A braking resistance control system and method

Abstract

The application provides a braking resistance control system and method, and relates to the technical field of semiconductor wafer conveying robots.The system comprises: the input ends of a first level conversion processing module and a second level conversion processing module are connected to the positive pole of a robot DC bus; the output end of the first level conversion processing module is connected to the input end of a first voltage sampling module; the output end of the second level conversion processing module is connected to the input end of a second voltage sampling module; the output end of the first voltage sampling module is connected to the setting end of an RS flip-flop; the output end of the second voltage sampling module is connected to the resetting end of the RS flip-flop; the output end of the RS flip-flop is connected to the input end of a driving module; the output end of the driving module is connected to the driving end of a switching device; and the switching device is connected in series with a braking resistance and then connected between the positive pole and the negative pole of the robot DC bus.The application solves the problems that the on-off threshold of the braking resistance circuit of the robot is difficult to accurately control and the configuration is complex.

Description

Technical Field

[0001] This invention relates to the field of semiconductor wafer handling robot technology, and in particular to a braking resistor control system and method. Background Technology

[0002] Robots are increasingly penetrating various sectors of industry and daily life. Whether in general industrial applications or semiconductor wafer handling, motors are a core component of robots. During robot movement, when the robot decelerates, the motor generates regenerative energy. If left unchecked, this regenerative energy can cause a significant increase in the DC bus voltage, affecting the robot's stable operation. Currently, common solutions involve using a single comparator with a feedback resistor, or using a processor and software programming to detect the DC bus voltage and then controlling the switching of the braking resistor circuit via switching devices. However, the single comparator with feedback resistor method suffers from drawbacks such as high and low threshold coupling, low control precision, and complex configuration. The processor and software programming method incurs high hardware and software programming costs. Summary of the Invention

[0003] To address the shortcomings of the existing technologies, this invention proposes a braking resistor control system and method by independently configuring high and low thresholds. This system aims to achieve accurate and flexible control of the braking resistor circuit's on / off state, solving the problems of difficult and complex configuration of the robot braking resistor circuit's on / off threshold. It is applicable to various scenarios where the DC bus voltage requires strict and precise control.

[0004] On one hand, the present invention proposes a braking resistor control system, which includes: a first threshold detection module, a second threshold detection module, an RS trigger, a drive module, a switching device, and a braking resistor;

[0005] The input terminals of the first threshold detection module and the second threshold detection module are respectively connected to the positive terminal of the robot's DC bus; the output terminal of the first threshold detection module is connected to the set terminal of the RS flip-flop; the output terminal of the second threshold detection module is connected to the reset terminal of the RS flip-flop; the output terminal of the RS flip-flop is connected to the input terminal of the drive module; the output terminal of the drive module is connected to the drive terminal of the switching device; the switching device is connected in series with the braking resistor and then connected between the positive and negative terminals of the robot's DC bus.

[0006] Both the first threshold detection module and the second threshold detection module are used to acquire the robot's DC bus level and perform conversion processing, and then compare the converted level with a preset voltage threshold to generate a trigger signal;

[0007] The RS trigger is used to generate a control signal based on the trigger signal.

[0008] The drive module is used to convert control signals into drive signals for switching devices.

[0009] The switching device is used to turn on or off according to the received drive signal, thereby controlling the connection between the positive and negative terminals of the braking resistor and the DC bus.

[0010] The braking resistor is used to absorb the regenerative energy generated by the robot's braking.

[0011] Furthermore, the conversion process includes, but is not limited to, one or more combinations of voltage attenuation, voltage amplification, voltage following, and drive capability enhancement.

[0012] Further, the first threshold detection module includes: a first level conversion processing module and a first voltage sampling module; wherein the first level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a first level; the first voltage sampling module is used to compare the first level with a preset first voltage threshold to generate a first trigger signal.

[0013] Furthermore, the second threshold detection module includes: a second level conversion processing module and a second voltage sampling module; wherein, the second level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a second level; the second voltage sampling module is used to compare the second level with a preset second voltage threshold to generate a second trigger signal.

[0014] Furthermore, the first level conversion processing module and the second level conversion processing module include, but are not limited to, one or more combinations of voltage attenuation circuit, voltage amplification circuit, voltage follower circuit or drive capability enhancement circuit.

[0015] Furthermore, the switching device, connected in series with the braking resistor to form a braking resistor module, is connected between the positive and negative terminals of the DC bus, and controls the on / off state of the braking resistor module according to the received drive signal.

[0016] On the other hand, the present invention proposes a braking resistor control method, which includes the following process:

[0017] The robot's DC bus voltage level is acquired and converted to obtain the first voltage level and the second voltage level.

[0018] A first trigger signal is generated by comparing a first voltage level with a preset first voltage threshold; a second trigger signal is generated by comparing a second voltage level with a preset second voltage threshold.

[0019] A control signal is generated based on the first trigger signal and the second trigger signal;

[0020] Convert control signals into drive signals;

[0021] Based on the drive signal, control the connection of the braking resistor between the positive and negative terminals of the DC bus or disconnect it from the positive and negative terminals of the DC bus.

[0022] The beneficial effects of adopting the above technical solution are as follows:

[0023] Traditional control circuits using a single comparator and feedback resistor have mutually coupled high and low threshold configurations, resulting in limited accuracy and adjustment range for the comparator hysteresis threshold. In contrast, the braking resistor circuit proposed in this invention features independently configured high and low thresholds for on / off states, allowing for independent adjustment of both thresholds. This configuration is simple and flexible, and the hysteresis threshold value is arbitrarily adjustable. High-precision threshold settings can be achieved using high-precision components, making it suitable for a wider range of robot applications, particularly those requiring strict and precise control of DC bus voltage.

[0024] Compared with braking resistor control methods implemented through processors and software programming, this invention uses only common and readily available hardware components, does not require expensive processors, and does not require software programming, thus saving costs. Attached Figure Description

[0025] Figure 1 This is a structural diagram of a braking resistor control system in this embodiment;

[0026] Figure 2 This is a circuit diagram of the actual application of the braking resistor control system described in this embodiment;

[0027] Figure 3 This is a flowchart of a braking resistor control method in this embodiment. Detailed Implementation

[0028] To facilitate understanding of this application, specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following embodiments are illustrative of the invention but are not intended to limit its scope. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0029] Example 1:

[0030] This embodiment provides a braking resistor control system, such as... Figure 1 and Figure 2 As shown, the system includes: a first threshold detection module, a second threshold detection module, an RS trigger, a drive module, a switching device, and a braking resistor.

[0031] The input terminals of the first threshold detection module and the second threshold detection module are respectively connected to the positive terminal of the robot's DC bus; the output terminal of the first threshold detection module is connected to the set terminal of the RS flip-flop; the output terminal of the second threshold detection module is connected to the reset terminal of the RS flip-flop; the output terminal of the RS flip-flop is connected to the input terminal of the drive module; the output terminal of the drive module is connected to the drive terminal of the switching device; the switching device is connected in series with the braking resistor and then connected between the positive and negative terminals of the robot's DC bus.

[0032] Both the first threshold detection module and the second threshold detection module are used to acquire the robot's DC bus level and perform conversion processing, and then compare the converted level with a preset voltage threshold to generate a trigger signal.

[0033] The conversion process includes, but is not limited to, one or more combinations of voltage attenuation, voltage amplification, voltage following, and drive capability enhancement.

[0034] The first threshold detection module includes: a first level conversion processing module and a first voltage sampling module; wherein the first level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a first level; the first voltage sampling module is used to compare the first level with a preset first voltage threshold to generate a first trigger signal.

[0035] The second threshold detection module includes: a second level conversion processing module and a second voltage sampling module; wherein, the second level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a second level; the second voltage sampling module is used to compare the second level with a preset second voltage threshold to generate a second trigger signal.

[0036] In this embodiment, based on the matching between the DC bus level and the first voltage sampling module and the second voltage sampling module, the first level conversion processing module and the second level conversion processing module can be implemented using the following functional modules, including but not limited to: voltage attenuation, voltage amplification, voltage following, and driving capability enhancement, to ensure that the output first level and second voltage level both reach the signal state that can be normally processed by the subsequent circuit. For example, for each pair of level conversion processing modules and their corresponding voltage sampling modules: (1) If the robot DC bus level is lower than the level that the voltage sampling module can receive, then the voltage amplification module is used as the level conversion processing module; (2) If the robot DC bus level is higher than the level that the voltage sampling module can receive, then the voltage attenuation module is used as the level conversion processing module; (3) If the robot DC bus level is within the range that the voltage sampling module can receive, but the current driving capability is insufficient to drive the voltage sampling circuit, then the voltage follower module is used as the level conversion processing module; (4) If the current driving capability corresponding to the robot DC bus level is insufficient to drive the voltage sampling module, then the driving capability enhancement module is used as the level conversion processing module; (5) If the voltage range does not meet the requirements and the current driving capability is also insufficient, then (1) and (4) may be used simultaneously, or (2) and (4) may be used simultaneously.

[0037] In this embodiment, a voltage attenuator is used as a level conversion processing module. The voltage attenuator is used to attenuate the DC bus level of the robot to achieve a signal state that can be used by subsequent circuits.

[0038] It should be noted that in some application scenarios, the robot's DC bus level can be directly used by the subsequent circuits, thus eliminating the need for a level conversion module.

[0039] In this embodiment, both the first voltage sampling module and the second voltage sampling module are implemented using comparators. Each comparator compares the level output by the preceding level conversion processing module with a preset voltage threshold, converting the level into a digital signal to achieve independent configuration of high and low thresholds. Specifically, the level output by the preceding level conversion processing module is input to the non-inverting input of the comparator, and the preset voltage threshold is input to the inverting input of the comparator. The comparator outputs a corresponding trigger signal. If the level output by the preceding level conversion processing module is higher than the preset voltage threshold, the comparator outputs a high level (i.e., the trigger signal is 1); otherwise, the comparator outputs a low level (the trigger signal is 0).

[0040] This embodiment achieves on / off control of the braking resistor by setting two completely independent threshold setting circuits. Specifically, the first level conversion processing module and the first voltage sampling module jointly determine one threshold; the second level conversion processing module and the second voltage sampling module jointly determine the other threshold.

[0041] The RS trigger is used to generate a control signal based on the trigger signal.

[0042] In this embodiment, the RS flip-flop is a set / reset flip-flop with bistable characteristics and can store 1 bit of binary information. A first trigger signal is input to the set (S) terminal of the RS flip-flop, and a second trigger signal is input to the reset (R) terminal of the RS flip-flop. This is used to determine whether the robot's DC bus voltage is within a set voltage range, and a control signal is issued based on the detection result. The set voltage range is defined by a first voltage threshold and a second voltage threshold. Its setting is based on the design operating voltage range of the entire robot, mainly considering the voltage range that the motor driver or inverter, control circuit, etc., can withstand, as well as the voltage range required for motor operation calculated according to the application scenario. Specifically, the RS flip-flop operates as follows: when the set (S) input is 1 and the reset (R) input is 0, the RS flip-flop outputs a high level (control signal is 1); when the set (S) input is 0 and the reset (R) input is 1, the RS flip-flop outputs a low level (control signal is 0); when both the set (S) and reset (R) inputs are 0, the RS flip-flop maintains its previous state; when both the set (S) and reset (R) inputs are 1, it is in an inhibited state, which should be avoided.

[0043] The drive module is used to convert control signals into drive signals for switching devices.

[0044] In this embodiment, the driving module is implemented using a driving chip, which converts the control signal output by the RS flip-flop into a driving signal that can control the switching device. The driving chip is determined by the selection of the switching device and is implemented using common technical solutions in the art. For example, if the switching device is a mechanical relay, the driving module mainly includes transistors, current-limiting resistors, freewheeling diodes, etc., or a dedicated relay driving chip can be used. If the switching device is a MOSFET, the driving module can use a push-pull circuit or a dedicated MOSFET driving chip. It should be noted that the driving schemes given in this embodiment are merely examples. Those skilled in the art can adopt corresponding general driving technologies according to the actual selection of the switching device, without departing from the essence of the present invention.

[0045] The switching device is used to turn on or off according to the received drive signal, thereby controlling the connection between the positive and negative terminals of the braking resistor and the DC bus.

[0046] In this embodiment, a relay or MOS device is used as a switching device, which is connected in series with the braking resistor to form a braking resistor module connected between the positive and negative terminals of the DC bus. The on / off state of the braking resistor circuit is controlled according to the received drive signal.

[0047] The braking resistor is used to absorb the regenerative energy generated by the robot's braking.

[0048] In this embodiment, the regenerative energy generated by the robot's braking is absorbed by the braking resistor and converted into heat energy and released.

[0049] Example 2:

[0050] This embodiment provides a braking resistor control method, such as... Figure 3 As shown, the method includes the following steps:

[0051] The robot's DC bus voltage level is acquired and converted to obtain the first voltage level and the second voltage level.

[0052] A first trigger signal is generated by comparing a first voltage level with a preset first voltage threshold; a second trigger signal is generated by comparing a second voltage level with a preset second voltage threshold.

[0053] A control signal is generated based on the first trigger signal and the second trigger signal.

[0054] Convert control signals into drive signals.

[0055] Based on the drive signal, control the connection of the braking resistor between the positive and negative terminals of the DC bus or disconnect it from the positive and negative terminals of the DC bus.

[0056] In this embodiment, the acquired robot DC bus level is converted into a level signal usable by subsequent circuits through a first level conversion processing module and a second level conversion processing module. The first level output from the first level conversion processing module is input to the first voltage sampling module, and the second level output from the second level conversion processing module is input to the second voltage sampling module. The first and second voltage sampling modules convert the input level signals into digital signals, respectively. The digital signal output from the first voltage sampling module is input to the set (S) terminal of the RS flip-flop, and the digital signal output from the second voltage sampling module is input to the reset (R) terminal of the RS flip-flop. The control signal output by the RS flip-flop (…) and The input signal from the RS trigger is sent to the drive module as its control signal. The drive module processes the control signal internally and outputs it to the switching device. The switching device executes the switching action according to the signal from the drive module. The switching device and the braking resistor are connected in series and connected to the DC bus. When the switching device is on, the switching device, the braking resistor, and the positive and negative terminals of the DC bus form a circuit, allowing the release of regenerative energy on the DC bus. When the switching device is off, the switching device, the braking resistor, and the positive and negative terminals of the DC bus do not form a circuit, and there is no regenerative energy to release on the DC bus.

[0057] Based on the characteristics of the RS flip-flop, the control signal output by the RS flip-flop ( and The state of the RS flip-flop depends not only on the current set (S) and reset (R) terminals, but also on the control signal output by the RS flip-flop at the previous moment. and The switching device operates in a state related to the DC bus voltage. When the DC bus voltage exceeds the high threshold, the switching device turns on; when the DC bus voltage falls below the low threshold, the switching device turns off. When the DC bus voltage is between the high and low thresholds, the switching device remains in the same state as before.

[0058] like Figure 2 As shown, in this embodiment, the robot's DC bus level is converted into a usable level signal by a first voltage attenuator and a second voltage attenuator. The level signal after the first voltage attenuator is input to a first comparator, and the level signal after the second voltage attenuator is input to a second comparator. The first and second comparators convert the input level signals into digital signals, respectively. The digital signal output by the first comparator is input to the set (S) terminal of the RS flip-flop, and the digital signal output by the second comparator is input to the reset (R) terminal of the RS flip-flop. The control signal output by the RS flip-flop (… and The input signal is sent to the driver chip as a control signal. The driver chip processes the control signal from the RS flip-flop internally and outputs it to the relay or MOS device to control the switching action of the relay or MOS device.

[0059] The above method enables the switching devices in the braking resistor control system to open and close with different voltage thresholds, realizes hysteresis control, prevents the switching devices from frequently switching when controlled by a single threshold, and can maintain the DC bus voltage between the set high and low thresholds when there is regenerative energy, thereby realizing the control of the braking resistor circuit.

[0060] In the embodiments provided in this application, it should be understood that the types of level conversion processing modules, voltage sampling modules, drive modules, switching devices, etc., described can be adjusted according to the changes and constraints of specific application scenarios, and some of them can also be deleted or simplified according to specific application scenarios.

[0061] The above provides a detailed description of a braking resistor control system and method provided by the present invention. For those skilled in the art, based on the ideas of the embodiments of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A braking resistor control system, characterized in that, The system includes: a first threshold detection module, a second threshold detection module, an RS trigger, a drive module, switching devices, and a braking resistor; The input terminals of the first threshold detection module and the second threshold detection module are respectively connected to the positive terminal of the robot's DC bus; the output terminal of the first threshold detection module is connected to the set terminal of the RS flip-flop; the output terminal of the second threshold detection module is connected to the reset terminal of the RS flip-flop; the output terminal of the RS flip-flop is connected to the input terminal of the drive module; the output terminal of the drive module is connected to the drive terminal of the switching device; the switching device is connected in series with the braking resistor and then connected between the positive and negative terminals of the robot's DC bus. Both the first threshold detection module and the second threshold detection module are used to acquire the robot's DC bus level and perform conversion processing, and then compare the converted level with a preset voltage threshold to generate a trigger signal; The RS trigger is used to generate a control signal based on the trigger signal; The drive module is used to convert the control signal into a drive signal for the switching device; The switching device is used to turn on or off according to the received drive signal, thereby controlling the connection between the positive and negative terminals of the DC bus or the connection between the positive and negative terminals of the DC bus. The braking resistor is used to absorb the regenerative energy generated by the robot's braking.

2. The braking resistor control system according to claim 1, characterized in that, The conversion process includes, but is not limited to, one or more combinations of voltage attenuation, voltage amplification, voltage following, and drive capability enhancement.

3. The braking resistor control system according to claim 2, characterized in that, The first threshold detection module includes: a first level conversion processing module and a first voltage sampling module; wherein the first level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a first level; the first voltage sampling module is used to compare the first level with a preset first voltage threshold to generate a first trigger signal.

4. The braking resistor control system according to claim 3, characterized in that, The second threshold detection module includes: a second level conversion processing module and a second voltage sampling module; wherein, the second level conversion processing module is used to acquire the robot DC bus level and perform conversion processing to obtain a second level; the second voltage sampling module is used to compare the second level with a preset second voltage threshold to generate a second trigger signal.

5. The braking resistor control system according to claim 4, characterized in that, The first level conversion processing module and the second level conversion processing module include, but are not limited to, one or more combinations of voltage attenuation circuit, voltage amplification circuit, voltage follower circuit or drive capability enhancement circuit.

6. The braking resistor control system according to claim 5, characterized in that, The switching device, connected in series with the braking resistor to form a braking resistor module, is connected between the positive and negative terminals of the DC bus. Based on the received drive signal, it controls the on / off state of the braking resistor circuit.

7. A braking resistor control method, implemented using a braking resistor control system as described in any one of claims 1-6, characterized in that, This method Includes the following processes: The robot's DC bus voltage level is acquired and converted to obtain the first voltage level and the second voltage level. The first level is compared with a preset first voltage threshold to generate a first trigger signal; The second level is compared with a preset second voltage threshold to generate a second trigger signal; A control signal is generated based on the first trigger signal and the second trigger signal; Convert control signals into drive signals; Based on the drive signal, control the connection of the braking resistor between the positive and negative terminals of the DC bus or disconnect it from the positive and negative terminals of the DC bus.

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