Control loop capable of feeding back stopping condition of robot motor
By designing a control circuit combining intermediate relays and time-delay relays, the feedback problem of robot motor stopping was solved, realizing a combination of hardware and software stopping of the motor, ensuring the safety and reliability of the robot.
Patent Information
- Application Number
- CN202423068448.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-12
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-12-12
AI Technical Summary
In existing technologies, robot motor stop control faces challenges in meeting the requirement that the drive circuit should not trigger another alarm when the IO control loop is activated in an emergency stop, and in determining whether to send feedback on the motor stop status to the drive circuit to trigger an alarm.
A control circuit was designed that combines intermediate relays and time-delay relays. The normally open contact of the intermediate relay is connected in series with the motor brake and in parallel with the normally closed contact of the time-delay relay. Combined with the I/O module and driver, feedback on the motor stop status is realized, ensuring that the driver responds first and hard-shuts the motor when necessary.
It enables the motor to stop softly without triggering another alarm in the drive circuit when the emergency stop of the IO control loop is activated, and directly cuts off the motor in case of I/O module failure, ensuring safe braking of the robot.
Smart Images
Figure CN223666265U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to electrical control field especially relates to a control loop that can feedback robot motor stop condition. BACKGROUND
[0002] Robot motor stop control has important role to industrial robot safety guarantee. Emergency stop loop is divided into two roads, first road emergency stop is directly connected IO board input end, and IO board input end obtains signal after emergency stop button is pressed, signal is transmitted to controller through IO board, and controller feedback is realized to drive and realizes motor soft break. First road emergency stop is directly connected to drive emergency stop pin, and drive receives this signal and directly cuts off motor power supply, realizes motor hard break. Because motor hard break is larger to motor damage, so first road emergency stop is used preferentially. Because second road emergency stop reaction time is faster than first road emergency stop, thus need time relay to second road emergency stop signal carries out time delay, and time delay time wants more than first road emergency stop reaction time.
[0003] In the actual application process, there is a demand that the IO control loop emergency stop takes effect, and the drive loop emergency stop does not need to alarm again, therefore, it is necessary to detect the motor stop condition and feed back to the drive to determine whether the drive alarms. It is difficult to realize this function through software, and there is an abnormal error condition.
[0004] In the double-loop control system of IO and drive simultaneous control emergency stop, in the actual application process, there is a demand that the IO control loop emergency stop takes effect, and the drive loop emergency stop does not need to alarm again, therefore, it is necessary to detect the motor stop condition and feed back to the drive to determine whether the drive alarms. UTILITY MODEL CONTENTS
[0005] In view of the deficiency of the prior art, the utility model provides a control loop that can feedback robot motor stop condition, through the setting of loop, realize when IO control loop emergency stop takes effect, and the drive loop emergency stop does not need to alarm again, need to detect the motor stop condition and feed back to the drive to determine whether the drive alarms technical effect.
[0006] To achieve the above object, the application discloses a control circuit capable of feeding back the motor stop condition of a robot, the control circuit comprises an intermediate relay controlled by a driver, the normally open contact of the intermediate relay is connected in series with a motor brake, the normally open contact of the intermediate relay is connected in parallel with the normally closed contact of a time delay relay, an I / O module is connected with the driver, a switching power supply supplies power for the control circuit through an emergency stop button, the driver brake output is 24V DC voltage, wherein the I / O module and a controller are connected with the output end of the switching power supply through one end of the emergency stop button, the controller is connected with the input end of the switching power supply through the driver, in addition, the KA1 and KA2 normally closed contacts of the intermediate relay are connected in parallel with the normally closed contact KT of the time delay relay, one end is connected with the output end of the switching power supply, and the other end is connected with the input end of the switching power supply through the driver.
[0007] Further, the emergency stop button is a normally closed emergency stop button.
[0008] Further, the coils of the intermediate relay and the time delay relay are adapted to 24V voltage.
[0009] Further, when the emergency stop pin of the driver has 24V voltage, the motor works normally, when the 24V voltage is disconnected, the driver reports emergency stop, and the motor is hard disconnected.
[0010] Further, the time delay time of the power-on time delay relay is more than the time of the signal transmission of the I / O module to the driver.
[0011] The beneficial effects of the technical scheme of the utility model:
[0012] The application detects the motor stop condition feedback to the drive in the state that the IO control circuit emergency stop works and the drive circuit emergency stop does not need to alarm again, and determines whether the drive alarms. In addition, the driver reacts to the IO signal preferentially, and realizes the motor soft stop. If the IO signal fails, the motor is directly disconnected through the drive, and the robot is braked. BRIEF DESCRIPTION OF DRAWINGS
[0013] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.
[0014] Figure 1 It is a schematic diagram of the utility model.
[0015] Figure 2 It is a circuit schematic diagram of the utility model.
[0016] Wherein: 1. Switching power supply, 2. Emergency stop button, 3. Time delay relay, 4. I / O module, 5. Driver, 6. Controller, 7. Intermediate relay, 8. Motor brake. DETAILED DESCRIPTION
[0017] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.
[0018] Reference Figure 1 And 2 A control loop capable of feeding back the stop condition of the motor of a robot, the control loop comprising an intermediate relay 7 controlled by a driver 1, the normally open contact of the intermediate relay 7 being connected in series with a motor brake 8, the normally open contact of the intermediate relay 7 being connected in parallel with the normally closed contact of a time delay relay 3, an I / O module 4 being connected with the driver, a switching power supply 1 supplying power to the control loop through an emergency stop button 2, the driver 5 outputting 24V DC voltage for braking, wherein the I / O module 4 and a controller 6 are connected at one end with the output end of the switching power supply 1 through the emergency stop button 2, the controller 4 is connected with the input end of the switching power supply 1 through the driver 9, and in addition, the KA1 and KA2 normally closed contacts of the intermediate relay 7 are connected in parallel with the normally closed contact KT of the time delay relay 3, one end being connected with the output end of the switching power supply 1 and the other end being connected with the input end of the switching power supply 1 through the driver 9.
[0019] Preferably, the emergency stop button 2 is a normally closed emergency stop button. The coils of the intermediate relay 7 and the time delay relay 3 are adapted to 24V voltage. When the driver has 24V voltage, the motor works normally; when the 24V voltage is disconnected, the driver reports emergency stop and the motor is hard disconnected. The time delay time of the energized time delay relay 3 is longer than the time of the signal transmission of the I / O module to the driver.
[0020] Reference Figure 2 In the figure:
[0021] ES: Emergency stop button. Two normally closed emergency stop buttons are used.
[0022] KA1, KA2: Intermediate relay. The coils are adapted to 24V voltage.
[0023] KT: Time delay relay. The coil is adapted to 24V voltage.
[0024] IO: I / O board. The emergency stop signal is low in level.
[0025] CU: Controller
[0026] D: Driver. When the emergency stop pin has 24V voltage, the motor works normally; when the 24V voltage is disconnected, the driver reports an emergency stop, and the motor is hard broken.
[0027] M1, M2...: Motor
[0028] When in use, the drive in this circuit controls the on-off of the motor through one normally open and one normally closed intermediate relay. The specific implementation is as follows:
[0029] The driver controls the intermediate relay coil, and the normally open contact of the intermediate relay is connected in series with the motor brake, and the switch power supply is powered. The normally closed contact of the intermediate relay is connected in parallel with the normally closed contact of the delay relay. When the upper enable is enabled, the driver brake output 24V, the intermediate relay coil is powered, the intermediate relay normally open contact is closed, the motor brake is powered on and opened, and the normally closed contact is disconnected, but the delay relay normally closed contact is in the closed state, the drive is normal, and the robot works normally.
[0030] When the emergency stop button is pressed, if the I / O module emergency stop works normally, the drive brake 24V output is disconnected, the intermediate relay coil loses power. The normally open contact of the intermediate relay is disconnected, and the motor brake is closed; the normally closed contact is closed, and the closing time is earlier than the opening time of the normally closed contact of the delay relay, and the drive emergency stop circuit does not alarm.
[0031] Once the I / O module emergency stop fails, press the emergency stop, the drive brake 24V output still exists, the normally closed contact of the intermediate relay does not close, and the normally closed contact of the delay relay opens after the time, and the drive alarms.
[0032] In this scheme, all control motor intermediate relay normally closed contacts are connected in series to avoid the situation that when a normally closed contact appears contact sticking fault, the I / O module emergency stop fails and the drive cannot alarm normally.
[0033] After the robot is powered on, the 24V switch power supply is powered, the intermediate relay KA coil is powered, the normally closed contact is disconnected, the power-on delay relay KT coil is not powered, the normally closed contact is closed, the drive emergency stop pin is connected to 24V voltage, and the I / O module input pin is high level, and the motor works normally.
[0034] After the emergency stop button ES is pressed, the normally closed contact is disconnected, the I / O module input pin becomes low level, the intermediate relay KA coil loses power, the normally closed contact is closed, the power-on delay relay KT coil is powered, the normally closed contact is disconnected, the drive emergency stop pin 24V voltage is disconnected, and the power-on relay KT delay time is longer than the I / O module signal transmission time to the drive. Therefore, the drive reacts to the I / O module signal first, and the motor is soft stopped. If the I / O module signal fails, the motor is directly hard broken through the drive to brake the robot.
[0035] While the embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.
Claims
1. A control loop capable of feeding back a robot motor stoppage, characterized in that: The control circuit comprises an intermediate relay (7) controlled by a driver (5), the normally open contact of the intermediate relay (7) is connected in series with a motor brake (8), the normally open contact of the intermediate relay (7) is connected in parallel with the normally closed contact of a time-delay relay (3), an I / O module (4) is connected with the driver, a switching power supply (1) supplies power for the control circuit through an emergency stop button (2), the driver (5) outputs 24V DC voltage for brake, wherein the I / O module (4) and a controller (6) are connected with the output end of the switching power supply (1) through one end of the emergency stop button (2), the controller (6) is connected with the input end of the switching power supply (1) through the driver (5), in addition, the normally closed contacts KA1 and KA2 of the intermediate relay (7) are connected in parallel with the normally closed contact KT of the time-delay relay (3), one end is connected with the output end of the switching power supply (1), and the other end is connected with the input end of the switching power supply (1) through the driver (5).
2. The control loop capable of feeding back the stop condition of a robot motor according to claim 1, characterized in that: The emergency stop button (2) is a normally closed emergency stop button.
3. The control loop capable of feeding back the stop condition of a robot motor according to claim 1, characterized in that: The coils of the intermediate relay (7) and the time-delay relay (3) are adapted to 24V voltage.
4. The control loop capable of feeding back the stop condition of a robot motor according to claim 1, characterized in that: When the emergency stop pin of the driver has 24V voltage, the motor works normally; when the 24V voltage is disconnected, the driver reports emergency stop, and the motor is hard broken.
5. The control loop capable of feeding back the stop condition of a robot motor according to claim 1, characterized in that: The time-delay time of the power-on time-delay relay (3) is more than the time of signal transmission from the I / O module to the driver.