Robot operation state indicating device

Abstract

The utility model discloses a robot operation state indicating device, which comprises a band-type brake power supply, a first light emitting diode, a second light emitting diode, a reverse flow prevention and current limiting circuit, an energy storage circuit, a logic and switching circuit and a square wave generating circuit, and is characterized in that the first output end of the band-type brake power supply is connected with the first light emitting diode; the second output end is connected with the anti-backflow and current-limiting circuit, and the third output end is connected with the logic and switching circuit. According to the robot running state indicating device, the logic and switching circuit generates a corresponding output signal by receiving output signals of the band-type brake power supply and the square wave generating circuit to enable the second light emitting diode LED2 to flicker, so that the first light emitting diode LED1 indicates the servo opening state, the second light emitting diode LED2 indicates the servo closing state, and the robot running state indicating device is used for indicating the running state of the robot. The operation state can be indicated by utilizing a band-type brake power supply of the servo motor without introducing an additional power supply and control.

Description

Technical Field

[0001] The utility model relates to a robot running state indicating device, belonging to the technical field of robots. Background Art

[0002] For a robot, placing an indicating device at a conspicuous position of the robot to remind an operator of the current servo state of the robot is an effective way to ensure the personal safety of relevant personnel and is also one of the requirements of the robot safety standard. The general implementation method is to use a software program to control indicator lights of different colors to indicate different servo states of the robot. This method not only requires adding software but also increases the number of internal wiring of the robot.

[0003] It can be seen that in order to indicate the running state of the robot without software control and additional wiring, a robot running state indicating device is urgently needed. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a robot running state indicating device. The first light-emitting diode LED1 is lit when the brake power supply is turned on and extinguished when it is turned off. When the brake power supply is turned on, the energy storage circuit is charged through the anti-backflow and current-limiting circuit, so as to supply power to the logic AND switch circuit and the square wave generating circuit through the energy storage circuit. The logic AND switch circuit generates corresponding output signals by receiving the output signals of the brake power supply and the square wave generating circuit to make the second light-emitting diode LED2 flash. Thus, the servo-on state is indicated by the first light-emitting diode LED1, and the servo-off state is indicated by the second light-emitting diode LED2, so as to utilize the brake power supply of the servo motor to indicate the running state without introducing additional power supply and control.

[0005] To achieve the above object / to solve the above technical problems, the utility model is implemented by adopting the following technical solutions:

[0006] A robot running state indicating device includes a brake power supply, a first light-emitting diode, a second light-emitting diode, an anti-backflow and current-limiting circuit, an energy storage circuit, a logic AND switch circuit, and a square wave generating circuit.

[0007] Wherein, the first output terminal of the brake power supply is connected to the first light-emitting diode, the second output terminal is connected to the anti-backflow and current-limiting circuit, and the third output terminal is connected to the logic AND switch circuit;

[0008] The input terminal of the energy storage circuit is connected to the anti-backflow and current-limiting circuit, the first output terminal is connected to the logic AND switch circuit, the second output terminal is connected to the square wave generating circuit, and the third output terminal is connected to the second light-emitting diode;

[0009] The first input terminal of the logic AND switch circuit is connected to the brake power supply, the second input terminal is connected to the energy storage circuit, the third input terminal is connected to the square wave generating circuit, and the output terminal is connected to the second light-emitting diode.

[0010] Further, the anti-backflow and current-limiting circuit includes a power diode and a power resistor, and the power diode and the power resistor are connected in series.

[0011] Further, the energy storage circuit is a capacitor with a capacitance value greater than one farad.

[0012] Further, a current-limiting resistor is further included, and the current-limiting resistor is connected in series with the first light-emitting diode.

[0013] Further, the logic AND switch circuit includes a logic circuit and a control switch, wherein,

[0014] The input terminal of the logic circuit is connected to the brake power supply and the square wave generating circuit, the output terminal of the logic circuit is connected to the input terminal of the control switch, and the output terminal of the control switch is connected to the second light-emitting diode.

[0015] Further, the logic circuit includes an AND gate and a NOT gate, wherein,

[0016] The input terminal of the NOT gate is connected to the brake power supply, and the output terminal of the NOT gate is connected to the first input terminal of the AND gate;

[0017] The second input terminal of the AND gate is connected to the output terminal of the square wave generating circuit, and the output terminal of the AND gate is connected to the input terminal of the control switch.

[0018] Further, the control switch includes a triode or a MOS transistor.

[0019] Further, the square wave generating circuit includes an amplifier, a resistor, a capacitor and a diode.

[0020] Compared with the prior art, the beneficial effects achieved by the present utility model are as follows:

[0021] For the robot operation state indicating device provided by the present utility model, the first light-emitting diode LED1 is lit when the brake power supply is turned on and extinguished when it is turned off. When the brake power supply is turned on, the energy storage circuit is charged through the anti-backflow and current-limiting circuit to supply power to the logic AND switch circuit and the square wave generating circuit through the energy storage circuit. The logic AND switch circuit generates corresponding output signals by receiving the output signals of the brake power supply and the square wave generating circuit to cause the second light-emitting diode LED2 to flash. Thus, the servo open state is indicated by the first light-emitting diode LED1, and the servo closed state is indicated by the second light-emitting diode LED2, so as to utilize the brake power supply of the servo motor to indicate the operation state without introducing additional power supply and control. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the robot operating state indicating device provided in the first embodiment;

[0023] Figure 2 is a schematic structural diagram of the anti-backflow and current-limiting circuit;

[0024] Figure 3 is a schematic structural diagram of the logic AND switch circuit;

[0025] Figure 4 is a schematic structural diagram of the square wave generating circuit. Detailed Embodiment

[0026] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention 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 therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0028] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; 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 communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations. First Embodiment

[0029] This embodiment provides a robot operating state indicating device, which includes a brake power supply, a first light-emitting diode LED1, a second light-emitting diode LED2, an anti-backflow and current-limiting circuit, an energy storage circuit, a logic AND switch circuit, and a square-wave generating circuit.

[0030] Among them, the first output terminal of the brake power supply is connected to the first light-emitting diode LED1, the second output terminal is connected to the anti-backflow and current-limiting circuit, and the third output terminal is connected to the logic AND switch circuit.

[0031] The input terminal of the energy storage circuit is connected to the anti-backflow and current-limiting circuit, the first output terminal is connected to the logic AND switch circuit, the second output terminal is connected to the square-wave generating circuit, and the third output terminal is connected to the second light-emitting diode LED2.

[0032] The first input terminal of the logic AND switch circuit is connected to the brake power supply, the second input terminal is connected to the energy storage circuit, the third input terminal is connected to the square-wave generating circuit, and the output terminal is connected to the second light-emitting diode LED2.

[0033] In the above technical solution, the first light-emitting diode LED1 lights up when the brake power supply is turned on and goes out when it is turned off. When the brake power supply is turned on, the energy storage circuit is charged through the anti-backflow and current-limiting circuit to supply power to the logic AND switch circuit and the square-wave generating circuit through the energy storage circuit. The logic AND switch circuit generates corresponding output signals by receiving the output signals of the brake power supply and the square-wave generating circuit to make the second light-emitting diode LED2 blink. Thus, the servo-on state is indicated by the first light-emitting diode LED1, and the servo-off state is indicated by the second light-emitting diode LED2. By using the brake power supply of the servo motor, the operating state can be indicated without introducing additional power supplies and controls. Embodiment Two

[0034] The difference between the robot operating state indicating device provided in this embodiment and the robot operating state indicating device provided in Embodiment One is that:

[0035] The anti-backflow and current-limiting circuit includes a power diode and a power resistor. The power diode and the power resistor are connected in series. Generally, a power diode with a relatively low forward voltage drop and a series power resistor are selected for the anti-backflow and current-limiting circuit. As Figure 2 shown within the dashed box, the power diode and the power resistor are connected in series. By using the single-phase conduction characteristic of the diode and the characteristic of the resistor to impede the flow of current, the current can only flow from the brake power supply to the energy storage circuit. Moreover, by adjusting the resistance value of the resistor, the magnitude of the current value flowing from the brake power supply to the energy storage circuit can be controlled.

[0036] The energy storage circuit supplies power to the logic AND switch circuit, the square wave generating circuit, and the second light-emitting diode LED2. The energy storage circuit is a capacitor with a capacitance greater than one farad. The holding time is determined by the amount of stored energy and the capacitance of the capacitor. The larger the capacitance, the longer the holding time.

[0037] To prevent damage to the first light-emitting diode LED1 due to excessive power, a current-limiting resistor is also included. The current-limiting resistor is connected in series with the first light-emitting diode LED1.

[0038] The logic AND switch circuit includes a logic circuit and a control switch. Among them,

[0039] The input end of the logic circuit is connected to the brake power supply and the square wave generating circuit. The output end of the logic circuit is connected to the input end of the control switch. The output end of the control switch is connected to the second light-emitting diode LED2;

[0040] The logic AND switch circuit generates corresponding output signals to make the second light-emitting diode LED2 blink by receiving the output signals of the brake power supply and the square wave generating circuit. When the brake power supply is turned off, the control switch operates in a switching manner at the frequency of the square wave generating circuit. The switch can be a triode or a MOS transistor. As Figure 3 inside the dotted box, the input of the logic circuit is the brake power supply and Figure 4 the output of the square wave generating circuit. The logic circuit can make the second light-emitting diode LED2 blink by controlling the switch of the MOS transistor using the logical states of these two input signals (the on or off of the brake power supply, the periodic high and low levels output by the square wave generating circuit). The logic circuit will perform specific logical operations based on these two input signals. Specifically:

[0041] The logic circuit includes an AND gate and a NOT gate. Among them,

[0042] The input end of the NOT gate is connected to the brake power supply. The output end of the NOT gate is connected to the first input end of the AND gate;

[0043] The second input end of the AND gate is connected to the output end of the square wave generating circuit. The output end of the AND gate is connected to the input end of the control switch. When the brake power supply is turned off (low level) and the square wave generating circuit outputs a high level, the logic circuit outputs a high level. When the brake power supply is turned off (low level) and the square wave generating circuit outputs a low level, the logic circuit outputs a low level. When the brake power supply is turned on (high level), regardless of whether the square wave generating circuit outputs a high level or a low level, the logic circuit outputs a low level;

[0044] The output signal of the logic circuit is used to control the switching of the MOS transistor. If the logic circuit outputs a high level, the MOS transistor conducts, and the current flows through LED2 to make it emit light; if the logic circuit outputs a low level, the MOS transistor cuts off, and LED2 goes out. Since the output of the square-wave generating circuit is periodic, it causes the output of the logic circuit to switch between high and low levels, thereby controlling the switching of the MOS transistor and making the second light-emitting diode LED2 blink at the frequency of the square wave.

[0045] The square-wave generating circuit includes an amplifier, resistors, capacitors and diodes. As Figure 4 shown, the capacitor is connected between the inverting terminal of the amplifier and the power supply and ground, the diode is connected in series with the resistor between the inverting terminal of the amplifier and the output terminal of the amplifier, and resistors are respectively connected in series between the non-inverting terminal of the amplifier and the power supply, ground and output terminal. The frequency of the square-wave generating circuit determines the blinking frequency of the second light-emitting diode LED2. By the cooperation between the amplifier and the resistors and capacitors, a stable and adjustable square wave can be output without software participation in control.

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A robot operating state indicating device, characterized in that, It includes a brake power supply, a first light-emitting diode, a second light-emitting diode, an anti-backflow and current-limiting circuit, an energy storage circuit, a logic and switch circuit, and a square-wave generating circuit. Among them, the first output terminal of the brake power supply is connected to the first light-emitting diode, the second output terminal is connected to the anti-backflow and current-limiting circuit, and the third output terminal is connected to the logic and switch circuit. The input terminal of the energy storage circuit is connected to the anti-backflow and current-limiting circuit, the first output terminal is connected to the logic and switch circuit, the second output terminal is connected to the square-wave generating circuit, and the third output terminal is connected to the second light-emitting diode. The first input terminal of the logic and switch circuit is connected to the brake power supply, the second input terminal is connected to the energy storage circuit, the third input terminal is connected to the square-wave generating circuit, and the output terminal is connected to the second light-emitting diode.

2. The robot running state indicating device according to claim 1, characterized in that, The anti-backflow and current-limiting circuit includes a power diode and a power resistor, and the power diode and the power resistor are connected in series.

3. The robot operating state indicating device according to claim 1, wherein The energy storage circuit is a capacitor with a capacitance value greater than one farad.

4. The robot running state indicating device according to claim 1, wherein, It also includes a current-limiting resistor, and the current-limiting resistor is connected in series with the first light-emitting diode.

5. The robot operating state indicating device according to claim 1, characterized in that, The logic and switch circuit includes a logic circuit and a control switch. Among them, The input terminal of the logic circuit is connected to the brake power supply and the square-wave generating circuit, the output terminal of the logic circuit is connected to the input terminal of the control switch, and the output terminal of the control switch is connected to the second light-emitting diode.

6. The robot running state indicating device according to claim 5, wherein The logic circuit includes an AND gate and a NOT gate. Among them, The input terminal of the NOT gate is connected to the brake power supply, and the output terminal of the NOT gate is connected to the first input terminal of the AND gate. The second input terminal of the AND gate is connected to the output terminal of the square-wave generating circuit, and the output terminal of the AND gate is connected to the input terminal of the control switch.

7. The robot running state indicating device according to claim 5 or 6, characterized in that, The control switch includes a triode or a MOS transistor.

8. The robot operating state indicating device according to claim 1, wherein The square-wave generating circuit includes an amplifier, a resistor, a capacitor, and a diode. Among them, The capacitor is connected between the inverting terminal of the amplifier and the power supply and the ground, the diode is connected in series with the resistor between the inverting terminal of the amplifier and the output terminal of the amplifier, and resistors are respectively connected in series between the non-inverting terminal of the amplifier and the power supply, the ground, and the output terminal.

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