for a sensor, the control circuit including the relay described in any of the above aspects.

[0025] Fourthly, this application also provides a safety system, the system including a sensor, a controller, and an actuator, the controller including a relay as described in any of the preceding aspects.

[0026] The technical effects of the technical solutions corresponding to the second to fourth aspects are the same as those of the technical solution in the first aspect, and will not be repeated here.

[0027] In summary, the technical solution of this application has the following technical effects: This relay integrates the instantaneous module and the delay module into the same relay, thus simultaneously satisfying both the instantaneous disconnection of the relay contacts and the safe and reliable disconnection of the delayed contacts.

[0028] The instantaneous relay achieves millisecond-level safety response (≤45ms), meeting the ISO 13849 immediate power-off requirements; the delayed relay provides configurable delayed power-off (ms~s), compatible with controlled stop requirements such as motor inertial stop and data saving. The relay in this embodiment meets the safety power-off requirements for both instantaneous and delayed scenarios.

[0029] The dual-channel redundancy design ensures that the delayed output meets functional safety requirements, improving the safety of the relay's delayed disconnection. Dual-channel signal verification (sensor input + reset signal) achieves diagnostic coverage (DC). 99%.

[0030] The dual-channel redundancy design ensures that the instantaneous output meets functional safety requirements and improves the safety of instantaneous relay disconnection.

[0031] The heterogeneous design of the dual channels reduces common cause failures.

[0032] The hardware-based delay module replaces the MCU solution, eliminating the risk of common cause failure (CCF) in software; the functional safety certification cycle is shortened by 50%, and the functional safety certification cost is reduced by 35%.

[0033] The Schmitt trigger-enhanced RS trigger suppresses sensor signal jitter of ≤10ms; in emergency situations, sensor needs are prioritized to ensure the equipment enters and remains in a safe state. Attached Figure Description

[0034] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0035] Figure 1 A safety and reliability block diagram of a safety relay according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of a delay circuit according to a specific embodiment of the present invention is shown; Figure 3aA schematic diagram of a delay circuit structure according to a specific embodiment of the present invention is shown; Figure 3b A schematic diagram of a delay circuit structure according to another specific embodiment of the present invention is shown; Figure 4a A schematic diagram of a dual-channel delay circuit structure according to a specific embodiment of the present invention is shown; Figure 4b A schematic diagram of a dual-channel delay circuit structure according to another specific embodiment of the present invention is shown; Figure 5 A schematic diagram of a configurable timer according to a specific embodiment of the present invention is shown; Figure 6 A schematic diagram of a security system according to a specific embodiment of the present invention is shown; Figure 7 A flowchart of a relay control method according to this embodiment is shown. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] Figure 1 A safety and reliability block diagram of a safety relay according to an embodiment of the present invention is shown, such as... Figure 1 As shown, In a specific embodiment, a safety relay is provided, which includes a power supply circuit 101, a start-up circuit 102, an instantaneous module 103, and a delay module 104. This relay integrates the instantaneous module and the delay module into the same relay, thereby simultaneously satisfying both the instantaneous disconnection of the relay contacts and the safe and reliable disconnection of the delayed contacts.

[0039] This power module provides power to the entire safety relay. Furthermore, the power circuit also includes an EMC protection circuit to suppress electromagnetic interference and improve immunity.

[0040] This starting circuit provides a start signal to the relay, which enables the relay. Furthermore, this starting circuit provides the start signal only when the sensor is receiving normal input.

[0041] This relay can be single-channel or dual-channel. (See attached image) Figure 1 The single channel can be Figure 1 The structure of channel A or channel B is described below using channel A as an example. The structure of channel B is the same, so it will not be described again.

[0042] The instantaneous module of channel A includes a first drive circuit 103, a first output circuit 104, and a first relay 105. The first drive circuit 103 can be a channel A drive and holding circuit, used to instantaneously control the operation of the first relay 105 according to the start signal. The first relay 105 is an instantaneous relay. The first output circuit 104 outputs the first relay operation signal. The first output circuit 104 is the channel A output circuit, outputting the operation signal of the instantaneous relay.

[0043] Furthermore, after the start signal drives the first relay 105, the normally open contact of the first relay, i.e. the momentary contact, closes, and then enters a closed state through its own normally open contact. At this time, the start signal is disconnected, which does not affect the state of the relay.

[0044] Furthermore, when the sensor has a need, such as when the emergency stop button is pressed, channel A will be de-energized, and the first relay 105 of channel A will be released.

[0045] In this embodiment, the delay module of channel A includes a second driving circuit 106, a first delay circuit 107, a second output circuit 108, and a second relay 109. The second driving circuit 106 controls the first delay circuit 107 according to the first relay action signal. After the first delay circuit 107 performs a first delay T1, it controls the second relay 109 to operate. The second output circuit 108 outputs the second relay action signal.

[0046] The second driving circuit 106 and the first delay circuit 107 can be the driving and holding circuits of the delay module in channel A, connected to the first relay 105, and can receive the action control signal of the first relay 105. The driving and holding circuits of the delay module in channel A cause the delay contact to actuate and enter the holding state.

[0047] The first delay circuit 107 is a circuit with a delay function, and it can be implemented in various forms, including but not limited to triggers and timers, or RC delay devices. Further details will not be provided here.

[0048] Optional, as shown in the appendix Figure 2 As shown, the first delay circuit 107 includes a first flip-flop 201 and a first timer 202.

[0049] Further triggers can be RS triggers, and timers can be 4541 timers. An RC oscillation circuit based on the 4541 timer replaces the MCU solution, eliminating the risk of software common cause failure (CCF); the functional safety certification cycle is shortened by 50%, and the functional safety certification cost is reduced by 35%.

[0050] Furthermore, the aforementioned RS trigger can be a Schmitt-enhanced RS trigger. The Schmitt-enhanced RS trigger suppresses sensor signal jitter of ≤10ms; in emergency situations, sensor requirements take priority, ensuring the equipment enters and remains in a safe state.

[0051] In this embodiment, the first delay circuit 107 controls the second relay to operate after a first delay T1, and the second output circuit outputs the second relay operation signal. The second relay 109 is a time-delay relay.

[0052] The operating status of the safety relays is shown in Table 1: Table 1 ; The instantaneous relay in this embodiment achieves millisecond-level safety response (≤45ms), meeting the ISO 13849 immediate power-off requirements; the time-delay relay provides configurable delayed power-off (ms~s), compatible with controlled stop requirements such as motor inertial stop and data saving. The relay in this embodiment meets the safety power-off requirements for both instantaneous and delayed scenarios. Instantaneous disconnection is stop category 0, and delayed disconnection is stop category 1. The so-called stop category is based on the standard IEC 60204-1.

[0053] In another embodiment, such as Figure 1 As shown, the relay can also be in dual-channel mode, that is, it includes both channel A and channel B.

[0054] The dual-channel redundancy design ensures that the delayed output meets functional safety requirements, improving the safety of the relay's delayed disconnection. Dual-channel signal verification (sensor input + reset signal) achieves diagnostic coverage (DC). 99%.

[0055] The structure of channel A is consistent with that described in the previous embodiments, and will not be repeated here.

[0056] Specifically, in this embodiment, the instantaneous module of the relay further includes a third driving circuit 1033, a third output circuit 1044, and a third relay 1055. The third driving circuit 1033 can be a B-channel driving and holding circuit, used to instantaneously control the operation of the third relay according to the start signal. The third relay 1055 is an instantaneous relay. The third output circuit 1044 outputs the operation signal of the third relay. The third output circuit 1044 is a B-channel output circuit that outputs the operation signal of the instantaneous relay.

[0057] Furthermore, after the start signal drives the third relay 1055, the normally open contact of the third relay, i.e. the momentary contact, closes, and then enters a closed state through its own normally open contact. At this time, the start signal is disconnected, which does not affect the state of the relay.

[0058] Furthermore, when the sensor has a need, such as when the emergency stop button is pressed, channel B will be powered off, and the third relay of channel B will be released.

[0059] In this dual-channel mode, the aforementioned delay module further includes a fourth driving circuit 1066, a second delay circuit 1077, a fourth output circuit 1088, and a fourth relay 1099. The fourth driving circuit 1066 is used to control the second delay circuit 1077 according to the third relay action signal. After the second delay circuit 1077 performs a second delay T2, it controls the fourth relay 1099 to act. The fourth output circuit 1088 outputs the fourth relay action signal.

[0060] The fourth driving circuit 1066 can be the driving and holding circuit for the delay module in channel B, and is connected to the third relay mentioned above. It can receive the operation control signal of the third relay. The function of the driving and holding circuit for the delay module in channel B is the same as that of the driving and holding circuit for the delay module in channel A, and will not be described again here.

[0061] The second delay circuit 1077 is a circuit with a delay function, and it can be implemented in various ways, including but not limited to triggers and timers, or RC delay devices. Further details will not be provided here.

[0062] Optionally, the second delay circuit 1077 may include: a second flip-flop and a second timer.

[0063] Further triggers can be RS triggers, and timers can be 4541 timers.

[0064] Furthermore, the aforementioned RS trigger can be a Schmitt-enhanced RS trigger.

[0065] In this embodiment, the second delay circuit 1077 controls the fourth relay 1099 to operate after a second delay T2, and the fourth output circuit outputs an operation signal for the fourth relay. The fourth relay is a time-delay relay.

[0066] The instantaneous module also includes a fifth output circuit 1010, which outputs a safety output instantaneous signal based on the first relay action signal and the third relay action signal.

[0067] Optionally, the fifth output circuit 1010 may include a fifth relay and a sixth relay, wherein the fifth relay is connected to the first relay and the sixth relay is connected to the third relay. When either the first relay in channel A or the third relay in channel B is disconnected, the fifth output circuit also outputs a safety disconnect signal.

[0068] The normally open contacts of relays A and B are redundantly connected in series to form a single safety output contact. This ensures that if either of the two sensor channels disconnects, the safety output disconnects, entering a safe state. The instantaneous output safety contact characteristics meet PLe, Category 4 according to ISO 13849 and SIL3 according to IEC 61508. Therefore, the dual-channel redundancy design ensures that the instantaneous output meets functional safety requirements and enhances the safety of instantaneous relay disconnection.

[0069] The delay module also includes a sixth output circuit, which outputs a safe output delay signal based on the second relay action signal and the fourth relay action signal.

[0070] Optionally, as shown in Figure 4, the sixth output circuit may include a seventh relay JK3G and an eighth relay JK4G, wherein the seventh relay JK3G is connected to the second relay JK3A, and the eighth relay JK4G is connected to the fourth relay JK4A. When either the second relay JK3A in channel A or the fourth relay JK4A in channel B is disconnected, the sixth output circuit also outputs a safety disconnect signal.

[0071] The normally open contacts of the A-channel delay relay and the B-channel delay relay are connected in series for redundancy to form a single safety output contact. When either of the two sensor channels disconnects, the safety output will disconnect after a delay, entering a safe state. The delay output safety contact characteristics meet PLd, Category 3 according to ISO 13849 and SIL2 according to IEC 61508. Therefore, the dual-channel redundancy design ensures that the delay output meets functional safety requirements and improves the safety of the relay's delayed disconnection.

[0072] In another embodiment, the first trigger 201 and the first timer 202 have at least two uses: the first trigger 201 is used to enable the first timer 202 or the first timer 202 is used to enable the first trigger 201.

[0073] Among them, optional, attached Figure 3a As shown, when the first trigger enables the first timer, the first relay is first connected to the first trigger, causing the sensor signal and the relay signal to act on the trigger first. Then, the first trigger is connected to the first timer, causing the first timer to start a delay. After the delay is complete, the relay is then driven. Specifically, the second driving circuit is used to control the first trigger according to the first relay's action signal; the first timer controls the second relay to act after a first delay T1 based on the first trigger's enable signal.

[0074] Or, as attached Figure 3b As shown, when the first timer is used to enable the first trigger, the positions of the first timer and the first trigger can be interchanged. The first relay is first connected to the first timer, so that the sensor signal and the relay signal act on the timer to start the delay. After the delay is completed, the trigger is then enabled, which in turn drives the relay. Specifically, the second driving circuit is used to control the first timer according to the first relay action signal; after the first timer performs a first delay T1, it enables the first trigger, and the first trigger controls the second relay to operate.

[0075] In another embodiment, the second trigger and the second timer also include at least two usage modes: the second trigger is used to enable the second timer or the second timer is used to enable the second trigger.

[0076] Optionally, for channel B, similar to channel A, when the second trigger enables the second timer, the third relay is first connected to the second trigger, causing the sensor signal and relay signal to act on the trigger first. Then, the second trigger is connected to the second timer, causing the second timer to start a delay. After the delay is complete, the relay is then driven. Specifically, the fourth drive circuit controls the fourth trigger according to the third relay's action signal; the second timer controls the second relay to act after a second delay T2 based on the second trigger's enable signal.

[0077] Alternatively, when the second timer is used to enable the second flip-flop, the positions of the second timer and the second flip-flop can be interchanged. The third relay is first connected to the second timer, so that the sensor signal and the relay signal act on the timer to start the delay. After the delay is completed, the flip-flop is then enabled, thereby driving the relay. Specifically, the fourth drive circuit is used to control the second timer according to the action signal of the third relay; after the second timer performs a second delay T2, it enables the second flip-flop, and the second flip-flop controls the fourth relay to operate.

[0078] Furthermore, such as Figure 3a As shown in 3b, when both channels A and B use RS flip-flops to enable the 4541 timer, the state of the safety relay delay circuit is as follows in Table 2: (Dual-channel redundancy, the two channels are designed the same, only one channel needs to be described, taking channel A as an example).

[0079] Table 2 ; The truth values ​​of the RS flip-flops constructed using NAND gates are shown in Table 3: Table 3 ; 4541 Timer Pin Functions: MR: Timer Enable; SEL: Initial Level of Q Input, SEL=1 means the Q output waveform is 1--- 0; SEL=0 means the Q-terminal output waveform is 0--- 1.

[0080] Optional, such as Figure 4a As shown, the structure of channel B can be the same as that of channel A, or it can be as follows: Figure 4b As shown, the structure of channel B is different from that of channel A, i.e., a heterogeneous architecture is adopted. Therefore, even if a single point of failure occurs (such as a timer failure in a certain channel), the sensor will still enter a safe state when there is a need to disconnect, thereby reducing common cause failures.

[0081] In one embodiment, the delay module is a fixed delay mode or an adjustable delay mode.

[0082] Optionally, in a fixed delay mode, the delay module includes at least one first resistor and at least one first capacitor, wherein the parameter values ​​of the first resistor and the first capacitor are fixed.

[0083] Furthermore, for timers, the delay time depends on the configuration of RC and the frequency division factor AB.

[0084] Specifically, such as Figure 3aAs shown, the timer's timing enable depends on the MR pin. When MR=0, timing begins, and the timing duration depends on the high and low levels of R8, C3, and pins A and B. The initial level of the timer's Q pin output depends on the SEL pin. Initially, this pin is 0 upon power-up, and 1 when action or hold is required. The RS flip-flop implemented using NAND gates performs several state transitions, as detailed in Table 1-4 above. Initially, the base of transistor Q1 is not energized and is in the off state. R1 is the base current-limiting resistor, R2 is the pull-down resistor, and C1 is the bypass capacitor. When the sensor channel signal is input and the instantaneous contact JK1D closes, the delay circuit starts working, transistor Q1 turns on, point P1 is grounded, i.e., the RS flip-flop output is set to 1, i.e., SEL is set to 1, and then Q is set to 1. The base resistor R10 drives transistor Q2, and relay JK3 operates. At this time, MR=0, and the timing function is not triggered. When the sensor has a safety requirement, the channel is disconnected, the instantaneous contact JK1D opens, Q1 is cut off, P1=1, P3=1. At this time, it is in the hold state of the RS flip-flop, that is, the state bit remains unchanged. SEL is still 1, but since P5 becomes 1, the NAND gate P8 outputs 0, that is, MR=0, and the timing function starts to trigger. When the timing ends, the output state of Q pin flips, thus realizing 1---- For the JK3 relay, the signal change to 0 means that the relay contacts will open after a certain delay. This means that after the sensor channel is disconnected, the relay contacts will open after a delay, which meets the requirements of stop category 1, i.e., controlled stop.

[0085] The dual-channel redundant design works on the same principle as the other channel, so it will not be described again.

[0086] Optionally, when the delay module is an adjustable delay module, the delay time can be configured by adding a switch to switch between different settings, such as a DIP switch, which can perform dual switching in one setting. There are four different frequency division coefficients for the A and B settings, as shown in Table 4.

[0087] Table 4 ; The adjustable delay mode is that the delay module includes multiple first resistors and multiple first capacitors, wherein at least one of the multiple first resistors and at least one of the multiple first capacitors are connected to a corresponding switch.

[0088] Optional, such as Figure 5 As shown, the timer's RTC, CTC, A, and B all contain multiple resistors and capacitors, each of which is equipped with a switch.

[0089] refer to Figure 6 , Figure 6A schematic diagram of a specific safety system according to the present invention is shown. The safety system includes a sensor 601, a controller 602, and an actuator 603, wherein the controller includes the relay described in the previous embodiment.

[0090] Optionally, the sensor may be an emergency stop button, a safety door, or an OSSD; the controller may be a safety relay or a safety controller; and the actuator may be a safety contactor, a braking device, or a motor.

[0091] refer to Figure 7 , Figure 7 This embodiment illustrates a relay control method, wherein the relay is any of the embodiments described in the previous embodiments, and the order of execution of the steps involved in this application embodiment is not limited. The control method includes the following steps: 701, the first drive circuit momentarily controls the first relay to operate according to the start signal; 702, the first output circuit outputs a first relay action signal; 703, the second driving circuit controls the first delay circuit according to the first relay action signal; 704, the first delay circuit controls the second relay to operate after a first delay T1; 705, the second output circuit outputs the second relay action signal.

[0092] Furthermore, the first trigger can enable the first timer, or the first timer can enable the first trigger; Wherein, when the first trigger enables the first timer: The second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: 801, the second driving circuit controls the first trigger according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: 802, the first timer controls the second relay to operate after a first delay T1 according to the enable signal of the first flip-flop; Alternatively, if the first timer enables the first trigger: The second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: 901, the second driving circuit controls the first timer according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: 902, the first timer enables the first flip-flop after a first delay T1, and the first flip-flop controls the second relay to operate.

[0093] Furthermore, when the relay is a dual-channel design, the control method in this embodiment also includes: 706, the third drive circuit momentarily controls the third relay to operate based on the start signal; 707, the third output circuit outputs the third relay action signal; 708, the fourth driving circuit controls the second delay circuit according to the third relay action signal; 709, the second delay circuit controls the fourth relay to operate after the second delay T2; 7010, the fourth output circuit outputs a fourth relay action signal; 7011, the fifth output circuit outputs a safety output instantaneous signal based on the first relay action signal and the third relay action signal; 7012, the sixth output circuit outputs a safety output delay signal based on the second relay action signal and the fourth relay action signal.

[0094] Furthermore, the second flip-flop enables the second timer, or the second timer enables the second flip-flop; Specifically, when the second flip-flop enables the second timer: The fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: 803, the fourth driving circuit controls the second trigger according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically including: 804, the second timer controls the fourth relay to operate after a second delay T2; Alternatively, if the second timer enables the second flip-flop: The fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: 903, the fourth driving circuit controls the second timer according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2. Specifically, 904, the second timer enables the second flip-flop after a second delay T2, and the second flip-flop controls the fourth relay to operate.

[0095] The technical solutions involved in this method are similar in technical effect to those involved in the product, and will not be elaborated further here.

[0096] The specific embodiments of this application have been described above, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0097] In the description of this application, it should be understood that the terms "upper," "lower," "inner," "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that combinations of these measures cannot be used for improvement. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A relay, comprising: The instantaneous module and the delay module are characterized in that: The instantaneous module includes a first driving circuit, a first output circuit, and a first relay. The first driving circuit is used to instantaneously control the first relay to operate according to the start signal, and the first output circuit outputs the first relay operation signal. The delay module includes a second driving circuit, a first delay circuit, a second output circuit, and a second relay. The second driving circuit is used to control the first delay circuit according to the action signal of the first relay. After the first delay circuit performs a first delay T1, it controls the second relay to act. The second output circuit outputs the action signal of the second relay.

2. The relay according to claim 1, characterized in that: The first delay circuit includes a first flip-flop and a first timer, wherein the first flip-flop is used to enable the first timer or the first timer is used to enable the first flip-flop; Wherein, when the first trigger is used to enable the first timer: The second driving circuit is used to control the first delay circuit according to the first relay action signal, specifically including: the second driving circuit is used to control the first trigger according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer controls the second relay to operate after a first delay T1 based on the enable signal of the first flip-flop; Alternatively, if the first timer is used to enable the first trigger: The second driving circuit is used to control the first delay circuit according to the first relay action signal, specifically including: the second driving circuit is used to control the first timer according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer enables the first flip-flop after a first delay T1, and the first flip-flop controls the second relay to operate.

3. The relay according to claim 1 or 2, characterized in that: The instantaneous module also includes a third driving circuit, a third output circuit, and a third relay. The third driving circuit is used to instantaneously control the third relay to operate according to the start signal, and the third output circuit outputs the third relay operation signal. The delay module further includes a fourth driving circuit, a second delay circuit, a fourth output circuit, and a fourth relay. The fourth driving circuit is used to control the second delay circuit according to the action signal of the third relay. After the second delay circuit performs a second delay T2, it controls the fourth relay to act. The fourth output circuit outputs the action signal of the fourth relay. The instantaneous module also includes a fifth output circuit, which outputs a safe output instantaneous signal based on the first relay action signal and the third relay action signal. The delay module also includes a sixth output circuit, which outputs a safe output delay signal based on the second relay action signal and the fourth relay action signal.

4. The relay according to claim 3, characterized in that: The second delay circuit includes a second flip-flop and a second timer, wherein the second flip-flop is used to enable the second timer or the second timer is used to enable the second flip-flop; Specifically, when the second flip-flop is used to enable the second timer: The fourth driving circuit is used to control the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit is used to control the second trigger according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically including: the second timer controls the fourth relay to operate after a second delay T2; Alternatively, if the second timer is used to enable the second flip-flop: The fourth driving circuit is used to control the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit is used to control the second timer according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically: the second timer enables the second flip-flop after a second delay T2, and the second flip-flop controls the fourth relay to operate.

5. The relay according to at least one of claims 1-4, characterized in that: The delay module can be either a fixed delay mode or an adjustable delay mode.

6. The relay according to claim 5, wherein the fixed delay mode comprises the delay module including at least one first resistor and at least one first capacitor, wherein the parameter values ​​of the first resistor and the first capacitor are fixed.

7. The relay according to claim 5, wherein the adjustable delay mode comprises a delay module including a plurality of first resistors and a plurality of first capacitors, wherein at least one of the plurality of first resistors and at least one of the plurality of first capacitors are connected to a corresponding switch.

8. The relay according to at least one of claims 2-7, wherein the first trigger or the second trigger is an RS trigger, and the first timer or the second timer is a 4541 timer.

9. The relay according to claim 8, wherein the RS trigger is a Schmitt-enhanced RS trigger.

10. A relay control method, wherein the circuit includes an instantaneous module and a delay module, the instantaneous module including a first driving circuit, a first output circuit, and a first relay, and the delay module including a second driving circuit, a first delay circuit, a second output circuit, and a second relay, characterized in that: The first driving circuit momentarily controls the first relay to operate based on the start signal; The first output circuit outputs the first relay action signal; The second driving circuit controls the first delay circuit according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1. The second output circuit outputs the second relay action signal.

11. The control method according to claim 10, wherein the first delay circuit comprises a first flip-flop and a first timer, characterized in that... : The first trigger enables the first timer, or the first timer enables the first trigger; Wherein, when the first trigger enables the first timer: The second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first trigger according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer controls the second relay to operate after a first delay T1 based on the enable signal of the first flip-flop; Alternatively, if the first timer enables the first trigger: The second driving circuit controls the first delay circuit according to the first relay action signal, specifically including: the second driving circuit controls the first timer according to the first relay action signal; The first delay circuit controls the second relay to operate after a first delay T1, specifically including: the first timer enables the first flip-flop after a first delay T1, and the first flip-flop controls the second relay to operate.

12. The control method according to claim 10 or 11, wherein the instantaneous module further comprises a third driving circuit, a third output circuit, and a third relay; the delay module further comprises a fourth driving circuit, a second delay circuit, a fourth output circuit, and a fourth relay; the instantaneous module further comprises a fifth output circuit; and the delay module further comprises a sixth output circuit, characterized in that: The third drive circuit instantaneously controls the third relay to operate according to the start signal; The third output circuit outputs a third relay action signal; The fourth driving circuit controls the second delay circuit according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2. The fourth output circuit outputs a fourth relay action signal; The fifth output circuit outputs a safety output instantaneous signal based on the first relay action signal and the third relay action signal; The sixth output circuit outputs a safety output delay signal based on the action signals of the second and fourth relays.

13. The control method according to claim 12, wherein the second delay circuit comprises a second flip-flop and a second timer, characterized in that: The second flip-flop enables the second timer, or the second timer enables the second flip-flop; Specifically, when the second flip-flop enables the second timer: The fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit controls the second trigger according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically including: the second timer controls the fourth relay to operate after a second delay T2; Alternatively, if the second timer enables the second flip-flop: The fourth driving circuit controls the second delay circuit according to the third relay action signal, specifically including: the fourth driving circuit controls the second timer according to the third relay action signal; The second delay circuit controls the fourth relay to operate after a second delay T2, specifically: the second timer enables the second flip-flop after a second delay T2, and the second flip-flop controls the fourth relay to operate.

14. A control circuit for a sensor, the control circuit comprising a relay according to any one of claims 1-9.

15. A safety system comprising a sensor, a controller, and an actuator, the controller comprising a relay according to any one of claims 1-9.

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